2 Beckhoff Automation GmbH 424DE6000000000000007600000028000000100000000E000000010004000000000070000000120B0000120B0000100000001000000000000000000080000080000000808000800000008000800080800000C0C0C000808080000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF009D9DD99DD9DDD9DD9D9D9DD9D9DDD9DD999D9DD9D999D9999D9D9DD9D9DDD9DD9D9DD99DD999D999DDDDDDDDDDDDDDDD88888888888888888888888888888888DDDDDDDDDDDDDDDD999D999DD99DD9D99D9D9DDD9DD9D9D999DD999D9DDDD99D9D9D9DDD9DD9D99D999D999DD99DD9D9 Drive Drives DRIVE AX2000-B110 http://www.beckhoff.com/english/drive_technology/ax20xx.htm http://www.beckhoff.com/german/drive_technology/ax20xx.htm Drive 402 DINT 32 INT 16 INT24 24 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(0) 0 DT1003ARR UDINT 32 1 1 DT1003 48 0 Number of Errors USINT 8 0 Elements DT1003ARR 32 16 rw o DT1004ARR UDINT 64 1 2 DT1004 80 0 Number of RxPDOs/TxPDOs UDINT 32 0 Elements DT1004ARR 64 16 rw o DT1018ARR UDINT 128 1 4 DT1018 144 0 Number of Entries USINT 8 0 Elements DT1018ARR 128 16 rw o DT1400 80 0 largest sub-index supported USINT 8 0 rw o 1 COB-ID used by PDO1 RX UDINT 32 16 rw o 2 Transmission Type USINT 8 48 rw o 3 Inhibit time UINT 16 56 rw o 4 CMS priority group USINT 8 72 rw o DT1401 80 0 largest sub-index supported USINT 8 0 rw o 1 COB-ID for PDO2 RX UDINT 32 16 rw o 2 Transmission Type USINT 8 48 rw o 3 Inhibit time UINT 16 56 rw o 4 CMS priority group USINT 8 72 rw o DT1402 80 0 largest sub-index supported USINT 8 0 rw o 1 COB-ID for PDO3 RX UDINT 32 16 rw o 2 Transmission Type USINT 8 48 rw o 3 Inhibit time UINT 16 56 rw o 4 CMS priority group USINT 8 72 rw o DT1600 48 0 largest sub-index supported USINT 8 0 rw o 1 Controlword UDINT 32 16 rw o DT1601 272 0 largest sub-index supported USINT 8 0 rw o 1 ASCII-channel receive Byte 0 UDINT 32 16 rw o 2 ASCII-channel receive Byte 1 UDINT 32 48 rw o 3 ASCII-channel receive Byte 2 UDINT 32 80 rw o 4 ASCII-channel receive Byte 3 UDINT 32 112 rw o 5 ASCII-channel receive Byte 4 UDINT 32 144 rw o 6 ASCII-channel receive Byte 5 UDINT 32 176 rw o 7 ASCII-channel receive Byte 6 UDINT 32 208 rw o 8 ASCII-channel receive Byte 7 UDINT 32 240 rw o DT1602 80 0 largest sub-index supported USINT 8 0 rw o 1 Controlword UDINT 32 16 rw o 2 Digital Speed or Current Offset UDINT 32 48 rw o DT1800 80 0 largest sub-index supported USINT 8 0 rw o 1 COB-ID for PDO1 TX UDINT 32 16 rw o 2 Transmission Type USINT 8 48 rw o 3 Inhibit Time UINT 16 56 rw o 4 CMS priority group USINT 8 72 rw o DT1801 80 0 largest sub-index supported USINT 8 0 rw o 1 COB-Identifier for PDO2 TX UDINT 32 16 rw o 2 Transmission Type USINT 8 48 rw o 3 Inhibit Time UINT 16 56 rw o 4 CMS priority group USINT 8 72 rw o DT1802 80 0 largest sub-index supported USINT 8 0 rw o 1 COB-Identifier for PDO3 TX UDINT 32 16 rw o 2 Transmission Type USINT 8 48 rw o 3 Inhibit Time UINT 16 56 rw o 4 CMS priority group USINT 8 72 rw o DT1A00 48 0 largest sub-index supported USINT 8 0 rw o 1 statusword UDINT 32 16 rw o DT1A01 272 0 largest sub-index supported USINT 8 0 rw o 1 ASCII-channel transmit Byte 0 UDINT 32 16 rw o 2 ASCII-channel transmit Byte 1 UDINT 32 48 rw o 3 ASCII-channel transmit Byte 2 UDINT 32 80 rw o 4 ASCII-channel transmit Byte 3 UDINT 32 112 rw o 5 ASCII-channel transmit Byte 4 UDINT 32 144 rw o 6 ASCII-channel transmit Byte 5 UDINT 32 176 rw o 7 ASCII-channel transmit Byte 6 UDINT 32 208 rw o 8 ASCII-channel transmit Byte 7 UDINT 32 240 rw o DT1A02 112 0 largest sub-index supported USINT 8 0 rw o 1 statusword UDINT 32 16 rw o 2 Actual angular Position within 16 turns UDINT 32 48 rw o 3 Revolutions per Minute UDINT 32 80 rw o DT1C12ARR UINT 16 1 1 DT1C12 32 0 number of PDOs USINT 8 0 Elements DT1C12ARR 16 16 rw o DT1C13ARR UINT 16 1 1 DT1C13 32 0 number of PDOs USINT 8 0 Elements DT1C13ARR 16 16 rw o DT2014ARR UDINT 64 1 2 DT2014 80 0 Number of entries USINT 8 0 Elements DT2014ARR 64 16 rw o DT2015ARR UDINT 64 1 2 DT2015 80 0 Number of entries USINT 8 0 Elements DT2015ARR 64 16 rw o DT2016ARR UDINT 64 1 2 DT2016 80 0 Number of entries USINT 8 0 Elements DT2016ARR 64 16 rw o DT2020 288 0 largest sub-index supported USINT 8 0 rw o 1 Axis Type SINT 8 16 rw o 2 In-Position Window DINT 32 24 rw o 3 Contouring Error Window DINT 32 56 rw o 4 Position Register 1 DINT 32 88 rw o 5 Position Register 2 DINT 32 120 rw o 6 Position Register 3 DINT 32 152 rw o 7 Position Register 4 DINT 32 184 rw o 8 Denominator Resolution DINT 32 216 rw o 9 Nominator Resolution DINT 32 248 rw o 10 Count Direction SINT 8 280 rw o DT2022 320 0 largest sub-index supported USINT 8 0 rw o 1 Position DINT 32 16 rw o RT 2 Speed UINT 16 48 rw o RT 3 Motion Task Type UINT 16 64 rw o RT 4 Trajectory DINT 32 80 rw o RT 5 Motion Task Number UINT 16 112 rw o RT 6 Acceleration Time UINT 16 128 rw o RT 7 Braking Time UINT 16 144 rw o RT 8 Rate of Change-limiting Acceleration UINT 16 160 rw o RT 9 Rate of Change-limiting Deceleration UINT 16 176 rw o RT 10 Number of the following motion task INT 16 192 rw o RT 11 Start Delay for following Task INT 16 208 rw o RT 12 Copy a Motion Task UDINT 32 224 rw o 13 Weighting Factor Speed for PDO Motion Block DINT 32 256 rw o RT 14 Speed for direct Motion Task DINT 32 288 rw o RT DT2024 160 0 largest sub-index supported USINT 8 0 rw o 1 Homing Type SINT 8 16 rw o 2 Homing Direction SINT 8 24 rw o 3 Homing Speed DINT 32 32 rw o 4 Acceleration Ramp Jogging and Homing1 INT 16 64 rw o 5 Acceleration Ramp Jogging and Homing2 INT 16 80 rw o 6 Homing Offset DINT 32 96 rw o 7 Jogging Speed DINT 32 128 rw o DT2026 24 0 largest sub-index supported USINT 8 0 rw o 1 Freigabe Latchfunktion USINT 8 16 rw o DT2050 144 0 Number of entries USINT 8 0 rw o 1 Hilfsvariable digitaler Eingang 1 DINT 32 16 rw o 2 Hilfsvariable digitaler Eingang 2 DINT 32 48 rw o 3 Hilfsvariable digitaler Eingang 3 DINT 32 80 rw o 4 Hilfsvariable digitaler Eingang 4 DINT 32 112 rw o DT2051ARR UINT 48 1 3 DT2051 64 0 Number of entries USINT 8 0 Elements DT2051ARR 48 16 rw o RT DT2052ARR DINT 512 1 16 DT2052 528 0 Number of entries USINT 8 0 Elements DT2052ARR 512 16 rw o RT DT2053ARR DINT 512 1 16 DT2053 528 0 Number of entries USINT 8 0 Elements DT2053ARR 512 16 rw o RT DT2070 656 0 largest sub-index supported USINT 8 0 rw o 1 Actual angular Position within 16 turns INT24 24 16 rw o RT 2 Revolutions per Minute INT24 24 40 rw o 3 Incremental Position Value DINT 32 64 rw o RT 4 Position Latch Value 16 bits INT 16 96 rw o RT 5 Position Latch Value 32 bits DINT 32 112 rw o RT 6 Actual Position (SI) DINT 32 144 rw o RT 7 Actual Speed (SI) DINT 32 176 rw o 8 Actual contouring Error DINT 32 208 rw o RT 9 Actual Current DINT 32 240 rw o 10 Actual Velocity (rpm) DINT 32 272 rw o RT 11 Actual Heat Sink Temperature DINT 32 304 rw o 12 Actual Internal Temperature DINT 32 336 rw o 13 DC-Link Voltage DINT 32 368 rw o 14 Actual Regen Power DINT 32 400 rw o 15 I2t-Loading DINT 32 432 rw o 16 Operational Time DINT 32 464 rw o 17 Extended Status for TX-PDO 33 DINT 32 496 rw o RT 18 External feedback actual position (PFB0) DINT 32 528 rw o RT 19 Internal position setpoint DINT 32 560 rw o RT 20 Voltage analogue input 1 INT 16 592 rw o RT 21 Voltage analogue input 2 INT 16 608 rw o RT 22 ERRCODE UDINT 32 624 rw o RT DT2080ARR USINT 80 1 10 DT2080 96 0 largest sub-index supported USINT 8 0 Elements DT2080ARR 80 16 rw o RT DT2081 104 0 largest sub-index supported USINT 8 0 rw o 1 Inkrementelle Istposition, LSB, Byte 0 SINT 8 16 rw o RT 2 Inkrementelle Istposition, Byte 1 SINT 8 24 rw o RT 3 Inkrementelle Istposition, Byte 2 SINT 8 32 rw o RT 4 Inkrementelle Istposition, MSB, Byte 3 SINT 8 40 rw o RT 5 Inkrementelle Istposition, Byte 0 - 2 INT24 24 48 rw o RT 6 Inkrementelle Istposition, Byte 0 - 3 DINT 32 72 rw o RT DT2082 72 0 largest sub-index supported USINT 8 0 rw o 1 Latch 32 Bit positiv DINT 32 16 rw o RT 2 Latch 24 Bit positiv INT24 24 48 rw o RT DT2083 72 0 largest sub-index supported USINT 8 0 rw o 1 Latch 32 Bit negativ DINT 32 16 rw o RT 2 Latch 24 Bit negativ INT24 24 48 rw o RT DT2084 32 0 largest sub-index supported USINT 8 0 rw o 1 Latch 16 Bit positiv INT 16 16 rw o RT DT2085 32 0 largest sub-index supported USINT 8 0 rw o 1 Latch 16 Bit negativ INT 16 16 rw o RT DT3500 152 0 largest sub-index supported USINT 8 0 rw o 1 Read/Write MAXSDO USINT 8 16 rw o 2 Low limit MAXSDO DINT 32 24 rw o 3 High Limit MAXSDO DINT 32 56 rw o 4 Default value MAXSDO DINT 32 88 rw o 5 Parameter format MAXSDO USINT 8 120 rw o 6 Parameter control data MAXSDO USINT 8 128 rw o 7 reserved1 USINT 8 136 rw o 8 reserved2 USINT 8 144 rw o DT3501 200 0 largest sub-index supported USINT 8 0 rw o 1 Read/Write DINT 32 16 rw o 2 Low limit DINT 32 48 rw o 3 High Limit DINT 32 80 rw o 4 Default value DINT 32 112 rw o 5 Parameter format USINT 8 144 rw o 6 Parameter control data UDINT 32 152 rw o 7 reserved1 USINT 8 184 rw o 8 reserved2 USINT 8 192 rw o DT607BARR DINT 64 1 2 DT607B 80 0 Number of entries USINT 8 0 Elements DT607BARR 64 16 rw o DT6093ARR UDINT 64 1 2 DT6093 80 0 Number of entries USINT 8 0 Elements DT6093ARR 64 16 rw o RT DT6094ARR UDINT 64 1 2 DT6094 80 0 Number of entries USINT 8 0 Elements DT6094ARR 64 16 rw o DT6097ARR UDINT 64 1 2 DT6097 80 0 Number of entries USINT 8 0 Elements DT6097ARR 64 16 rw o DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 Elements DT6099ARR 64 16 rw o RT Outputs Inputs MBoxOut MBoxIn Outputs Inputs Drives #x1701 Outputs #x1702 #x1703 #x1704 #x1705 #x1706 #x1707 #x1708 #x6062 0 32 Position demand value DINT #x6040 0 16 Control word UINT #x1702 Outputs #x1701 #x1703 #x1704 #x1705 #x1706 #x1707 #x1708 #x606b 0 32 Velocity demand value DINT #x6040 0 16 Control word UINT #x1703 Outputs #x1701 #x1702 #x1704 #x1705 #x1706 #x1707 #x1708 #x6074 0 16 Torque demand value INT #x6040 0 16 Control word UINT #x1704 Outputs #x1701 #x1702 #x1703 #x1705 #x1706 #x1707 #x1708 #x6062 0 32 Position demand value DINT #x606b 0 32 Velocity demand value DINT #x6074 0 16 Torque demand value INT #x6060 0 8 Operation mode USINT 0 0 8 #x6040 0 16 Control word UINT #x1705 Outputs #x1701 #x1702 #x1703 #x1704 #x1706 #x1707 #x1708 #x6062 0 32 Position demand value DINT #x606b 0 32 Velocity demand value DINT #x60f6 1 16 Additive torque value UINT #x6072 0 16 Max torque INT #x6040 0 16 Control word UINT #x1706 Outputs #x1701 #x1702 #x1703 #x1704 #x1705 #x1707 #x1708 #x6062 0 32 Position demand value DINT #x606b 0 32 Velocity demand value DINT #x6040 0 16 Control word UINT #x2802 0 16 Latch control word UINT #x1707 Outputs #x1701 #x1702 #x1703 #x1704 #x1705 #x1706 #x1708 #x6062 0 32 Position demand value DINT #x606b 0 32 Velocity demand value DINT #x6074 0 16 Torque demand value INT #x6072 0 16 Max torque INT #x6040 0 16 Control word UINT #x2802 0 16 Latch Control word UINT #x1708 Outputs #x1701 #x1702 #x1703 #x1704 #x1705 #x1706 #x1707 #x6062 0 32 Position demand value DINT #x606b 0 32 Velocity demand value DINT #x6074 0 16 Torque demand value INT #x6072 0 16 Max torque UINT #x6060 0 8 Operation mode USINT 0 0 8 #x6040 0 16 Control word UINT #x2802 0 16 Latch control word UINT #x1b01 Inputs #x1b03 #x1b04 #x1b05 #x1b06 #x1b07 #x1b08 #x6064 0 32 Position actual value DINT #x6041 0 16 Status word UINT #x1b03 Inputs #x1b01 #x1b04 #x1b05 #x1b06 #x1b07 #x1b08 #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x6041 0 16 Status word UINT #x1b04 Inputs #x1b01 #x1b03 #x1b05 #x1b06 #x1b07 #x1b08 #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x6061 0 8 Operation mode display USINT 0 0 8 #x6041 0 16 Status word UINT #x1b05 Inputs #x1b01 #x1b03 #x1b04 #x1b06 #x1b07 #x1b08 #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error DINT #x6041 0 16 Status word UINT #x1b06 Inputs #x1b01 #x1b03 #x1b04 #x1b05 #x1b07 #x1b08 #x6064 0 32 Position actual value DINT #x6041 0 16 Status word UINT #x2901 0 16 Latch status word UINT #x2902 0 32 Latch position DINT #x1b07 Inputs #x1b01 #x1b03 #x1b04 #x1b05 #x1b06 #x1b08 #x6064 0 32 Position actual value DINT #x35C9 0 32 Position actual value 2 DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error DINT #x6041 0 16 Status word UINT #x2901 0 16 Latch status word UINT #x2902 0 32 Latch position DINT #x1b08 Inputs #x1b01 #x1b03 #x1b04 #x1b05 #x1b06 #x1b07 #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error DINT #x6061 0 8 Operation mode display USINT 0 0 8 #x6041 0 16 Status word UINT #x2901 0 16 Latch status word UINT #x2902 0 32 Latch position DINT PS #x6060 0 fe Op mode PS #x60c2 1 02 Cycle time PS #x60c2 2 fd Cycle exp DcOff DC unused #x0000 1 0 100 34 0 0 DcSync DC for synchronization #x0300 0 0 2 0 0 2 0 0 2048 090000080000 DRIVE