#x2939 Zaber Technologies Inc. https://zaber.com/ 424de6000000000000007600000028000000100000000e000000010004000000000070000000c40e0000c40e000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00dd999999999999ddd99999999999999dd99998ffff79999dd99998ffff79999dd99997ff8999999dd99999ff8999999dd999998ff999999dd999997ff899999dd999999ff899999dd9999998ff99999dd99997ffff79999dd99997ffff79999dd99999999999999ddd999999999999dd e-mcc E-MCC Controllers/Drives E-MCC1 E-MCC1 https://www.zaber.com/products/controllers-joysticks/E-MCC 100 2000 4096 4 3 MII IN MII OUT e-mcc 402 2 0 BOOL Boolean bit 1 BYTE Byte 8 SINT Signed short integer 8 USINT Unsigned short integer 8 INT Signed integer 16 UINT Unsigned integer 16 DINT Signed double integer 32 UDINT Unsigned double integer 32 LINT Signed long integer 64 ULINT Unsigned long integer 64 STRING(4) Visible string, 4 octets 32 STRING(6) Visible string, 6 octets 48 DT1018 144 0 Number of entries USINT 8 0 ro m 1 Vendor ID UDINT 32 16 ro m 2 Product code UDINT 32 48 ro m 3 Revision number UDINT 32 80 ro m 4 Serial number UDINT 32 112 ro m DT10E0 32 0 Number of entries USINT 8 0 ro o 1 Configured station alias register value UINT 16 16 rw o DT10F1 64 0 Number of entries USINT 8 0 ro o 1 Local error reaction UDINT 32 16 ro o 2 Sync error counter limit UINT 16 48 rw o DT1600 272 0 Number of entries USINT 8 0 rw m 1 Mapped object 1 UDINT 32 16 rw c 2 Mapped object 2 UDINT 32 48 rw c 3 Mapped object 3 UDINT 32 80 rw c 4 Mapped object 4 UDINT 32 112 rw c 5 Mapped object 5 UDINT 32 144 rw c 6 Mapped object 6 UDINT 32 176 rw c 7 Mapped object 7 UDINT 32 208 rw c 8 Mapped object 8 UDINT 32 240 rw c DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro m Sync manager type DT1C00ARR 32 16 ro c DT1C12ARR UINT 80 1 5 DT1C12 96 0 Number of entries USINT 8 0 rw c Index of assigned PDO DT1C12ARR 80 16 rw c DT1C32 273 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 7 Minimum delay time UDINT 32 144 ro o 8 Get cycle time UINT 16 176 rw c 9 Delay time UDINT 32 192 ro c 11 SM-event missed counter UINT 16 224 ro o 12 Cycle time too small counter UINT 16 240 ro c 13 Shift too short counter UINT 16 256 ro c 32 Sync error BOOL 1 272 ro c T DT1C33 241 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 8 Get cycle time UINT 16 144 rw c 9 Delay time UDINT 32 160 ro c 11 SM-event missed counter UINT 16 192 ro o 12 Cycle time too small counter UINT 16 208 ro c 13 Shift too short counter UINT 16 224 ro o 32 Sync error BOOL 1 240 ro c T DT2001ARR INT 64 1 4 DT2001 80 0 Number of entries USINT 8 0 ro Analog inputs DT2001ARR 64 16 ro T DT2002ARR INT 16 1 1 DT2002 32 0 Number of entries USINT 8 0 ro Analog outputs DT2002ARR 16 16 rw R DT2400 152 0 Number of entries USINT 8 0 ro 1 Activate BOOL 1 16 rw 2 Peripheral ID UDINT 32 24 rw 3 Peripheral serial UDINT 32 56 ro 4 Pending peripheral ID UDINT 32 88 ro 5 Pending peripheral serial UDINT 32 120 ro DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro m Software position limit DT607DARR 64 16 rw m DT6097ARR UDINT 64 1 2 DT6097 80 0 Number of entries USINT 8 0 ro o Acceleration factor DT6097ARR 64 16 rw o DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro m Homing speeds DT6099ARR 64 16 rw m DT60E3ARR SINT 8 1 1 DT60E3 24 0 Number of entries USINT 8 0 ro c Supported homing method DT60E3ARR 8 16 ro c DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro o Digital outputs DT60FEARR 64 16 rw o Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 RxPDO mapping 1 #x1601 RxPDO mapping 2 #x1602 RxPDO mapping 3 #x1603 RxPDO mapping 4 #x1A00 TxPDO mapping 1 #x1A01 TxPDO mapping 2 #x1A02 TxPDO mapping 3 #x1A03 TxPDO mapping 4 PS #x10F3 5 0000 DC Sync0 DC-Synchronous #x0300 0 0 Axis 1 #x00000108 #x00000100 #x0100 2048 807E000C64000000000000800000 30 00000000000D000000000015000000001100000000000000000000000000 40 01020300 41 00108000260001018010008022000102001207006400010300110B0020000104 43 00FF 60 000000000000000000000000000000030100000000000000 70 B80B10278813C8006400D00700000000 E-MCC1 E-MCC1 https://www.zaber.com/products/controllers-joysticks/E-MCC 100 2000 4096 4 3 MII IN MII OUT e-mcc 402 2 0 BOOL Boolean bit 1 BYTE Byte 8 SINT Signed short integer 8 USINT Unsigned short integer 8 INT Signed integer 16 UINT Unsigned integer 16 DINT Signed double integer 32 UDINT Unsigned double integer 32 LINT Signed long integer 64 ULINT Unsigned long integer 64 STRING(4) Visible string, 4 octets 32 STRING(6) Visible string, 6 octets 48 ARRAY [0..18] OF BYTE BYTE Diagnostic message 152 0 19 DT1018 144 0 Number of entries USINT 8 0 ro m 1 Vendor ID UDINT 32 16 ro m 2 Product code UDINT 32 48 ro m 3 Revision number UDINT 32 80 ro m 4 Serial number UDINT 32 112 ro m DT10E0 32 0 Number of entries USINT 8 0 ro o 1 Configured station alias register value UINT 16 16 rw o DT10F1 64 0 Number of entries USINT 8 0 ro o 1 Local error reaction UDINT 32 16 ro o 2 Sync error counter limit UINT 16 48 rw o DT10F3 19520 0 Number of entries USINT 8 0 ro m 1 Maximum messages USINT 8 16 ro m 2 Newest message USINT 8 24 ro m 3 Newest acknowledged message USINT 8 32 rw m 4 New messages available BOOL 1 40 ro m 5 Flags UINT 16 48 rw m 6 Diagnostic message 1 ARRAY [0..18] OF BYTE 152 64 ro m 7 Diagnostic message 2 ARRAY [0..18] OF BYTE 152 216 ro o 8 Diagnostic message 3 ARRAY [0..18] OF BYTE 152 368 ro o 9 Diagnostic message 4 ARRAY [0..18] OF BYTE 152 520 ro o 10 Diagnostic message 5 ARRAY [0..18] OF BYTE 152 672 ro o 11 Diagnostic message 6 ARRAY [0..18] OF BYTE 152 824 ro o 12 Diagnostic message 7 ARRAY [0..18] OF BYTE 152 976 ro o 13 Diagnostic message 8 ARRAY [0..18] OF BYTE 152 1128 ro o 14 Diagnostic message 9 ARRAY [0..18] OF BYTE 152 1280 ro o 15 Diagnostic message 10 ARRAY [0..18] OF BYTE 152 1432 ro o 16 Diagnostic message 11 ARRAY [0..18] OF BYTE 152 1584 ro o 17 Diagnostic message 12 ARRAY [0..18] OF BYTE 152 1736 ro o 18 Diagnostic message 13 ARRAY [0..18] OF BYTE 152 1888 ro o 19 Diagnostic message 14 ARRAY [0..18] OF BYTE 152 2040 ro o 20 Diagnostic message 15 ARRAY [0..18] OF BYTE 152 2192 ro o 21 Diagnostic message 16 ARRAY [0..18] OF BYTE 152 2344 ro o 22 Diagnostic message 17 ARRAY [0..18] OF BYTE 152 2496 ro o 23 Diagnostic message 18 ARRAY [0..18] OF BYTE 152 2648 ro o 24 Diagnostic message 19 ARRAY [0..18] OF BYTE 152 2800 ro o 25 Diagnostic message 20 ARRAY [0..18] OF BYTE 152 2952 ro o 26 Diagnostic message 21 ARRAY [0..18] OF BYTE 152 3104 ro o 27 Diagnostic message 22 ARRAY [0..18] OF BYTE 152 3256 ro o 28 Diagnostic message 23 ARRAY [0..18] OF BYTE 152 3408 ro o 29 Diagnostic message 24 ARRAY [0..18] OF BYTE 152 3560 ro o 30 Diagnostic message 25 ARRAY [0..18] OF BYTE 152 3712 ro o 31 Diagnostic message 26 ARRAY [0..18] OF BYTE 152 3864 ro o 32 Diagnostic message 27 ARRAY [0..18] OF BYTE 152 4016 ro o 33 Diagnostic message 28 ARRAY [0..18] OF BYTE 152 4168 ro o 34 Diagnostic message 29 ARRAY [0..18] OF BYTE 152 4320 ro o 35 Diagnostic message 30 ARRAY [0..18] OF BYTE 152 4472 ro o 36 Diagnostic message 31 ARRAY [0..18] OF BYTE 152 4624 ro o 37 Diagnostic message 32 ARRAY [0..18] OF BYTE 152 4776 ro o 38 Diagnostic message 33 ARRAY [0..18] OF BYTE 152 4928 ro o 39 Diagnostic message 34 ARRAY [0..18] OF BYTE 152 5080 ro o 40 Diagnostic message 35 ARRAY [0..18] OF BYTE 152 5232 ro o 41 Diagnostic message 36 ARRAY [0..18] OF BYTE 152 5384 ro o 42 Diagnostic message 37 ARRAY [0..18] OF BYTE 152 5536 ro o 43 Diagnostic message 38 ARRAY [0..18] OF BYTE 152 5688 ro o 44 Diagnostic message 39 ARRAY [0..18] OF BYTE 152 5840 ro o 45 Diagnostic message 40 ARRAY [0..18] OF BYTE 152 5992 ro o 46 Diagnostic message 41 ARRAY [0..18] OF BYTE 152 6144 ro o 47 Diagnostic message 42 ARRAY [0..18] OF BYTE 152 6296 ro o 48 Diagnostic message 43 ARRAY [0..18] OF BYTE 152 6448 ro o 49 Diagnostic message 44 ARRAY [0..18] OF BYTE 152 6600 ro o 50 Diagnostic message 45 ARRAY [0..18] OF BYTE 152 6752 ro o 51 Diagnostic message 46 ARRAY [0..18] OF BYTE 152 6904 ro o 52 Diagnostic message 47 ARRAY [0..18] OF BYTE 152 7056 ro o 53 Diagnostic message 48 ARRAY [0..18] OF BYTE 152 7208 ro o 54 Diagnostic message 49 ARRAY [0..18] OF BYTE 152 7360 ro o 55 Diagnostic message 50 ARRAY [0..18] OF BYTE 152 7512 ro o 56 Diagnostic message 51 ARRAY [0..18] OF BYTE 152 7664 ro o 57 Diagnostic message 52 ARRAY [0..18] OF BYTE 152 7816 ro o 58 Diagnostic message 53 ARRAY [0..18] OF BYTE 152 7968 ro o 59 Diagnostic message 54 ARRAY [0..18] OF BYTE 152 8120 ro o 60 Diagnostic message 55 ARRAY [0..18] OF BYTE 152 8272 ro o 61 Diagnostic message 56 ARRAY [0..18] OF BYTE 152 8424 ro o 62 Diagnostic message 57 ARRAY [0..18] OF BYTE 152 8576 ro o 63 Diagnostic message 58 ARRAY [0..18] OF BYTE 152 8728 ro o 64 Diagnostic message 59 ARRAY [0..18] OF BYTE 152 8880 ro o 65 Diagnostic message 60 ARRAY [0..18] OF BYTE 152 9032 ro o 66 Diagnostic message 61 ARRAY [0..18] OF BYTE 152 9184 ro o 67 Diagnostic message 62 ARRAY [0..18] OF BYTE 152 9336 ro o 68 Diagnostic message 63 ARRAY [0..18] OF BYTE 152 9488 ro o 69 Diagnostic message 64 ARRAY [0..18] OF BYTE 152 9640 ro o 70 Diagnostic message 65 ARRAY [0..18] OF BYTE 152 9792 ro o 71 Diagnostic message 66 ARRAY [0..18] OF BYTE 152 9944 ro o 72 Diagnostic message 67 ARRAY [0..18] OF BYTE 152 10096 ro o 73 Diagnostic message 68 ARRAY [0..18] OF BYTE 152 10248 ro o 74 Diagnostic message 69 ARRAY [0..18] OF BYTE 152 10400 ro o 75 Diagnostic message 70 ARRAY [0..18] OF BYTE 152 10552 ro o 76 Diagnostic message 71 ARRAY [0..18] OF BYTE 152 10704 ro o 77 Diagnostic message 72 ARRAY [0..18] OF BYTE 152 10856 ro o 78 Diagnostic message 73 ARRAY [0..18] OF BYTE 152 11008 ro o 79 Diagnostic message 74 ARRAY [0..18] OF BYTE 152 11160 ro o 80 Diagnostic message 75 ARRAY [0..18] OF BYTE 152 11312 ro o 81 Diagnostic message 76 ARRAY [0..18] OF BYTE 152 11464 ro o 82 Diagnostic message 77 ARRAY [0..18] OF BYTE 152 11616 ro o 83 Diagnostic message 78 ARRAY [0..18] OF BYTE 152 11768 ro o 84 Diagnostic message 79 ARRAY [0..18] OF BYTE 152 11920 ro o 85 Diagnostic message 80 ARRAY [0..18] OF BYTE 152 12072 ro o 86 Diagnostic message 81 ARRAY [0..18] OF BYTE 152 12224 ro o 87 Diagnostic message 82 ARRAY [0..18] OF BYTE 152 12376 ro o 88 Diagnostic message 83 ARRAY [0..18] OF BYTE 152 12528 ro o 89 Diagnostic message 84 ARRAY [0..18] OF BYTE 152 12680 ro o 90 Diagnostic message 85 ARRAY [0..18] OF BYTE 152 12832 ro o 91 Diagnostic message 86 ARRAY [0..18] OF BYTE 152 12984 ro o 92 Diagnostic message 87 ARRAY [0..18] OF BYTE 152 13136 ro o 93 Diagnostic message 88 ARRAY [0..18] OF BYTE 152 13288 ro o 94 Diagnostic message 89 ARRAY [0..18] OF BYTE 152 13440 ro o 95 Diagnostic message 90 ARRAY [0..18] OF BYTE 152 13592 ro o 96 Diagnostic message 91 ARRAY [0..18] OF BYTE 152 13744 ro o 97 Diagnostic message 92 ARRAY [0..18] OF BYTE 152 13896 ro o 98 Diagnostic message 93 ARRAY [0..18] OF BYTE 152 14048 ro o 99 Diagnostic message 94 ARRAY [0..18] OF BYTE 152 14200 ro o 100 Diagnostic message 95 ARRAY [0..18] OF BYTE 152 14352 ro o 101 Diagnostic message 96 ARRAY [0..18] OF BYTE 152 14504 ro o 102 Diagnostic message 97 ARRAY [0..18] OF BYTE 152 14656 ro o 103 Diagnostic message 98 ARRAY [0..18] OF BYTE 152 14808 ro o 104 Diagnostic message 99 ARRAY [0..18] OF BYTE 152 14960 ro o 105 Diagnostic message 100 ARRAY [0..18] OF BYTE 152 15112 ro o 106 Diagnostic message 101 ARRAY [0..18] OF BYTE 152 15264 ro o 107 Diagnostic message 102 ARRAY [0..18] OF BYTE 152 15416 ro o 108 Diagnostic message 103 ARRAY [0..18] OF BYTE 152 15568 ro o 109 Diagnostic message 104 ARRAY [0..18] OF BYTE 152 15720 ro o 110 Diagnostic message 105 ARRAY [0..18] OF BYTE 152 15872 ro o 111 Diagnostic message 106 ARRAY [0..18] OF BYTE 152 16024 ro o 112 Diagnostic message 107 ARRAY [0..18] OF BYTE 152 16176 ro o 113 Diagnostic message 108 ARRAY [0..18] OF BYTE 152 16328 ro o 114 Diagnostic message 109 ARRAY [0..18] OF BYTE 152 16480 ro o 115 Diagnostic message 110 ARRAY [0..18] OF BYTE 152 16632 ro o 116 Diagnostic message 111 ARRAY [0..18] OF BYTE 152 16784 ro o 117 Diagnostic message 112 ARRAY [0..18] OF BYTE 152 16936 ro o 118 Diagnostic message 113 ARRAY [0..18] OF BYTE 152 17088 ro o 119 Diagnostic message 114 ARRAY [0..18] OF BYTE 152 17240 ro o 120 Diagnostic message 115 ARRAY [0..18] OF BYTE 152 17392 ro o 121 Diagnostic message 116 ARRAY [0..18] OF BYTE 152 17544 ro o 122 Diagnostic message 117 ARRAY [0..18] OF BYTE 152 17696 ro o 123 Diagnostic message 118 ARRAY [0..18] OF BYTE 152 17848 ro o 124 Diagnostic message 119 ARRAY [0..18] OF BYTE 152 18000 ro o 125 Diagnostic message 120 ARRAY [0..18] OF BYTE 152 18152 ro o 126 Diagnostic message 121 ARRAY [0..18] OF BYTE 152 18304 ro o 127 Diagnostic message 122 ARRAY [0..18] OF BYTE 152 18456 ro o 128 Diagnostic message 123 ARRAY [0..18] OF BYTE 152 18608 ro o 129 Diagnostic message 124 ARRAY [0..18] OF BYTE 152 18760 ro o 130 Diagnostic message 125 ARRAY [0..18] OF BYTE 152 18912 ro o 131 Diagnostic message 126 ARRAY [0..18] OF BYTE 152 19064 ro o 132 Diagnostic message 127 ARRAY [0..18] OF BYTE 152 19216 ro o 133 Diagnostic message 128 ARRAY [0..18] OF BYTE 152 19368 ro o DT1600 272 0 Number of entries USINT 8 0 rw m 1 Mapped object 1 UDINT 32 16 rw c 2 Mapped object 2 UDINT 32 48 rw c 3 Mapped object 3 UDINT 32 80 rw c 4 Mapped object 4 UDINT 32 112 rw c 5 Mapped object 5 UDINT 32 144 rw c 6 Mapped object 6 UDINT 32 176 rw c 7 Mapped object 7 UDINT 32 208 rw c 8 Mapped object 8 UDINT 32 240 rw c DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro m Sync manager type DT1C00ARR 32 16 ro c DT1C12ARR UINT 80 1 5 DT1C12 96 0 Number of entries USINT 8 0 rw c Index of assigned PDO DT1C12ARR 80 16 rw c DT1C32 273 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 7 Minimum delay time UDINT 32 144 ro o 8 Get cycle time UINT 16 176 rw c 9 Delay time UDINT 32 192 ro c 11 SM-event missed counter UINT 16 224 ro o 12 Cycle time too small counter UINT 16 240 ro c 13 Shift too short counter UINT 16 256 ro c 32 Sync error BOOL 1 272 ro c T DT1C33 241 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 8 Get cycle time UINT 16 144 rw c 9 Delay time UDINT 32 160 ro c 11 SM-event missed counter UINT 16 192 ro o 12 Cycle time too small counter UINT 16 208 ro c 13 Shift too short counter UINT 16 224 ro o 32 Sync error BOOL 1 240 ro c T DT2001ARR INT 64 1 4 DT2001 80 0 Number of entries USINT 8 0 ro Analog inputs DT2001ARR 64 16 ro T DT2002ARR INT 16 1 1 DT2002 32 0 Number of entries USINT 8 0 ro Analog outputs DT2002ARR 16 16 rw R DT2400 152 0 Number of entries USINT 8 0 ro 1 Activate BOOL 1 16 rw 2 Peripheral ID UDINT 32 24 rw 3 Peripheral serial UDINT 32 56 ro 4 Pending peripheral ID UDINT 32 88 ro 5 Pending peripheral serial UDINT 32 120 ro DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro m Software position limit DT607DARR 64 16 rw m DT6097ARR UDINT 64 1 2 DT6097 80 0 Number of entries USINT 8 0 ro o Acceleration factor DT6097ARR 64 16 rw o DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro m Homing speeds DT6099ARR 64 16 rw m DT60E3ARR SINT 24 1 3 DT60E3 40 0 Number of entries USINT 8 0 ro c Supported homing method DT60E3ARR 24 16 ro c DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro o Digital outputs DT60FEARR 64 16 rw o #x0001 Critical system error For further information, refer to CiA402 error code 0xFF04 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF04 #x0101 Resolved: Critical system error For further information, refer to CiA402 error code 0xFF04 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF04 #x0002 Peripheral not supported, axis %u For further information, refer to CiA402 error code 0xFF00 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF00 #x0102 Resolved: Peripheral not supported, axis %u For further information, refer to CiA402 error code 0xFF00 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF00 #x0003 Peripheral inactive, axis %u For further information, refer to CiA402 error code 0xFF01 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF01 #x0103 Resolved: Peripheral inactive, axis %u For further information, refer to CiA402 error code 0xFF01 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF01 #x0004 Contact 1 (hardware emergency stop), axis %u For further information, refer to CiA402 error code 0x5441 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_5441 #x0104 Resolved: Contact 1 (hardware emergency stop), axis %u For further information, refer to CiA402 error code 0x5441 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_5441 #x0005 Overvoltage or undervoltage, axis %u For further information, refer to CiA402 error code 0x3281 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3281 #x0105 Resolved: Overvoltage or undervoltage, axis %u For further information, refer to CiA402 error code 0x3281 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3281 #x0006 Current inrush error, axis %u For further information, refer to CiA402 error code 0x2280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2280 #x0106 Resolved: Current inrush error, axis %u For further information, refer to CiA402 error code 0x2280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2280 #x0007 Excess temperature drive, axis %u For further information, refer to CiA402 error code 0x4310 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4310 #x0107 Resolved: Excess temperature drive, axis %u For further information, refer to CiA402 error code 0x4310 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4310 #x0008 Driver temperature/current error, axis %u For further information, refer to CiA402 error code 0xFF02 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF02 #x0108 Resolved: Driver temperature/current error, axis %u For further information, refer to CiA402 error code 0xFF02 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF02 #x0009 Encoder error, axis %u For further information, refer to CiA402 error code 0x7380 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7380 #x0109 Resolved: Encoder error, axis %u For further information, refer to CiA402 error code 0x7380 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7380 #x000A Index error, axis %u For further information, refer to CiA402 error code 0x7381 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7381 #x010A Resolved: Index error, axis %u For further information, refer to CiA402 error code 0x7381 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7381 #x000B Analog encoder sync error, axis %u For further information, refer to CiA402 error code 0x7382 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7382 #x010B Resolved: Analog encoder sync error, axis %u For further information, refer to CiA402 error code 0x7382 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7382 #x000C Load Level Fault (I²T, Thermal State), axis %u For further information, refer to CiA402 error code 0x2350 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2350 #x010C Resolved: Load Level Fault (I²T, Thermal State), axis %u For further information, refer to CiA402 error code 0x2350 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2350 #x000D Following error, axis %u For further information, refer to CiA402 error code 0x8611 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8611 #x010D Resolved: Following error, axis %u For further information, refer to CiA402 error code 0x8611 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8611 #x000E Reference limit, axis %u For further information, refer to CiA402 error code 0x8612 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8612 #x010E Resolved: Reference limit, axis %u For further information, refer to CiA402 error code 0x8612 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8612 #x000F Voltage out of range For further information, refer to CiA402 error code 0x3280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3280 #x010F Resolved: Voltage out of range For further information, refer to CiA402 error code 0x3280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3280 #x0010 Excess temperature device For further information, refer to CiA402 error code 0x4210 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4210 #x0110 Resolved: Excess temperature device For further information, refer to CiA402 error code 0x4210 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4210 #x0011 Following error while stationary, axis %u For further information, refer to CiA402 error code 0x8682 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8682 #x0111 Resolved: Following error while stationary, axis %u For further information, refer to CiA402 error code 0x8682 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8682 #x0012 Invalid calibration type, axis %u For further information, refer to CiA402 error code 0xFF03 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF03 #x0112 Resolved: Invalid calibration type, axis %u For further information, refer to CiA402 error code 0xFF03 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF03 #x0013 No reference position, axis %u For further information, refer to CiA402 error code 0x8680 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8680 #x0113 Resolved: No reference position, axis %u For further information, refer to CiA402 error code 0x8680 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8680 #x0014 Device not homed, axis %u For further information, refer to CiA402 error code 0x8681 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8681 #x0114 Resolved: Device not homed, axis %u For further information, refer to CiA402 error code 0x8681 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8681 #x0015 Non-existent object sub-index PDO-mapped For further information, refer to CiA402 error code 0x8280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8280 #x0115 Resolved: Non-existent object sub-index PDO-mapped For further information, refer to CiA402 error code 0x8280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8280 Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 RxPDO mapping 1 #x1601 RxPDO mapping 2 #x1602 RxPDO mapping 3 #x1603 RxPDO mapping 4 #x1A00 TxPDO mapping 1 #x1A01 TxPDO mapping 2 #x1A02 TxPDO mapping 3 #x1A03 TxPDO mapping 4 PS #x10F3 5 0000 DC Sync0 DC-Synchronous #x0300 0 0 Axis 1 #x00010108 #x00010100 #x0100 2048 807E000C64000000000000800000 30 00000000000D000000000015000000001100000000000000000000000000 40 01020300 41 00108000260001018010008022000102001207006400010300110B0020000104 43 00FF 60 000000000000000000000000000000030100000000000000 70 B80B10278813C8006400D00700000000 E-MCC2 E-MCC2 https://www.zaber.com/products/controllers-joysticks/E-MCC 100 2000 4096 4 3 MII IN MII OUT e-mcc 402 65535 0 BOOL Boolean bit 1 BYTE Byte 8 SINT Signed short integer 8 USINT Unsigned short integer 8 INT Signed integer 16 UINT Unsigned integer 16 DINT Signed double integer 32 UDINT Unsigned double integer 32 LINT Signed long integer 64 ULINT Unsigned long integer 64 STRING(4) Visible string, 4 octets 32 STRING(6) Visible string, 6 octets 48 ARRAY [0..18] OF BYTE BYTE Diagnostic message 152 0 19 DT1018 144 0 Number of entries USINT 8 0 ro m 1 Vendor ID UDINT 32 16 ro m 2 Product code UDINT 32 48 ro m 3 Revision number UDINT 32 80 ro m 4 Serial number UDINT 32 112 ro m DT10E0 32 0 Number of entries USINT 8 0 ro o 1 Configured station alias register value UINT 16 16 rw o DT10F1 64 0 Number of entries USINT 8 0 ro o 1 Local error reaction UDINT 32 16 ro o 2 Sync error counter limit UINT 16 48 rw o DT10F3 19520 0 Number of entries USINT 8 0 ro m 1 Maximum messages USINT 8 16 ro m 2 Newest message USINT 8 24 ro m 3 Newest acknowledged message USINT 8 32 rw m 4 New messages available BOOL 1 40 ro m 5 Flags UINT 16 48 rw m 6 Diagnostic message 1 ARRAY [0..18] OF BYTE 152 64 ro m 7 Diagnostic message 2 ARRAY [0..18] OF BYTE 152 216 ro o 8 Diagnostic message 3 ARRAY [0..18] OF BYTE 152 368 ro o 9 Diagnostic message 4 ARRAY [0..18] OF BYTE 152 520 ro o 10 Diagnostic message 5 ARRAY [0..18] OF BYTE 152 672 ro o 11 Diagnostic message 6 ARRAY [0..18] OF BYTE 152 824 ro o 12 Diagnostic message 7 ARRAY [0..18] OF BYTE 152 976 ro o 13 Diagnostic message 8 ARRAY [0..18] OF BYTE 152 1128 ro o 14 Diagnostic message 9 ARRAY [0..18] OF BYTE 152 1280 ro o 15 Diagnostic message 10 ARRAY [0..18] OF BYTE 152 1432 ro o 16 Diagnostic message 11 ARRAY [0..18] OF BYTE 152 1584 ro o 17 Diagnostic message 12 ARRAY [0..18] OF BYTE 152 1736 ro o 18 Diagnostic message 13 ARRAY [0..18] OF BYTE 152 1888 ro o 19 Diagnostic message 14 ARRAY [0..18] OF BYTE 152 2040 ro o 20 Diagnostic message 15 ARRAY [0..18] OF BYTE 152 2192 ro o 21 Diagnostic message 16 ARRAY [0..18] OF BYTE 152 2344 ro o 22 Diagnostic message 17 ARRAY [0..18] OF BYTE 152 2496 ro o 23 Diagnostic message 18 ARRAY [0..18] OF BYTE 152 2648 ro o 24 Diagnostic message 19 ARRAY [0..18] OF BYTE 152 2800 ro o 25 Diagnostic message 20 ARRAY [0..18] OF BYTE 152 2952 ro o 26 Diagnostic message 21 ARRAY [0..18] OF BYTE 152 3104 ro o 27 Diagnostic message 22 ARRAY [0..18] OF BYTE 152 3256 ro o 28 Diagnostic message 23 ARRAY [0..18] OF BYTE 152 3408 ro o 29 Diagnostic message 24 ARRAY [0..18] OF BYTE 152 3560 ro o 30 Diagnostic message 25 ARRAY [0..18] OF BYTE 152 3712 ro o 31 Diagnostic message 26 ARRAY [0..18] OF BYTE 152 3864 ro o 32 Diagnostic message 27 ARRAY [0..18] OF BYTE 152 4016 ro o 33 Diagnostic message 28 ARRAY [0..18] OF BYTE 152 4168 ro o 34 Diagnostic message 29 ARRAY [0..18] OF BYTE 152 4320 ro o 35 Diagnostic message 30 ARRAY [0..18] OF BYTE 152 4472 ro o 36 Diagnostic message 31 ARRAY [0..18] OF BYTE 152 4624 ro o 37 Diagnostic message 32 ARRAY [0..18] OF BYTE 152 4776 ro o 38 Diagnostic message 33 ARRAY [0..18] OF BYTE 152 4928 ro o 39 Diagnostic message 34 ARRAY [0..18] OF BYTE 152 5080 ro o 40 Diagnostic message 35 ARRAY [0..18] OF BYTE 152 5232 ro o 41 Diagnostic message 36 ARRAY [0..18] OF BYTE 152 5384 ro o 42 Diagnostic message 37 ARRAY [0..18] OF BYTE 152 5536 ro o 43 Diagnostic message 38 ARRAY [0..18] OF BYTE 152 5688 ro o 44 Diagnostic message 39 ARRAY [0..18] OF BYTE 152 5840 ro o 45 Diagnostic message 40 ARRAY [0..18] OF BYTE 152 5992 ro o 46 Diagnostic message 41 ARRAY [0..18] OF BYTE 152 6144 ro o 47 Diagnostic message 42 ARRAY [0..18] OF BYTE 152 6296 ro o 48 Diagnostic message 43 ARRAY [0..18] OF BYTE 152 6448 ro o 49 Diagnostic message 44 ARRAY [0..18] OF BYTE 152 6600 ro o 50 Diagnostic message 45 ARRAY [0..18] OF BYTE 152 6752 ro o 51 Diagnostic message 46 ARRAY [0..18] OF BYTE 152 6904 ro o 52 Diagnostic message 47 ARRAY [0..18] OF BYTE 152 7056 ro o 53 Diagnostic message 48 ARRAY [0..18] OF BYTE 152 7208 ro o 54 Diagnostic message 49 ARRAY [0..18] OF BYTE 152 7360 ro o 55 Diagnostic message 50 ARRAY [0..18] OF BYTE 152 7512 ro o 56 Diagnostic message 51 ARRAY [0..18] OF BYTE 152 7664 ro o 57 Diagnostic message 52 ARRAY [0..18] OF BYTE 152 7816 ro o 58 Diagnostic message 53 ARRAY [0..18] OF BYTE 152 7968 ro o 59 Diagnostic message 54 ARRAY [0..18] OF BYTE 152 8120 ro o 60 Diagnostic message 55 ARRAY [0..18] OF BYTE 152 8272 ro o 61 Diagnostic message 56 ARRAY [0..18] OF BYTE 152 8424 ro o 62 Diagnostic message 57 ARRAY [0..18] OF BYTE 152 8576 ro o 63 Diagnostic message 58 ARRAY [0..18] OF BYTE 152 8728 ro o 64 Diagnostic message 59 ARRAY [0..18] OF BYTE 152 8880 ro o 65 Diagnostic message 60 ARRAY [0..18] OF BYTE 152 9032 ro o 66 Diagnostic message 61 ARRAY [0..18] OF BYTE 152 9184 ro o 67 Diagnostic message 62 ARRAY [0..18] OF BYTE 152 9336 ro o 68 Diagnostic message 63 ARRAY [0..18] OF BYTE 152 9488 ro o 69 Diagnostic message 64 ARRAY [0..18] OF BYTE 152 9640 ro o 70 Diagnostic message 65 ARRAY [0..18] OF BYTE 152 9792 ro o 71 Diagnostic message 66 ARRAY [0..18] OF BYTE 152 9944 ro o 72 Diagnostic message 67 ARRAY [0..18] OF BYTE 152 10096 ro o 73 Diagnostic message 68 ARRAY [0..18] OF BYTE 152 10248 ro o 74 Diagnostic message 69 ARRAY [0..18] OF BYTE 152 10400 ro o 75 Diagnostic message 70 ARRAY [0..18] OF BYTE 152 10552 ro o 76 Diagnostic message 71 ARRAY [0..18] OF BYTE 152 10704 ro o 77 Diagnostic message 72 ARRAY [0..18] OF BYTE 152 10856 ro o 78 Diagnostic message 73 ARRAY [0..18] OF BYTE 152 11008 ro o 79 Diagnostic message 74 ARRAY [0..18] OF BYTE 152 11160 ro o 80 Diagnostic message 75 ARRAY [0..18] OF BYTE 152 11312 ro o 81 Diagnostic message 76 ARRAY [0..18] OF BYTE 152 11464 ro o 82 Diagnostic message 77 ARRAY [0..18] OF BYTE 152 11616 ro o 83 Diagnostic message 78 ARRAY [0..18] OF BYTE 152 11768 ro o 84 Diagnostic message 79 ARRAY [0..18] OF BYTE 152 11920 ro o 85 Diagnostic message 80 ARRAY [0..18] OF BYTE 152 12072 ro o 86 Diagnostic message 81 ARRAY [0..18] OF BYTE 152 12224 ro o 87 Diagnostic message 82 ARRAY [0..18] OF BYTE 152 12376 ro o 88 Diagnostic message 83 ARRAY [0..18] OF BYTE 152 12528 ro o 89 Diagnostic message 84 ARRAY [0..18] OF BYTE 152 12680 ro o 90 Diagnostic message 85 ARRAY [0..18] OF BYTE 152 12832 ro o 91 Diagnostic message 86 ARRAY [0..18] OF BYTE 152 12984 ro o 92 Diagnostic message 87 ARRAY [0..18] OF BYTE 152 13136 ro o 93 Diagnostic message 88 ARRAY [0..18] OF BYTE 152 13288 ro o 94 Diagnostic message 89 ARRAY [0..18] OF BYTE 152 13440 ro o 95 Diagnostic message 90 ARRAY [0..18] OF BYTE 152 13592 ro o 96 Diagnostic message 91 ARRAY [0..18] OF BYTE 152 13744 ro o 97 Diagnostic message 92 ARRAY [0..18] OF BYTE 152 13896 ro o 98 Diagnostic message 93 ARRAY [0..18] OF BYTE 152 14048 ro o 99 Diagnostic message 94 ARRAY [0..18] OF BYTE 152 14200 ro o 100 Diagnostic message 95 ARRAY [0..18] OF BYTE 152 14352 ro o 101 Diagnostic message 96 ARRAY [0..18] OF BYTE 152 14504 ro o 102 Diagnostic message 97 ARRAY [0..18] OF BYTE 152 14656 ro o 103 Diagnostic message 98 ARRAY [0..18] OF BYTE 152 14808 ro o 104 Diagnostic message 99 ARRAY [0..18] OF BYTE 152 14960 ro o 105 Diagnostic message 100 ARRAY [0..18] OF BYTE 152 15112 ro o 106 Diagnostic message 101 ARRAY [0..18] OF BYTE 152 15264 ro o 107 Diagnostic message 102 ARRAY [0..18] OF BYTE 152 15416 ro o 108 Diagnostic message 103 ARRAY [0..18] OF BYTE 152 15568 ro o 109 Diagnostic message 104 ARRAY [0..18] OF BYTE 152 15720 ro o 110 Diagnostic message 105 ARRAY [0..18] OF BYTE 152 15872 ro o 111 Diagnostic message 106 ARRAY [0..18] OF BYTE 152 16024 ro o 112 Diagnostic message 107 ARRAY [0..18] OF BYTE 152 16176 ro o 113 Diagnostic message 108 ARRAY [0..18] OF BYTE 152 16328 ro o 114 Diagnostic message 109 ARRAY [0..18] OF BYTE 152 16480 ro o 115 Diagnostic message 110 ARRAY [0..18] OF BYTE 152 16632 ro o 116 Diagnostic message 111 ARRAY [0..18] OF BYTE 152 16784 ro o 117 Diagnostic message 112 ARRAY [0..18] OF BYTE 152 16936 ro o 118 Diagnostic message 113 ARRAY [0..18] OF BYTE 152 17088 ro o 119 Diagnostic message 114 ARRAY [0..18] OF BYTE 152 17240 ro o 120 Diagnostic message 115 ARRAY [0..18] OF BYTE 152 17392 ro o 121 Diagnostic message 116 ARRAY [0..18] OF BYTE 152 17544 ro o 122 Diagnostic message 117 ARRAY [0..18] OF BYTE 152 17696 ro o 123 Diagnostic message 118 ARRAY [0..18] OF BYTE 152 17848 ro o 124 Diagnostic message 119 ARRAY [0..18] OF BYTE 152 18000 ro o 125 Diagnostic message 120 ARRAY [0..18] OF BYTE 152 18152 ro o 126 Diagnostic message 121 ARRAY [0..18] OF BYTE 152 18304 ro o 127 Diagnostic message 122 ARRAY [0..18] OF BYTE 152 18456 ro o 128 Diagnostic message 123 ARRAY [0..18] OF BYTE 152 18608 ro o 129 Diagnostic message 124 ARRAY [0..18] OF BYTE 152 18760 ro o 130 Diagnostic message 125 ARRAY [0..18] OF BYTE 152 18912 ro o 131 Diagnostic message 126 ARRAY [0..18] OF BYTE 152 19064 ro o 132 Diagnostic message 127 ARRAY [0..18] OF BYTE 152 19216 ro o 133 Diagnostic message 128 ARRAY [0..18] OF BYTE 152 19368 ro o DT1600 272 0 Number of entries USINT 8 0 rw m 1 Mapped object 1 UDINT 32 16 rw c 2 Mapped object 2 UDINT 32 48 rw c 3 Mapped object 3 UDINT 32 80 rw c 4 Mapped object 4 UDINT 32 112 rw c 5 Mapped object 5 UDINT 32 144 rw c 6 Mapped object 6 UDINT 32 176 rw c 7 Mapped object 7 UDINT 32 208 rw c 8 Mapped object 8 UDINT 32 240 rw c DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro m Sync manager type DT1C00ARR 32 16 ro c DT1C12ARR UINT 80 1 5 DT1C12 96 0 Number of entries USINT 8 0 rw c Index of assigned PDO DT1C12ARR 80 16 rw c DT1C32 273 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 7 Minimum delay time UDINT 32 144 ro o 8 Get cycle time UINT 16 176 rw c 9 Delay time UDINT 32 192 ro c 11 SM-event missed counter UINT 16 224 ro o 12 Cycle time too small counter UINT 16 240 ro c 13 Shift too short counter UINT 16 256 ro c 32 Sync error BOOL 1 272 ro c T DT1C33 241 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 8 Get cycle time UINT 16 144 rw c 9 Delay time UDINT 32 160 ro c 11 SM-event missed counter UINT 16 192 ro o 12 Cycle time too small counter UINT 16 208 ro c 13 Shift too short counter UINT 16 224 ro o 32 Sync error BOOL 1 240 ro c T DT2001ARR INT 64 1 4 DT2001 80 0 Number of entries USINT 8 0 ro Analog inputs DT2001ARR 64 16 ro T DT2002ARR INT 16 1 1 DT2002 32 0 Number of entries USINT 8 0 ro Analog outputs DT2002ARR 16 16 rw R DT2400 152 0 Number of entries USINT 8 0 ro 1 Activate BOOL 1 16 rw 2 Peripheral ID UDINT 32 24 rw 3 Peripheral serial UDINT 32 56 ro 4 Pending peripheral ID UDINT 32 88 ro 5 Pending peripheral serial UDINT 32 120 ro DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro m Software position limit DT607DARR 64 16 rw m DT6097ARR UDINT 64 1 2 DT6097 80 0 Number of entries USINT 8 0 ro o Acceleration factor DT6097ARR 64 16 rw o DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro m Homing speeds DT6099ARR 64 16 rw m DT60E3ARR SINT 24 1 3 DT60E3 40 0 Number of entries USINT 8 0 ro c Supported homing method DT60E3ARR 24 16 ro c DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro o Digital outputs DT60FEARR 64 16 rw o #x0001 Critical system error For further information, refer to CiA402 error code 0xFF04 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF04 #x0101 Resolved: Critical system error For further information, refer to CiA402 error code 0xFF04 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF04 #x0002 Peripheral not supported, axis %u For further information, refer to CiA402 error code 0xFF00 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF00 #x0102 Resolved: Peripheral not supported, axis %u For further information, refer to CiA402 error code 0xFF00 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF00 #x0003 Peripheral inactive, axis %u For further information, refer to CiA402 error code 0xFF01 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF01 #x0103 Resolved: Peripheral inactive, axis %u For further information, refer to CiA402 error code 0xFF01 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF01 #x0004 Contact 1 (hardware emergency stop), axis %u For further information, refer to CiA402 error code 0x5441 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_5441 #x0104 Resolved: Contact 1 (hardware emergency stop), axis %u For further information, refer to CiA402 error code 0x5441 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_5441 #x0005 Overvoltage or undervoltage, axis %u For further information, refer to CiA402 error code 0x3281 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3281 #x0105 Resolved: Overvoltage or undervoltage, axis %u For further information, refer to CiA402 error code 0x3281 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3281 #x0006 Current inrush error, axis %u For further information, refer to CiA402 error code 0x2280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2280 #x0106 Resolved: Current inrush error, axis %u For further information, refer to CiA402 error code 0x2280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2280 #x0007 Excess temperature drive, axis %u For further information, refer to CiA402 error code 0x4310 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4310 #x0107 Resolved: Excess temperature drive, axis %u For further information, refer to CiA402 error code 0x4310 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4310 #x0008 Driver temperature/current error, axis %u For further information, refer to CiA402 error code 0xFF02 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF02 #x0108 Resolved: Driver temperature/current error, axis %u For further information, refer to CiA402 error code 0xFF02 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF02 #x0009 Encoder error, axis %u For further information, refer to CiA402 error code 0x7380 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7380 #x0109 Resolved: Encoder error, axis %u For further information, refer to CiA402 error code 0x7380 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7380 #x000A Index error, axis %u For further information, refer to CiA402 error code 0x7381 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7381 #x010A Resolved: Index error, axis %u For further information, refer to CiA402 error code 0x7381 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7381 #x000B Analog encoder sync error, axis %u For further information, refer to CiA402 error code 0x7382 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7382 #x010B Resolved: Analog encoder sync error, axis %u For further information, refer to CiA402 error code 0x7382 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7382 #x000C Load Level Fault (I²T, Thermal State), axis %u For further information, refer to CiA402 error code 0x2350 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2350 #x010C Resolved: Load Level Fault (I²T, Thermal State), axis %u For further information, refer to CiA402 error code 0x2350 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2350 #x000D Following error, axis %u For further information, refer to CiA402 error code 0x8611 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8611 #x010D Resolved: Following error, axis %u For further information, refer to CiA402 error code 0x8611 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8611 #x000E Reference limit, axis %u For further information, refer to CiA402 error code 0x8612 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8612 #x010E Resolved: Reference limit, axis %u For further information, refer to CiA402 error code 0x8612 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8612 #x000F Voltage out of range For further information, refer to CiA402 error code 0x3280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3280 #x010F Resolved: Voltage out of range For further information, refer to CiA402 error code 0x3280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3280 #x0010 Excess temperature device For further information, refer to CiA402 error code 0x4210 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4210 #x0110 Resolved: Excess temperature device For further information, refer to CiA402 error code 0x4210 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4210 #x0011 Following error while stationary, axis %u For further information, refer to CiA402 error code 0x8682 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8682 #x0111 Resolved: Following error while stationary, axis %u For further information, refer to CiA402 error code 0x8682 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8682 #x0012 Invalid calibration type, axis %u For further information, refer to CiA402 error code 0xFF03 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF03 #x0112 Resolved: Invalid calibration type, axis %u For further information, refer to CiA402 error code 0xFF03 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF03 #x0013 No reference position, axis %u For further information, refer to CiA402 error code 0x8680 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8680 #x0113 Resolved: No reference position, axis %u For further information, refer to CiA402 error code 0x8680 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8680 #x0014 Device not homed, axis %u For further information, refer to CiA402 error code 0x8681 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8681 #x0114 Resolved: Device not homed, axis %u For further information, refer to CiA402 error code 0x8681 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8681 #x0015 Non-existent object sub-index PDO-mapped For further information, refer to CiA402 error code 0x8280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8280 #x0115 Resolved: Non-existent object sub-index PDO-mapped For further information, refer to CiA402 error code 0x8280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8280 Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 RxPDO mapping 1 #x1601 RxPDO mapping 2 #x1602 RxPDO mapping 3 #x1603 RxPDO mapping 4 #x1A00 TxPDO mapping 1 #x1A01 TxPDO mapping 2 #x1A02 TxPDO mapping 3 #x1A03 TxPDO mapping 4 PS #x10F3 5 0000 DC Sync0 DC-Synchronous #x0300 0 0 Axis 1 #x00010108 #x00010100 Axis 2 #x00010108 #x00010100 #x0100 2048 807E000C64000000000000800000 30 00000000000D000000000015000000001100000000000000000000000000 40 01020300 41 0010800026000101801000802200010200120E00640001030011160020000104 43 00FF 60 000000000000000000000000000000030100000000000000 70 B80B10278813C8006400D00700000000 E-MCC3 E-MCC3 https://www.zaber.com/products/controllers-joysticks/E-MCC 100 2000 4096 4 3 MII IN MII OUT e-mcc 402 65535 0 BOOL Boolean bit 1 BYTE Byte 8 SINT Signed short integer 8 USINT Unsigned short integer 8 INT Signed integer 16 UINT Unsigned integer 16 DINT Signed double integer 32 UDINT Unsigned double integer 32 LINT Signed long integer 64 ULINT Unsigned long integer 64 STRING(4) Visible string, 4 octets 32 STRING(6) Visible string, 6 octets 48 ARRAY [0..18] OF BYTE BYTE Diagnostic message 152 0 19 DT1018 144 0 Number of entries USINT 8 0 ro m 1 Vendor ID UDINT 32 16 ro m 2 Product code UDINT 32 48 ro m 3 Revision number UDINT 32 80 ro m 4 Serial number UDINT 32 112 ro m DT10E0 32 0 Number of entries USINT 8 0 ro o 1 Configured station alias register value UINT 16 16 rw o DT10F1 64 0 Number of entries USINT 8 0 ro o 1 Local error reaction UDINT 32 16 ro o 2 Sync error counter limit UINT 16 48 rw o DT10F3 19520 0 Number of entries USINT 8 0 ro m 1 Maximum messages USINT 8 16 ro m 2 Newest message USINT 8 24 ro m 3 Newest acknowledged message USINT 8 32 rw m 4 New messages available BOOL 1 40 ro m 5 Flags UINT 16 48 rw m 6 Diagnostic message 1 ARRAY [0..18] OF BYTE 152 64 ro m 7 Diagnostic message 2 ARRAY [0..18] OF BYTE 152 216 ro o 8 Diagnostic message 3 ARRAY [0..18] OF BYTE 152 368 ro o 9 Diagnostic message 4 ARRAY [0..18] OF BYTE 152 520 ro o 10 Diagnostic message 5 ARRAY [0..18] OF BYTE 152 672 ro o 11 Diagnostic message 6 ARRAY [0..18] OF BYTE 152 824 ro o 12 Diagnostic message 7 ARRAY [0..18] OF BYTE 152 976 ro o 13 Diagnostic message 8 ARRAY [0..18] OF BYTE 152 1128 ro o 14 Diagnostic message 9 ARRAY [0..18] OF BYTE 152 1280 ro o 15 Diagnostic message 10 ARRAY [0..18] OF BYTE 152 1432 ro o 16 Diagnostic message 11 ARRAY [0..18] OF BYTE 152 1584 ro o 17 Diagnostic message 12 ARRAY [0..18] OF BYTE 152 1736 ro o 18 Diagnostic message 13 ARRAY [0..18] OF BYTE 152 1888 ro o 19 Diagnostic message 14 ARRAY [0..18] OF BYTE 152 2040 ro o 20 Diagnostic message 15 ARRAY [0..18] OF BYTE 152 2192 ro o 21 Diagnostic message 16 ARRAY [0..18] OF BYTE 152 2344 ro o 22 Diagnostic message 17 ARRAY [0..18] OF BYTE 152 2496 ro o 23 Diagnostic message 18 ARRAY [0..18] OF BYTE 152 2648 ro o 24 Diagnostic message 19 ARRAY [0..18] OF BYTE 152 2800 ro o 25 Diagnostic message 20 ARRAY [0..18] OF BYTE 152 2952 ro o 26 Diagnostic message 21 ARRAY [0..18] OF BYTE 152 3104 ro o 27 Diagnostic message 22 ARRAY [0..18] OF BYTE 152 3256 ro o 28 Diagnostic message 23 ARRAY [0..18] OF BYTE 152 3408 ro o 29 Diagnostic message 24 ARRAY [0..18] OF BYTE 152 3560 ro o 30 Diagnostic message 25 ARRAY [0..18] OF BYTE 152 3712 ro o 31 Diagnostic message 26 ARRAY [0..18] OF BYTE 152 3864 ro o 32 Diagnostic message 27 ARRAY [0..18] OF BYTE 152 4016 ro o 33 Diagnostic message 28 ARRAY [0..18] OF BYTE 152 4168 ro o 34 Diagnostic message 29 ARRAY [0..18] OF BYTE 152 4320 ro o 35 Diagnostic message 30 ARRAY [0..18] OF BYTE 152 4472 ro o 36 Diagnostic message 31 ARRAY [0..18] OF BYTE 152 4624 ro o 37 Diagnostic message 32 ARRAY [0..18] OF BYTE 152 4776 ro o 38 Diagnostic message 33 ARRAY [0..18] OF BYTE 152 4928 ro o 39 Diagnostic message 34 ARRAY [0..18] OF BYTE 152 5080 ro o 40 Diagnostic message 35 ARRAY [0..18] OF BYTE 152 5232 ro o 41 Diagnostic message 36 ARRAY [0..18] OF BYTE 152 5384 ro o 42 Diagnostic message 37 ARRAY [0..18] OF BYTE 152 5536 ro o 43 Diagnostic message 38 ARRAY [0..18] OF BYTE 152 5688 ro o 44 Diagnostic message 39 ARRAY [0..18] OF BYTE 152 5840 ro o 45 Diagnostic message 40 ARRAY [0..18] OF BYTE 152 5992 ro o 46 Diagnostic message 41 ARRAY [0..18] OF BYTE 152 6144 ro o 47 Diagnostic message 42 ARRAY [0..18] OF BYTE 152 6296 ro o 48 Diagnostic message 43 ARRAY [0..18] OF BYTE 152 6448 ro o 49 Diagnostic message 44 ARRAY [0..18] OF BYTE 152 6600 ro o 50 Diagnostic message 45 ARRAY [0..18] OF BYTE 152 6752 ro o 51 Diagnostic message 46 ARRAY [0..18] OF BYTE 152 6904 ro o 52 Diagnostic message 47 ARRAY [0..18] OF BYTE 152 7056 ro o 53 Diagnostic message 48 ARRAY [0..18] OF BYTE 152 7208 ro o 54 Diagnostic message 49 ARRAY [0..18] OF BYTE 152 7360 ro o 55 Diagnostic message 50 ARRAY [0..18] OF BYTE 152 7512 ro o 56 Diagnostic message 51 ARRAY [0..18] OF BYTE 152 7664 ro o 57 Diagnostic message 52 ARRAY [0..18] OF BYTE 152 7816 ro o 58 Diagnostic message 53 ARRAY [0..18] OF BYTE 152 7968 ro o 59 Diagnostic message 54 ARRAY [0..18] OF BYTE 152 8120 ro o 60 Diagnostic message 55 ARRAY [0..18] OF BYTE 152 8272 ro o 61 Diagnostic message 56 ARRAY [0..18] OF BYTE 152 8424 ro o 62 Diagnostic message 57 ARRAY [0..18] OF BYTE 152 8576 ro o 63 Diagnostic message 58 ARRAY [0..18] OF BYTE 152 8728 ro o 64 Diagnostic message 59 ARRAY [0..18] OF BYTE 152 8880 ro o 65 Diagnostic message 60 ARRAY [0..18] OF BYTE 152 9032 ro o 66 Diagnostic message 61 ARRAY [0..18] OF BYTE 152 9184 ro o 67 Diagnostic message 62 ARRAY [0..18] OF BYTE 152 9336 ro o 68 Diagnostic message 63 ARRAY [0..18] OF BYTE 152 9488 ro o 69 Diagnostic message 64 ARRAY [0..18] OF BYTE 152 9640 ro o 70 Diagnostic message 65 ARRAY [0..18] OF BYTE 152 9792 ro o 71 Diagnostic message 66 ARRAY [0..18] OF BYTE 152 9944 ro o 72 Diagnostic message 67 ARRAY [0..18] OF BYTE 152 10096 ro o 73 Diagnostic message 68 ARRAY [0..18] OF BYTE 152 10248 ro o 74 Diagnostic message 69 ARRAY [0..18] OF BYTE 152 10400 ro o 75 Diagnostic message 70 ARRAY [0..18] OF BYTE 152 10552 ro o 76 Diagnostic message 71 ARRAY [0..18] OF BYTE 152 10704 ro o 77 Diagnostic message 72 ARRAY [0..18] OF BYTE 152 10856 ro o 78 Diagnostic message 73 ARRAY [0..18] OF BYTE 152 11008 ro o 79 Diagnostic message 74 ARRAY [0..18] OF BYTE 152 11160 ro o 80 Diagnostic message 75 ARRAY [0..18] OF BYTE 152 11312 ro o 81 Diagnostic message 76 ARRAY [0..18] OF BYTE 152 11464 ro o 82 Diagnostic message 77 ARRAY [0..18] OF BYTE 152 11616 ro o 83 Diagnostic message 78 ARRAY [0..18] OF BYTE 152 11768 ro o 84 Diagnostic message 79 ARRAY [0..18] OF BYTE 152 11920 ro o 85 Diagnostic message 80 ARRAY [0..18] OF BYTE 152 12072 ro o 86 Diagnostic message 81 ARRAY [0..18] OF BYTE 152 12224 ro o 87 Diagnostic message 82 ARRAY [0..18] OF BYTE 152 12376 ro o 88 Diagnostic message 83 ARRAY [0..18] OF BYTE 152 12528 ro o 89 Diagnostic message 84 ARRAY [0..18] OF BYTE 152 12680 ro o 90 Diagnostic message 85 ARRAY [0..18] OF BYTE 152 12832 ro o 91 Diagnostic message 86 ARRAY [0..18] OF BYTE 152 12984 ro o 92 Diagnostic message 87 ARRAY [0..18] OF BYTE 152 13136 ro o 93 Diagnostic message 88 ARRAY [0..18] OF BYTE 152 13288 ro o 94 Diagnostic message 89 ARRAY [0..18] OF BYTE 152 13440 ro o 95 Diagnostic message 90 ARRAY [0..18] OF BYTE 152 13592 ro o 96 Diagnostic message 91 ARRAY [0..18] OF BYTE 152 13744 ro o 97 Diagnostic message 92 ARRAY [0..18] OF BYTE 152 13896 ro o 98 Diagnostic message 93 ARRAY [0..18] OF BYTE 152 14048 ro o 99 Diagnostic message 94 ARRAY [0..18] OF BYTE 152 14200 ro o 100 Diagnostic message 95 ARRAY [0..18] OF BYTE 152 14352 ro o 101 Diagnostic message 96 ARRAY [0..18] OF BYTE 152 14504 ro o 102 Diagnostic message 97 ARRAY [0..18] OF BYTE 152 14656 ro o 103 Diagnostic message 98 ARRAY [0..18] OF BYTE 152 14808 ro o 104 Diagnostic message 99 ARRAY [0..18] OF BYTE 152 14960 ro o 105 Diagnostic message 100 ARRAY [0..18] OF BYTE 152 15112 ro o 106 Diagnostic message 101 ARRAY [0..18] OF BYTE 152 15264 ro o 107 Diagnostic message 102 ARRAY [0..18] OF BYTE 152 15416 ro o 108 Diagnostic message 103 ARRAY [0..18] OF BYTE 152 15568 ro o 109 Diagnostic message 104 ARRAY [0..18] OF BYTE 152 15720 ro o 110 Diagnostic message 105 ARRAY [0..18] OF BYTE 152 15872 ro o 111 Diagnostic message 106 ARRAY [0..18] OF BYTE 152 16024 ro o 112 Diagnostic message 107 ARRAY [0..18] OF BYTE 152 16176 ro o 113 Diagnostic message 108 ARRAY [0..18] OF BYTE 152 16328 ro o 114 Diagnostic message 109 ARRAY [0..18] OF BYTE 152 16480 ro o 115 Diagnostic message 110 ARRAY [0..18] OF BYTE 152 16632 ro o 116 Diagnostic message 111 ARRAY [0..18] OF BYTE 152 16784 ro o 117 Diagnostic message 112 ARRAY [0..18] OF BYTE 152 16936 ro o 118 Diagnostic message 113 ARRAY [0..18] OF BYTE 152 17088 ro o 119 Diagnostic message 114 ARRAY [0..18] OF BYTE 152 17240 ro o 120 Diagnostic message 115 ARRAY [0..18] OF BYTE 152 17392 ro o 121 Diagnostic message 116 ARRAY [0..18] OF BYTE 152 17544 ro o 122 Diagnostic message 117 ARRAY [0..18] OF BYTE 152 17696 ro o 123 Diagnostic message 118 ARRAY [0..18] OF BYTE 152 17848 ro o 124 Diagnostic message 119 ARRAY [0..18] OF BYTE 152 18000 ro o 125 Diagnostic message 120 ARRAY [0..18] OF BYTE 152 18152 ro o 126 Diagnostic message 121 ARRAY [0..18] OF BYTE 152 18304 ro o 127 Diagnostic message 122 ARRAY [0..18] OF BYTE 152 18456 ro o 128 Diagnostic message 123 ARRAY [0..18] OF BYTE 152 18608 ro o 129 Diagnostic message 124 ARRAY [0..18] OF BYTE 152 18760 ro o 130 Diagnostic message 125 ARRAY [0..18] OF BYTE 152 18912 ro o 131 Diagnostic message 126 ARRAY [0..18] OF BYTE 152 19064 ro o 132 Diagnostic message 127 ARRAY [0..18] OF BYTE 152 19216 ro o 133 Diagnostic message 128 ARRAY [0..18] OF BYTE 152 19368 ro o DT1600 272 0 Number of entries USINT 8 0 rw m 1 Mapped object 1 UDINT 32 16 rw c 2 Mapped object 2 UDINT 32 48 rw c 3 Mapped object 3 UDINT 32 80 rw c 4 Mapped object 4 UDINT 32 112 rw c 5 Mapped object 5 UDINT 32 144 rw c 6 Mapped object 6 UDINT 32 176 rw c 7 Mapped object 7 UDINT 32 208 rw c 8 Mapped object 8 UDINT 32 240 rw c DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro m Sync manager type DT1C00ARR 32 16 ro c DT1C12ARR UINT 80 1 5 DT1C12 96 0 Number of entries USINT 8 0 rw c Index of assigned PDO DT1C12ARR 80 16 rw c DT1C32 273 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 7 Minimum delay time UDINT 32 144 ro o 8 Get cycle time UINT 16 176 rw c 9 Delay time UDINT 32 192 ro c 11 SM-event missed counter UINT 16 224 ro o 12 Cycle time too small counter UINT 16 240 ro c 13 Shift too short counter UINT 16 256 ro c 32 Sync error BOOL 1 272 ro c T DT1C33 241 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 8 Get cycle time UINT 16 144 rw c 9 Delay time UDINT 32 160 ro c 11 SM-event missed counter UINT 16 192 ro o 12 Cycle time too small counter UINT 16 208 ro c 13 Shift too short counter UINT 16 224 ro o 32 Sync error BOOL 1 240 ro c T DT2001ARR INT 64 1 4 DT2001 80 0 Number of entries USINT 8 0 ro Analog inputs DT2001ARR 64 16 ro T DT2002ARR INT 16 1 1 DT2002 32 0 Number of entries USINT 8 0 ro Analog outputs DT2002ARR 16 16 rw R DT2400 152 0 Number of entries USINT 8 0 ro 1 Activate BOOL 1 16 rw 2 Peripheral ID UDINT 32 24 rw 3 Peripheral serial UDINT 32 56 ro 4 Pending peripheral ID UDINT 32 88 ro 5 Pending peripheral serial UDINT 32 120 ro DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro m Software position limit DT607DARR 64 16 rw m DT6097ARR UDINT 64 1 2 DT6097 80 0 Number of entries USINT 8 0 ro o Acceleration factor DT6097ARR 64 16 rw o DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro m Homing speeds DT6099ARR 64 16 rw m DT60E3ARR SINT 24 1 3 DT60E3 40 0 Number of entries USINT 8 0 ro c Supported homing method DT60E3ARR 24 16 ro c DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro o Digital outputs DT60FEARR 64 16 rw o #x0001 Critical system error For further information, refer to CiA402 error code 0xFF04 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF04 #x0101 Resolved: Critical system error For further information, refer to CiA402 error code 0xFF04 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF04 #x0002 Peripheral not supported, axis %u For further information, refer to CiA402 error code 0xFF00 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF00 #x0102 Resolved: Peripheral not supported, axis %u For further information, refer to CiA402 error code 0xFF00 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF00 #x0003 Peripheral inactive, axis %u For further information, refer to CiA402 error code 0xFF01 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF01 #x0103 Resolved: Peripheral inactive, axis %u For further information, refer to CiA402 error code 0xFF01 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF01 #x0004 Contact 1 (hardware emergency stop), axis %u For further information, refer to CiA402 error code 0x5441 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_5441 #x0104 Resolved: Contact 1 (hardware emergency stop), axis %u For further information, refer to CiA402 error code 0x5441 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_5441 #x0005 Overvoltage or undervoltage, axis %u For further information, refer to CiA402 error code 0x3281 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3281 #x0105 Resolved: Overvoltage or undervoltage, axis %u For further information, refer to CiA402 error code 0x3281 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3281 #x0006 Current inrush error, axis %u For further information, refer to CiA402 error code 0x2280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2280 #x0106 Resolved: Current inrush error, axis %u For further information, refer to CiA402 error code 0x2280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2280 #x0007 Excess temperature drive, axis %u For further information, refer to CiA402 error code 0x4310 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4310 #x0107 Resolved: Excess temperature drive, axis %u For further information, refer to CiA402 error code 0x4310 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4310 #x0008 Driver temperature/current error, axis %u For further information, refer to CiA402 error code 0xFF02 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF02 #x0108 Resolved: Driver temperature/current error, axis %u For further information, refer to CiA402 error code 0xFF02 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF02 #x0009 Encoder error, axis %u For further information, refer to CiA402 error code 0x7380 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7380 #x0109 Resolved: Encoder error, axis %u For further information, refer to CiA402 error code 0x7380 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7380 #x000A Index error, axis %u For further information, refer to CiA402 error code 0x7381 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7381 #x010A Resolved: Index error, axis %u For further information, refer to CiA402 error code 0x7381 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7381 #x000B Analog encoder sync error, axis %u For further information, refer to CiA402 error code 0x7382 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7382 #x010B Resolved: Analog encoder sync error, axis %u For further information, refer to CiA402 error code 0x7382 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7382 #x000C Load Level Fault (I²T, Thermal State), axis %u For further information, refer to CiA402 error code 0x2350 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2350 #x010C Resolved: Load Level Fault (I²T, Thermal State), axis %u For further information, refer to CiA402 error code 0x2350 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2350 #x000D Following error, axis %u For further information, refer to CiA402 error code 0x8611 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8611 #x010D Resolved: Following error, axis %u For further information, refer to CiA402 error code 0x8611 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8611 #x000E Reference limit, axis %u For further information, refer to CiA402 error code 0x8612 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8612 #x010E Resolved: Reference limit, axis %u For further information, refer to CiA402 error code 0x8612 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8612 #x000F Voltage out of range For further information, refer to CiA402 error code 0x3280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3280 #x010F Resolved: Voltage out of range For further information, refer to CiA402 error code 0x3280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3280 #x0010 Excess temperature device For further information, refer to CiA402 error code 0x4210 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4210 #x0110 Resolved: Excess temperature device For further information, refer to CiA402 error code 0x4210 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4210 #x0011 Following error while stationary, axis %u For further information, refer to CiA402 error code 0x8682 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8682 #x0111 Resolved: Following error while stationary, axis %u For further information, refer to CiA402 error code 0x8682 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8682 #x0012 Invalid calibration type, axis %u For further information, refer to CiA402 error code 0xFF03 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF03 #x0112 Resolved: Invalid calibration type, axis %u For further information, refer to CiA402 error code 0xFF03 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF03 #x0013 No reference position, axis %u For further information, refer to CiA402 error code 0x8680 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8680 #x0113 Resolved: No reference position, axis %u For further information, refer to CiA402 error code 0x8680 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8680 #x0014 Device not homed, axis %u For further information, refer to CiA402 error code 0x8681 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8681 #x0114 Resolved: Device not homed, axis %u For further information, refer to CiA402 error code 0x8681 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8681 #x0015 Non-existent object sub-index PDO-mapped For further information, refer to CiA402 error code 0x8280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8280 #x0115 Resolved: Non-existent object sub-index PDO-mapped For further information, refer to CiA402 error code 0x8280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8280 Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 RxPDO mapping 1 #x1601 RxPDO mapping 2 #x1602 RxPDO mapping 3 #x1603 RxPDO mapping 4 #x1A00 TxPDO mapping 1 #x1A01 TxPDO mapping 2 #x1A02 TxPDO mapping 3 #x1A03 TxPDO mapping 4 PS #x10F3 5 0000 DC Sync0 DC-Synchronous #x0300 0 0 Axis 1 #x00010108 #x00010100 Axis 2 #x00010108 #x00010100 Axis 3 #x00010108 #x00010100 #x0100 2048 807E000C64000000000000800000 30 00000000000D000000000015000000001100000000000000000000000000 40 01020300 41 0010800026000101801000802200010200121500640001030011210020000104 43 00FF 60 000000000000000000000000000000030100000000000000 70 B80B10278813C8006400D00700000000 E-MCC1 E-MCC1 https://www.zaber.com/products/controllers-joysticks/E-MCC 100 2000 4096 4 3 MII IN MII OUT e-mcc 402 2 0 BOOL Boolean bit 1 BYTE Byte 8 SINT Signed short integer 8 USINT Unsigned short integer 8 INT Signed integer 16 UINT Unsigned integer 16 DINT Signed double integer 32 UDINT Unsigned double integer 32 LINT Signed long integer 64 ULINT Unsigned long integer 64 STRING(4) Visible string, 4 octets 32 STRING(6) Visible string, 6 octets 48 ARRAY [0..18] OF BYTE BYTE Diagnostic message 152 0 19 DT1018 144 0 Number of entries USINT 8 0 ro m 1 Vendor ID UDINT 32 16 ro m 2 Product code UDINT 32 48 ro m 3 Revision number UDINT 32 80 ro m 4 Serial number UDINT 32 112 ro m DT10E0 32 0 Number of entries USINT 8 0 ro o 1 Configured station alias register value UINT 16 16 rw o DT10F1 64 0 Number of entries USINT 8 0 ro o 1 Local error reaction UDINT 32 16 ro o 2 Sync error counter limit UINT 16 48 rw o DT10F3 19520 0 Number of entries USINT 8 0 ro m 1 Maximum messages USINT 8 16 ro m 2 Newest message USINT 8 24 ro m 3 Newest acknowledged message USINT 8 32 rw m 4 New messages available BOOL 1 40 ro m 5 Flags UINT 16 48 rw m 6 Diagnostic message 1 ARRAY [0..18] OF BYTE 152 64 ro m 7 Diagnostic message 2 ARRAY [0..18] OF BYTE 152 216 ro o 8 Diagnostic message 3 ARRAY [0..18] OF BYTE 152 368 ro o 9 Diagnostic message 4 ARRAY [0..18] OF BYTE 152 520 ro o 10 Diagnostic message 5 ARRAY [0..18] OF BYTE 152 672 ro o 11 Diagnostic message 6 ARRAY [0..18] OF BYTE 152 824 ro o 12 Diagnostic message 7 ARRAY [0..18] OF BYTE 152 976 ro o 13 Diagnostic message 8 ARRAY [0..18] OF BYTE 152 1128 ro o 14 Diagnostic message 9 ARRAY [0..18] OF BYTE 152 1280 ro o 15 Diagnostic message 10 ARRAY [0..18] OF BYTE 152 1432 ro o 16 Diagnostic message 11 ARRAY [0..18] OF BYTE 152 1584 ro o 17 Diagnostic message 12 ARRAY [0..18] OF BYTE 152 1736 ro o 18 Diagnostic message 13 ARRAY [0..18] OF BYTE 152 1888 ro o 19 Diagnostic message 14 ARRAY [0..18] OF BYTE 152 2040 ro o 20 Diagnostic message 15 ARRAY [0..18] OF BYTE 152 2192 ro o 21 Diagnostic message 16 ARRAY [0..18] OF BYTE 152 2344 ro o 22 Diagnostic message 17 ARRAY [0..18] OF BYTE 152 2496 ro o 23 Diagnostic message 18 ARRAY [0..18] OF BYTE 152 2648 ro o 24 Diagnostic message 19 ARRAY [0..18] OF BYTE 152 2800 ro o 25 Diagnostic message 20 ARRAY [0..18] OF BYTE 152 2952 ro o 26 Diagnostic message 21 ARRAY [0..18] OF BYTE 152 3104 ro o 27 Diagnostic message 22 ARRAY [0..18] OF BYTE 152 3256 ro o 28 Diagnostic message 23 ARRAY [0..18] OF BYTE 152 3408 ro o 29 Diagnostic message 24 ARRAY [0..18] OF BYTE 152 3560 ro o 30 Diagnostic message 25 ARRAY [0..18] OF BYTE 152 3712 ro o 31 Diagnostic message 26 ARRAY [0..18] OF BYTE 152 3864 ro o 32 Diagnostic message 27 ARRAY [0..18] OF BYTE 152 4016 ro o 33 Diagnostic message 28 ARRAY [0..18] OF BYTE 152 4168 ro o 34 Diagnostic message 29 ARRAY [0..18] OF BYTE 152 4320 ro o 35 Diagnostic message 30 ARRAY [0..18] OF BYTE 152 4472 ro o 36 Diagnostic message 31 ARRAY [0..18] OF BYTE 152 4624 ro o 37 Diagnostic message 32 ARRAY [0..18] OF BYTE 152 4776 ro o 38 Diagnostic message 33 ARRAY [0..18] OF BYTE 152 4928 ro o 39 Diagnostic message 34 ARRAY [0..18] OF BYTE 152 5080 ro o 40 Diagnostic message 35 ARRAY [0..18] OF BYTE 152 5232 ro o 41 Diagnostic message 36 ARRAY [0..18] OF BYTE 152 5384 ro o 42 Diagnostic message 37 ARRAY [0..18] OF BYTE 152 5536 ro o 43 Diagnostic message 38 ARRAY [0..18] OF BYTE 152 5688 ro o 44 Diagnostic message 39 ARRAY [0..18] OF BYTE 152 5840 ro o 45 Diagnostic message 40 ARRAY [0..18] OF BYTE 152 5992 ro o 46 Diagnostic message 41 ARRAY [0..18] OF BYTE 152 6144 ro o 47 Diagnostic message 42 ARRAY [0..18] OF BYTE 152 6296 ro o 48 Diagnostic message 43 ARRAY [0..18] OF BYTE 152 6448 ro o 49 Diagnostic message 44 ARRAY [0..18] OF BYTE 152 6600 ro o 50 Diagnostic message 45 ARRAY [0..18] OF BYTE 152 6752 ro o 51 Diagnostic message 46 ARRAY [0..18] OF BYTE 152 6904 ro o 52 Diagnostic message 47 ARRAY [0..18] OF BYTE 152 7056 ro o 53 Diagnostic message 48 ARRAY [0..18] OF BYTE 152 7208 ro o 54 Diagnostic message 49 ARRAY [0..18] OF BYTE 152 7360 ro o 55 Diagnostic message 50 ARRAY [0..18] OF BYTE 152 7512 ro o 56 Diagnostic message 51 ARRAY [0..18] OF BYTE 152 7664 ro o 57 Diagnostic message 52 ARRAY [0..18] OF BYTE 152 7816 ro o 58 Diagnostic message 53 ARRAY [0..18] OF BYTE 152 7968 ro o 59 Diagnostic message 54 ARRAY [0..18] OF BYTE 152 8120 ro o 60 Diagnostic message 55 ARRAY [0..18] OF BYTE 152 8272 ro o 61 Diagnostic message 56 ARRAY [0..18] OF BYTE 152 8424 ro o 62 Diagnostic message 57 ARRAY [0..18] OF BYTE 152 8576 ro o 63 Diagnostic message 58 ARRAY [0..18] OF BYTE 152 8728 ro o 64 Diagnostic message 59 ARRAY [0..18] OF BYTE 152 8880 ro o 65 Diagnostic message 60 ARRAY [0..18] OF BYTE 152 9032 ro o 66 Diagnostic message 61 ARRAY [0..18] OF BYTE 152 9184 ro o 67 Diagnostic message 62 ARRAY [0..18] OF BYTE 152 9336 ro o 68 Diagnostic message 63 ARRAY [0..18] OF BYTE 152 9488 ro o 69 Diagnostic message 64 ARRAY [0..18] OF BYTE 152 9640 ro o 70 Diagnostic message 65 ARRAY [0..18] OF BYTE 152 9792 ro o 71 Diagnostic message 66 ARRAY [0..18] OF BYTE 152 9944 ro o 72 Diagnostic message 67 ARRAY [0..18] OF BYTE 152 10096 ro o 73 Diagnostic message 68 ARRAY [0..18] OF BYTE 152 10248 ro o 74 Diagnostic message 69 ARRAY [0..18] OF BYTE 152 10400 ro o 75 Diagnostic message 70 ARRAY [0..18] OF BYTE 152 10552 ro o 76 Diagnostic message 71 ARRAY [0..18] OF BYTE 152 10704 ro o 77 Diagnostic message 72 ARRAY [0..18] OF BYTE 152 10856 ro o 78 Diagnostic message 73 ARRAY [0..18] OF BYTE 152 11008 ro o 79 Diagnostic message 74 ARRAY [0..18] OF BYTE 152 11160 ro o 80 Diagnostic message 75 ARRAY [0..18] OF BYTE 152 11312 ro o 81 Diagnostic message 76 ARRAY [0..18] OF BYTE 152 11464 ro o 82 Diagnostic message 77 ARRAY [0..18] OF BYTE 152 11616 ro o 83 Diagnostic message 78 ARRAY [0..18] OF BYTE 152 11768 ro o 84 Diagnostic message 79 ARRAY [0..18] OF BYTE 152 11920 ro o 85 Diagnostic message 80 ARRAY [0..18] OF BYTE 152 12072 ro o 86 Diagnostic message 81 ARRAY [0..18] OF BYTE 152 12224 ro o 87 Diagnostic message 82 ARRAY [0..18] OF BYTE 152 12376 ro o 88 Diagnostic message 83 ARRAY [0..18] OF BYTE 152 12528 ro o 89 Diagnostic message 84 ARRAY [0..18] OF BYTE 152 12680 ro o 90 Diagnostic message 85 ARRAY [0..18] OF BYTE 152 12832 ro o 91 Diagnostic message 86 ARRAY [0..18] OF BYTE 152 12984 ro o 92 Diagnostic message 87 ARRAY [0..18] OF BYTE 152 13136 ro o 93 Diagnostic message 88 ARRAY [0..18] OF BYTE 152 13288 ro o 94 Diagnostic message 89 ARRAY [0..18] OF BYTE 152 13440 ro o 95 Diagnostic message 90 ARRAY [0..18] OF BYTE 152 13592 ro o 96 Diagnostic message 91 ARRAY [0..18] OF BYTE 152 13744 ro o 97 Diagnostic message 92 ARRAY [0..18] OF BYTE 152 13896 ro o 98 Diagnostic message 93 ARRAY [0..18] OF BYTE 152 14048 ro o 99 Diagnostic message 94 ARRAY [0..18] OF BYTE 152 14200 ro o 100 Diagnostic message 95 ARRAY [0..18] OF BYTE 152 14352 ro o 101 Diagnostic message 96 ARRAY [0..18] OF BYTE 152 14504 ro o 102 Diagnostic message 97 ARRAY [0..18] OF BYTE 152 14656 ro o 103 Diagnostic message 98 ARRAY [0..18] OF BYTE 152 14808 ro o 104 Diagnostic message 99 ARRAY [0..18] OF BYTE 152 14960 ro o 105 Diagnostic message 100 ARRAY [0..18] OF BYTE 152 15112 ro o 106 Diagnostic message 101 ARRAY [0..18] OF BYTE 152 15264 ro o 107 Diagnostic message 102 ARRAY [0..18] OF BYTE 152 15416 ro o 108 Diagnostic message 103 ARRAY [0..18] OF BYTE 152 15568 ro o 109 Diagnostic message 104 ARRAY [0..18] OF BYTE 152 15720 ro o 110 Diagnostic message 105 ARRAY [0..18] OF BYTE 152 15872 ro o 111 Diagnostic message 106 ARRAY [0..18] OF BYTE 152 16024 ro o 112 Diagnostic message 107 ARRAY [0..18] OF BYTE 152 16176 ro o 113 Diagnostic message 108 ARRAY [0..18] OF BYTE 152 16328 ro o 114 Diagnostic message 109 ARRAY [0..18] OF BYTE 152 16480 ro o 115 Diagnostic message 110 ARRAY [0..18] OF BYTE 152 16632 ro o 116 Diagnostic message 111 ARRAY [0..18] OF BYTE 152 16784 ro o 117 Diagnostic message 112 ARRAY [0..18] OF BYTE 152 16936 ro o 118 Diagnostic message 113 ARRAY [0..18] OF BYTE 152 17088 ro o 119 Diagnostic message 114 ARRAY [0..18] OF BYTE 152 17240 ro o 120 Diagnostic message 115 ARRAY [0..18] OF BYTE 152 17392 ro o 121 Diagnostic message 116 ARRAY [0..18] OF BYTE 152 17544 ro o 122 Diagnostic message 117 ARRAY [0..18] OF BYTE 152 17696 ro o 123 Diagnostic message 118 ARRAY [0..18] OF BYTE 152 17848 ro o 124 Diagnostic message 119 ARRAY [0..18] OF BYTE 152 18000 ro o 125 Diagnostic message 120 ARRAY [0..18] OF BYTE 152 18152 ro o 126 Diagnostic message 121 ARRAY [0..18] OF BYTE 152 18304 ro o 127 Diagnostic message 122 ARRAY [0..18] OF BYTE 152 18456 ro o 128 Diagnostic message 123 ARRAY [0..18] OF BYTE 152 18608 ro o 129 Diagnostic message 124 ARRAY [0..18] OF BYTE 152 18760 ro o 130 Diagnostic message 125 ARRAY [0..18] OF BYTE 152 18912 ro o 131 Diagnostic message 126 ARRAY [0..18] OF BYTE 152 19064 ro o 132 Diagnostic message 127 ARRAY [0..18] OF BYTE 152 19216 ro o 133 Diagnostic message 128 ARRAY [0..18] OF BYTE 152 19368 ro o DT1600 272 0 Number of entries USINT 8 0 rw m 1 Mapped object 1 UDINT 32 16 rw c 2 Mapped object 2 UDINT 32 48 rw c 3 Mapped object 3 UDINT 32 80 rw c 4 Mapped object 4 UDINT 32 112 rw c 5 Mapped object 5 UDINT 32 144 rw c 6 Mapped object 6 UDINT 32 176 rw c 7 Mapped object 7 UDINT 32 208 rw c 8 Mapped object 8 UDINT 32 240 rw c DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro m Sync manager type DT1C00ARR 32 16 ro c DT1C12ARR UINT 80 1 5 DT1C12 96 0 Number of entries USINT 8 0 rw c Index of assigned PDO DT1C12ARR 80 16 rw c DT1C32 273 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 7 Minimum delay time UDINT 32 144 ro o 8 Get cycle time UINT 16 176 rw c 9 Delay time UDINT 32 192 ro c 11 SM-event missed counter UINT 16 224 ro o 12 Cycle time too small counter UINT 16 240 ro c 13 Shift too short counter UINT 16 256 ro c 32 Sync error BOOL 1 272 ro c T DT1C33 241 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 8 Get cycle time UINT 16 144 rw c 9 Delay time UDINT 32 160 ro c 11 SM-event missed counter UINT 16 192 ro o 12 Cycle time too small counter UINT 16 208 ro c 13 Shift too short counter UINT 16 224 ro o 32 Sync error BOOL 1 240 ro c T DT2001ARR INT 64 1 4 DT2001 80 0 Number of entries USINT 8 0 ro Analog inputs DT2001ARR 64 16 ro T DT2002ARR INT 16 1 1 DT2002 32 0 Number of entries USINT 8 0 ro Analog outputs DT2002ARR 16 16 rw R DT2400 152 0 Number of entries USINT 8 0 ro 1 Activate BOOL 1 16 rw 2 Peripheral ID UDINT 32 24 rw 3 Peripheral serial UDINT 32 56 ro 4 Pending peripheral ID UDINT 32 88 ro 5 Pending peripheral serial UDINT 32 120 ro DT607BARR DINT 64 1 2 DT607B 80 0 Number of entries USINT 8 0 ro m Position range limit DT607BARR 64 16 rw m DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro m Software position limit DT607DARR 64 16 rw m DT6097ARR UDINT 64 1 2 DT6097 80 0 Number of entries USINT 8 0 ro o Acceleration factor DT6097ARR 64 16 rw o DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro m Homing speeds DT6099ARR 64 16 rw m DT60E3ARR SINT 24 1 3 DT60E3 40 0 Number of entries USINT 8 0 ro c Supported homing method DT60E3ARR 24 16 ro c DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro o Digital outputs DT60FEARR 64 16 rw o #x0001 Critical system error For further information, refer to CiA402 error code 0xFF04 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF04 #x0101 Resolved: Critical system error For further information, refer to CiA402 error code 0xFF04 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF04 #x0002 Peripheral not supported, axis %u For further information, refer to CiA402 error code 0xFF00 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF00 #x0102 Resolved: Peripheral not supported, axis %u For further information, refer to CiA402 error code 0xFF00 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF00 #x0003 Peripheral inactive, axis %u For further information, refer to CiA402 error code 0xFF01 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF01 #x0103 Resolved: Peripheral inactive, axis %u For further information, refer to CiA402 error code 0xFF01 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF01 #x0004 Contact 1 (hardware emergency stop), axis %u For further information, refer to CiA402 error code 0x5441 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_5441 #x0104 Resolved: Contact 1 (hardware emergency stop), axis %u For further information, refer to CiA402 error code 0x5441 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_5441 #x0005 Overvoltage or undervoltage, axis %u For further information, refer to CiA402 error code 0x3281 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3281 #x0105 Resolved: Overvoltage or undervoltage, axis %u For further information, refer to CiA402 error code 0x3281 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3281 #x0006 Current inrush error, axis %u For further information, refer to CiA402 error code 0x2280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2280 #x0106 Resolved: Current inrush error, axis %u For further information, refer to CiA402 error code 0x2280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2280 #x0007 Excess temperature drive, axis %u For further information, refer to CiA402 error code 0x4310 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4310 #x0107 Resolved: Excess temperature drive, axis %u For further information, refer to CiA402 error code 0x4310 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4310 #x0008 Driver temperature/current error, axis %u For further information, refer to CiA402 error code 0xFF02 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF02 #x0108 Resolved: Driver temperature/current error, axis %u For further information, refer to CiA402 error code 0xFF02 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF02 #x0009 Encoder error, axis %u For further information, refer to CiA402 error code 0x7380 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7380 #x0109 Resolved: Encoder error, axis %u For further information, refer to CiA402 error code 0x7380 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7380 #x000A Index error, axis %u For further information, refer to CiA402 error code 0x7381 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7381 #x010A Resolved: Index error, axis %u For further information, refer to CiA402 error code 0x7381 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7381 #x000B Analog encoder sync error, axis %u For further information, refer to CiA402 error code 0x7382 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7382 #x010B Resolved: Analog encoder sync error, axis %u For further information, refer to CiA402 error code 0x7382 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7382 #x000C Load Level Fault (I²T, Thermal State), axis %u For further information, refer to CiA402 error code 0x2350 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2350 #x010C Resolved: Load Level Fault (I²T, Thermal State), axis %u For further information, refer to CiA402 error code 0x2350 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2350 #x000D Following error, axis %u For further information, refer to CiA402 error code 0x8611 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8611 #x010D Resolved: Following error, axis %u For further information, refer to CiA402 error code 0x8611 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8611 #x000E Reference limit, axis %u For further information, refer to CiA402 error code 0x8612 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8612 #x010E Resolved: Reference limit, axis %u For further information, refer to CiA402 error code 0x8612 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8612 #x000F Voltage out of range For further information, refer to CiA402 error code 0x3280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3280 #x010F Resolved: Voltage out of range For further information, refer to CiA402 error code 0x3280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3280 #x0010 Excess temperature device For further information, refer to CiA402 error code 0x4210 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4210 #x0110 Resolved: Excess temperature device For further information, refer to CiA402 error code 0x4210 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4210 #x0011 Following error while stationary, axis %u For further information, refer to CiA402 error code 0x8682 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8682 #x0111 Resolved: Following error while stationary, axis %u For further information, refer to CiA402 error code 0x8682 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8682 #x0012 Invalid calibration type, axis %u For further information, refer to CiA402 error code 0xFF03 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF03 #x0112 Resolved: Invalid calibration type, axis %u For further information, refer to CiA402 error code 0xFF03 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF03 #x0013 No reference position, axis %u For further information, refer to CiA402 error code 0x8680 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8680 #x0113 Resolved: No reference position, axis %u For further information, refer to CiA402 error code 0x8680 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8680 #x0014 Device not homed, axis %u For further information, refer to CiA402 error code 0x8681 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8681 #x0114 Resolved: Device not homed, axis %u For further information, refer to CiA402 error code 0x8681 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8681 #x0015 Non-existent object sub-index PDO-mapped For further information, refer to CiA402 error code 0x8280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8280 #x0115 Resolved: Non-existent object sub-index PDO-mapped For further information, refer to CiA402 error code 0x8280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8280 Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 RxPDO mapping 1 #x1601 RxPDO mapping 2 #x1602 RxPDO mapping 3 #x1603 RxPDO mapping 4 #x1A00 TxPDO mapping 1 #x1A01 TxPDO mapping 2 #x1A02 TxPDO mapping 3 #x1A03 TxPDO mapping 4 PS #x10F3 5 0000 DC Sync0 DC-Synchronous #x0300 0 0 Axis 1 #x00020108 #x00020100 #x0100 2048 807E000C64000000000000800000 30 00000000000D000000000015000000001100000000000000000000000000 40 01020300 41 00108000260001018010008022000102001207006400010300110B0020000104 43 00FF 60 000000000000000000000000000000030100000000000000 70 B80B10278813C8006400D00700000000 E-MCC2 E-MCC2 https://www.zaber.com/products/controllers-joysticks/E-MCC 100 2000 4096 4 3 MII IN MII OUT e-mcc 402 65535 0 BOOL Boolean bit 1 BYTE Byte 8 SINT Signed short integer 8 USINT Unsigned short integer 8 INT Signed integer 16 UINT Unsigned integer 16 DINT Signed double integer 32 UDINT Unsigned double integer 32 LINT Signed long integer 64 ULINT Unsigned long integer 64 STRING(4) Visible string, 4 octets 32 STRING(6) Visible string, 6 octets 48 ARRAY [0..18] OF BYTE BYTE Diagnostic message 152 0 19 DT1018 144 0 Number of entries USINT 8 0 ro m 1 Vendor ID UDINT 32 16 ro m 2 Product code UDINT 32 48 ro m 3 Revision number UDINT 32 80 ro m 4 Serial number UDINT 32 112 ro m DT10E0 32 0 Number of entries USINT 8 0 ro o 1 Configured station alias register value UINT 16 16 rw o DT10F1 64 0 Number of entries USINT 8 0 ro o 1 Local error reaction UDINT 32 16 ro o 2 Sync error counter limit UINT 16 48 rw o DT10F3 19520 0 Number of entries USINT 8 0 ro m 1 Maximum messages USINT 8 16 ro m 2 Newest message USINT 8 24 ro m 3 Newest acknowledged message USINT 8 32 rw m 4 New messages available BOOL 1 40 ro m 5 Flags UINT 16 48 rw m 6 Diagnostic message 1 ARRAY [0..18] OF BYTE 152 64 ro m 7 Diagnostic message 2 ARRAY [0..18] OF BYTE 152 216 ro o 8 Diagnostic message 3 ARRAY [0..18] OF BYTE 152 368 ro o 9 Diagnostic message 4 ARRAY [0..18] OF BYTE 152 520 ro o 10 Diagnostic message 5 ARRAY [0..18] OF BYTE 152 672 ro o 11 Diagnostic message 6 ARRAY [0..18] OF BYTE 152 824 ro o 12 Diagnostic message 7 ARRAY [0..18] OF BYTE 152 976 ro o 13 Diagnostic message 8 ARRAY [0..18] OF BYTE 152 1128 ro o 14 Diagnostic message 9 ARRAY [0..18] OF BYTE 152 1280 ro o 15 Diagnostic message 10 ARRAY [0..18] OF BYTE 152 1432 ro o 16 Diagnostic message 11 ARRAY [0..18] OF BYTE 152 1584 ro o 17 Diagnostic message 12 ARRAY [0..18] OF BYTE 152 1736 ro o 18 Diagnostic message 13 ARRAY [0..18] OF BYTE 152 1888 ro o 19 Diagnostic message 14 ARRAY [0..18] OF BYTE 152 2040 ro o 20 Diagnostic message 15 ARRAY [0..18] OF BYTE 152 2192 ro o 21 Diagnostic message 16 ARRAY [0..18] OF BYTE 152 2344 ro o 22 Diagnostic message 17 ARRAY [0..18] OF BYTE 152 2496 ro o 23 Diagnostic message 18 ARRAY [0..18] OF BYTE 152 2648 ro o 24 Diagnostic message 19 ARRAY [0..18] OF BYTE 152 2800 ro o 25 Diagnostic message 20 ARRAY [0..18] OF BYTE 152 2952 ro o 26 Diagnostic message 21 ARRAY [0..18] OF BYTE 152 3104 ro o 27 Diagnostic message 22 ARRAY [0..18] OF BYTE 152 3256 ro o 28 Diagnostic message 23 ARRAY [0..18] OF BYTE 152 3408 ro o 29 Diagnostic message 24 ARRAY [0..18] OF BYTE 152 3560 ro o 30 Diagnostic message 25 ARRAY [0..18] OF BYTE 152 3712 ro o 31 Diagnostic message 26 ARRAY [0..18] OF BYTE 152 3864 ro o 32 Diagnostic message 27 ARRAY [0..18] OF BYTE 152 4016 ro o 33 Diagnostic message 28 ARRAY [0..18] OF BYTE 152 4168 ro o 34 Diagnostic message 29 ARRAY [0..18] OF BYTE 152 4320 ro o 35 Diagnostic message 30 ARRAY [0..18] OF BYTE 152 4472 ro o 36 Diagnostic message 31 ARRAY [0..18] OF BYTE 152 4624 ro o 37 Diagnostic message 32 ARRAY [0..18] OF BYTE 152 4776 ro o 38 Diagnostic message 33 ARRAY [0..18] OF BYTE 152 4928 ro o 39 Diagnostic message 34 ARRAY [0..18] OF BYTE 152 5080 ro o 40 Diagnostic message 35 ARRAY [0..18] OF BYTE 152 5232 ro o 41 Diagnostic message 36 ARRAY [0..18] OF BYTE 152 5384 ro o 42 Diagnostic message 37 ARRAY [0..18] OF BYTE 152 5536 ro o 43 Diagnostic message 38 ARRAY [0..18] OF BYTE 152 5688 ro o 44 Diagnostic message 39 ARRAY [0..18] OF BYTE 152 5840 ro o 45 Diagnostic message 40 ARRAY [0..18] OF BYTE 152 5992 ro o 46 Diagnostic message 41 ARRAY [0..18] OF BYTE 152 6144 ro o 47 Diagnostic message 42 ARRAY [0..18] OF BYTE 152 6296 ro o 48 Diagnostic message 43 ARRAY [0..18] OF BYTE 152 6448 ro o 49 Diagnostic message 44 ARRAY [0..18] OF BYTE 152 6600 ro o 50 Diagnostic message 45 ARRAY [0..18] OF BYTE 152 6752 ro o 51 Diagnostic message 46 ARRAY [0..18] OF BYTE 152 6904 ro o 52 Diagnostic message 47 ARRAY [0..18] OF BYTE 152 7056 ro o 53 Diagnostic message 48 ARRAY [0..18] OF BYTE 152 7208 ro o 54 Diagnostic message 49 ARRAY [0..18] OF BYTE 152 7360 ro o 55 Diagnostic message 50 ARRAY [0..18] OF BYTE 152 7512 ro o 56 Diagnostic message 51 ARRAY [0..18] OF BYTE 152 7664 ro o 57 Diagnostic message 52 ARRAY [0..18] OF BYTE 152 7816 ro o 58 Diagnostic message 53 ARRAY [0..18] OF BYTE 152 7968 ro o 59 Diagnostic message 54 ARRAY [0..18] OF BYTE 152 8120 ro o 60 Diagnostic message 55 ARRAY [0..18] OF BYTE 152 8272 ro o 61 Diagnostic message 56 ARRAY [0..18] OF BYTE 152 8424 ro o 62 Diagnostic message 57 ARRAY [0..18] OF BYTE 152 8576 ro o 63 Diagnostic message 58 ARRAY [0..18] OF BYTE 152 8728 ro o 64 Diagnostic message 59 ARRAY [0..18] OF BYTE 152 8880 ro o 65 Diagnostic message 60 ARRAY [0..18] OF BYTE 152 9032 ro o 66 Diagnostic message 61 ARRAY [0..18] OF BYTE 152 9184 ro o 67 Diagnostic message 62 ARRAY [0..18] OF BYTE 152 9336 ro o 68 Diagnostic message 63 ARRAY [0..18] OF BYTE 152 9488 ro o 69 Diagnostic message 64 ARRAY [0..18] OF BYTE 152 9640 ro o 70 Diagnostic message 65 ARRAY [0..18] OF BYTE 152 9792 ro o 71 Diagnostic message 66 ARRAY [0..18] OF BYTE 152 9944 ro o 72 Diagnostic message 67 ARRAY [0..18] OF BYTE 152 10096 ro o 73 Diagnostic message 68 ARRAY [0..18] OF BYTE 152 10248 ro o 74 Diagnostic message 69 ARRAY [0..18] OF BYTE 152 10400 ro o 75 Diagnostic message 70 ARRAY [0..18] OF BYTE 152 10552 ro o 76 Diagnostic message 71 ARRAY [0..18] OF BYTE 152 10704 ro o 77 Diagnostic message 72 ARRAY [0..18] OF BYTE 152 10856 ro o 78 Diagnostic message 73 ARRAY [0..18] OF BYTE 152 11008 ro o 79 Diagnostic message 74 ARRAY [0..18] OF BYTE 152 11160 ro o 80 Diagnostic message 75 ARRAY [0..18] OF BYTE 152 11312 ro o 81 Diagnostic message 76 ARRAY [0..18] OF BYTE 152 11464 ro o 82 Diagnostic message 77 ARRAY [0..18] OF BYTE 152 11616 ro o 83 Diagnostic message 78 ARRAY [0..18] OF BYTE 152 11768 ro o 84 Diagnostic message 79 ARRAY [0..18] OF BYTE 152 11920 ro o 85 Diagnostic message 80 ARRAY [0..18] OF BYTE 152 12072 ro o 86 Diagnostic message 81 ARRAY [0..18] OF BYTE 152 12224 ro o 87 Diagnostic message 82 ARRAY [0..18] OF BYTE 152 12376 ro o 88 Diagnostic message 83 ARRAY [0..18] OF BYTE 152 12528 ro o 89 Diagnostic message 84 ARRAY [0..18] OF BYTE 152 12680 ro o 90 Diagnostic message 85 ARRAY [0..18] OF BYTE 152 12832 ro o 91 Diagnostic message 86 ARRAY [0..18] OF BYTE 152 12984 ro o 92 Diagnostic message 87 ARRAY [0..18] OF BYTE 152 13136 ro o 93 Diagnostic message 88 ARRAY [0..18] OF BYTE 152 13288 ro o 94 Diagnostic message 89 ARRAY [0..18] OF BYTE 152 13440 ro o 95 Diagnostic message 90 ARRAY [0..18] OF BYTE 152 13592 ro o 96 Diagnostic message 91 ARRAY [0..18] OF BYTE 152 13744 ro o 97 Diagnostic message 92 ARRAY [0..18] OF BYTE 152 13896 ro o 98 Diagnostic message 93 ARRAY [0..18] OF BYTE 152 14048 ro o 99 Diagnostic message 94 ARRAY [0..18] OF BYTE 152 14200 ro o 100 Diagnostic message 95 ARRAY [0..18] OF BYTE 152 14352 ro o 101 Diagnostic message 96 ARRAY [0..18] OF BYTE 152 14504 ro o 102 Diagnostic message 97 ARRAY [0..18] OF BYTE 152 14656 ro o 103 Diagnostic message 98 ARRAY [0..18] OF BYTE 152 14808 ro o 104 Diagnostic message 99 ARRAY [0..18] OF BYTE 152 14960 ro o 105 Diagnostic message 100 ARRAY [0..18] OF BYTE 152 15112 ro o 106 Diagnostic message 101 ARRAY [0..18] OF BYTE 152 15264 ro o 107 Diagnostic message 102 ARRAY [0..18] OF BYTE 152 15416 ro o 108 Diagnostic message 103 ARRAY [0..18] OF BYTE 152 15568 ro o 109 Diagnostic message 104 ARRAY [0..18] OF BYTE 152 15720 ro o 110 Diagnostic message 105 ARRAY [0..18] OF BYTE 152 15872 ro o 111 Diagnostic message 106 ARRAY [0..18] OF BYTE 152 16024 ro o 112 Diagnostic message 107 ARRAY [0..18] OF BYTE 152 16176 ro o 113 Diagnostic message 108 ARRAY [0..18] OF BYTE 152 16328 ro o 114 Diagnostic message 109 ARRAY [0..18] OF BYTE 152 16480 ro o 115 Diagnostic message 110 ARRAY [0..18] OF BYTE 152 16632 ro o 116 Diagnostic message 111 ARRAY [0..18] OF BYTE 152 16784 ro o 117 Diagnostic message 112 ARRAY [0..18] OF BYTE 152 16936 ro o 118 Diagnostic message 113 ARRAY [0..18] OF BYTE 152 17088 ro o 119 Diagnostic message 114 ARRAY [0..18] OF BYTE 152 17240 ro o 120 Diagnostic message 115 ARRAY [0..18] OF BYTE 152 17392 ro o 121 Diagnostic message 116 ARRAY [0..18] OF BYTE 152 17544 ro o 122 Diagnostic message 117 ARRAY [0..18] OF BYTE 152 17696 ro o 123 Diagnostic message 118 ARRAY [0..18] OF BYTE 152 17848 ro o 124 Diagnostic message 119 ARRAY [0..18] OF BYTE 152 18000 ro o 125 Diagnostic message 120 ARRAY [0..18] OF BYTE 152 18152 ro o 126 Diagnostic message 121 ARRAY [0..18] OF BYTE 152 18304 ro o 127 Diagnostic message 122 ARRAY [0..18] OF BYTE 152 18456 ro o 128 Diagnostic message 123 ARRAY [0..18] OF BYTE 152 18608 ro o 129 Diagnostic message 124 ARRAY [0..18] OF BYTE 152 18760 ro o 130 Diagnostic message 125 ARRAY [0..18] OF BYTE 152 18912 ro o 131 Diagnostic message 126 ARRAY [0..18] OF BYTE 152 19064 ro o 132 Diagnostic message 127 ARRAY [0..18] OF BYTE 152 19216 ro o 133 Diagnostic message 128 ARRAY [0..18] OF BYTE 152 19368 ro o DT1600 272 0 Number of entries USINT 8 0 rw m 1 Mapped object 1 UDINT 32 16 rw c 2 Mapped object 2 UDINT 32 48 rw c 3 Mapped object 3 UDINT 32 80 rw c 4 Mapped object 4 UDINT 32 112 rw c 5 Mapped object 5 UDINT 32 144 rw c 6 Mapped object 6 UDINT 32 176 rw c 7 Mapped object 7 UDINT 32 208 rw c 8 Mapped object 8 UDINT 32 240 rw c DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro m Sync manager type DT1C00ARR 32 16 ro c DT1C12ARR UINT 80 1 5 DT1C12 96 0 Number of entries USINT 8 0 rw c Index of assigned PDO DT1C12ARR 80 16 rw c DT1C32 273 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 7 Minimum delay time UDINT 32 144 ro o 8 Get cycle time UINT 16 176 rw c 9 Delay time UDINT 32 192 ro c 11 SM-event missed counter UINT 16 224 ro o 12 Cycle time too small counter UINT 16 240 ro c 13 Shift too short counter UINT 16 256 ro c 32 Sync error BOOL 1 272 ro c T DT1C33 241 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 8 Get cycle time UINT 16 144 rw c 9 Delay time UDINT 32 160 ro c 11 SM-event missed counter UINT 16 192 ro o 12 Cycle time too small counter UINT 16 208 ro c 13 Shift too short counter UINT 16 224 ro o 32 Sync error BOOL 1 240 ro c T DT2001ARR INT 64 1 4 DT2001 80 0 Number of entries USINT 8 0 ro Analog inputs DT2001ARR 64 16 ro T DT2002ARR INT 16 1 1 DT2002 32 0 Number of entries USINT 8 0 ro Analog outputs DT2002ARR 16 16 rw R DT2400 152 0 Number of entries USINT 8 0 ro 1 Activate BOOL 1 16 rw 2 Peripheral ID UDINT 32 24 rw 3 Peripheral serial UDINT 32 56 ro 4 Pending peripheral ID UDINT 32 88 ro 5 Pending peripheral serial UDINT 32 120 ro DT607BARR DINT 64 1 2 DT607B 80 0 Number of entries USINT 8 0 ro m Position range limit DT607BARR 64 16 rw m DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro m Software position limit DT607DARR 64 16 rw m DT6097ARR UDINT 64 1 2 DT6097 80 0 Number of entries USINT 8 0 ro o Acceleration factor DT6097ARR 64 16 rw o DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro m Homing speeds DT6099ARR 64 16 rw m DT60E3ARR SINT 24 1 3 DT60E3 40 0 Number of entries USINT 8 0 ro c Supported homing method DT60E3ARR 24 16 ro c DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro o Digital outputs DT60FEARR 64 16 rw o #x0001 Critical system error For further information, refer to CiA402 error code 0xFF04 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF04 #x0101 Resolved: Critical system error For further information, refer to CiA402 error code 0xFF04 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF04 #x0002 Peripheral not supported, axis %u For further information, refer to CiA402 error code 0xFF00 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF00 #x0102 Resolved: Peripheral not supported, axis %u For further information, refer to CiA402 error code 0xFF00 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF00 #x0003 Peripheral inactive, axis %u For further information, refer to CiA402 error code 0xFF01 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF01 #x0103 Resolved: Peripheral inactive, axis %u For further information, refer to CiA402 error code 0xFF01 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF01 #x0004 Contact 1 (hardware emergency stop), axis %u For further information, refer to CiA402 error code 0x5441 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_5441 #x0104 Resolved: Contact 1 (hardware emergency stop), axis %u For further information, refer to CiA402 error code 0x5441 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_5441 #x0005 Overvoltage or undervoltage, axis %u For further information, refer to CiA402 error code 0x3281 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3281 #x0105 Resolved: Overvoltage or undervoltage, axis %u For further information, refer to CiA402 error code 0x3281 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3281 #x0006 Current inrush error, axis %u For further information, refer to CiA402 error code 0x2280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2280 #x0106 Resolved: Current inrush error, axis %u For further information, refer to CiA402 error code 0x2280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2280 #x0007 Excess temperature drive, axis %u For further information, refer to CiA402 error code 0x4310 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4310 #x0107 Resolved: Excess temperature drive, axis %u For further information, refer to CiA402 error code 0x4310 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4310 #x0008 Driver temperature/current error, axis %u For further information, refer to CiA402 error code 0xFF02 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF02 #x0108 Resolved: Driver temperature/current error, axis %u For further information, refer to CiA402 error code 0xFF02 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF02 #x0009 Encoder error, axis %u For further information, refer to CiA402 error code 0x7380 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7380 #x0109 Resolved: Encoder error, axis %u For further information, refer to CiA402 error code 0x7380 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7380 #x000A Index error, axis %u For further information, refer to CiA402 error code 0x7381 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7381 #x010A Resolved: Index error, axis %u For further information, refer to CiA402 error code 0x7381 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7381 #x000B Analog encoder sync error, axis %u For further information, refer to CiA402 error code 0x7382 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7382 #x010B Resolved: Analog encoder sync error, axis %u For further information, refer to CiA402 error code 0x7382 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7382 #x000C Load Level Fault (I²T, Thermal State), axis %u For further information, refer to CiA402 error code 0x2350 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2350 #x010C Resolved: Load Level Fault (I²T, Thermal State), axis %u For further information, refer to CiA402 error code 0x2350 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2350 #x000D Following error, axis %u For further information, refer to CiA402 error code 0x8611 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8611 #x010D Resolved: Following error, axis %u For further information, refer to CiA402 error code 0x8611 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8611 #x000E Reference limit, axis %u For further information, refer to CiA402 error code 0x8612 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8612 #x010E Resolved: Reference limit, axis %u For further information, refer to CiA402 error code 0x8612 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8612 #x000F Voltage out of range For further information, refer to CiA402 error code 0x3280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3280 #x010F Resolved: Voltage out of range For further information, refer to CiA402 error code 0x3280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3280 #x0010 Excess temperature device For further information, refer to CiA402 error code 0x4210 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4210 #x0110 Resolved: Excess temperature device For further information, refer to CiA402 error code 0x4210 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4210 #x0011 Following error while stationary, axis %u For further information, refer to CiA402 error code 0x8682 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8682 #x0111 Resolved: Following error while stationary, axis %u For further information, refer to CiA402 error code 0x8682 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8682 #x0012 Invalid calibration type, axis %u For further information, refer to CiA402 error code 0xFF03 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF03 #x0112 Resolved: Invalid calibration type, axis %u For further information, refer to CiA402 error code 0xFF03 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF03 #x0013 No reference position, axis %u For further information, refer to CiA402 error code 0x8680 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8680 #x0113 Resolved: No reference position, axis %u For further information, refer to CiA402 error code 0x8680 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8680 #x0014 Device not homed, axis %u For further information, refer to CiA402 error code 0x8681 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8681 #x0114 Resolved: Device not homed, axis %u For further information, refer to CiA402 error code 0x8681 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8681 #x0015 Non-existent object sub-index PDO-mapped For further information, refer to CiA402 error code 0x8280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8280 #x0115 Resolved: Non-existent object sub-index PDO-mapped For further information, refer to CiA402 error code 0x8280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8280 Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 RxPDO mapping 1 #x1601 RxPDO mapping 2 #x1602 RxPDO mapping 3 #x1603 RxPDO mapping 4 #x1A00 TxPDO mapping 1 #x1A01 TxPDO mapping 2 #x1A02 TxPDO mapping 3 #x1A03 TxPDO mapping 4 PS #x10F3 5 0000 DC Sync0 DC-Synchronous #x0300 0 0 Axis 1 #x00020108 #x00020100 Axis 2 #x00020108 #x00020100 #x0100 2048 807E000C64000000000000800000 30 00000000000D000000000015000000001100000000000000000000000000 40 01020300 41 0010800026000101801000802200010200120E00640001030011160020000104 43 00FF 60 000000000000000000000000000000030100000000000000 70 B80B10278813C8006400D00700000000 E-MCC3 E-MCC3 https://www.zaber.com/products/controllers-joysticks/E-MCC 100 2000 4096 4 3 MII IN MII OUT e-mcc 402 65535 0 BOOL Boolean bit 1 BYTE Byte 8 SINT Signed short integer 8 USINT Unsigned short integer 8 INT Signed integer 16 UINT Unsigned integer 16 DINT Signed double integer 32 UDINT Unsigned double integer 32 LINT Signed long integer 64 ULINT Unsigned long integer 64 STRING(4) Visible string, 4 octets 32 STRING(6) Visible string, 6 octets 48 ARRAY [0..18] OF BYTE BYTE Diagnostic message 152 0 19 DT1018 144 0 Number of entries USINT 8 0 ro m 1 Vendor ID UDINT 32 16 ro m 2 Product code UDINT 32 48 ro m 3 Revision number UDINT 32 80 ro m 4 Serial number UDINT 32 112 ro m DT10E0 32 0 Number of entries USINT 8 0 ro o 1 Configured station alias register value UINT 16 16 rw o DT10F1 64 0 Number of entries USINT 8 0 ro o 1 Local error reaction UDINT 32 16 ro o 2 Sync error counter limit UINT 16 48 rw o DT10F3 19520 0 Number of entries USINT 8 0 ro m 1 Maximum messages USINT 8 16 ro m 2 Newest message USINT 8 24 ro m 3 Newest acknowledged message USINT 8 32 rw m 4 New messages available BOOL 1 40 ro m 5 Flags UINT 16 48 rw m 6 Diagnostic message 1 ARRAY [0..18] OF BYTE 152 64 ro m 7 Diagnostic message 2 ARRAY [0..18] OF BYTE 152 216 ro o 8 Diagnostic message 3 ARRAY [0..18] OF BYTE 152 368 ro o 9 Diagnostic message 4 ARRAY [0..18] OF BYTE 152 520 ro o 10 Diagnostic message 5 ARRAY [0..18] OF BYTE 152 672 ro o 11 Diagnostic message 6 ARRAY [0..18] OF BYTE 152 824 ro o 12 Diagnostic message 7 ARRAY [0..18] OF BYTE 152 976 ro o 13 Diagnostic message 8 ARRAY [0..18] OF BYTE 152 1128 ro o 14 Diagnostic message 9 ARRAY [0..18] OF BYTE 152 1280 ro o 15 Diagnostic message 10 ARRAY [0..18] OF BYTE 152 1432 ro o 16 Diagnostic message 11 ARRAY [0..18] OF BYTE 152 1584 ro o 17 Diagnostic message 12 ARRAY [0..18] OF BYTE 152 1736 ro o 18 Diagnostic message 13 ARRAY [0..18] OF BYTE 152 1888 ro o 19 Diagnostic message 14 ARRAY [0..18] OF BYTE 152 2040 ro o 20 Diagnostic message 15 ARRAY [0..18] OF BYTE 152 2192 ro o 21 Diagnostic message 16 ARRAY [0..18] OF BYTE 152 2344 ro o 22 Diagnostic message 17 ARRAY [0..18] OF BYTE 152 2496 ro o 23 Diagnostic message 18 ARRAY [0..18] OF BYTE 152 2648 ro o 24 Diagnostic message 19 ARRAY [0..18] OF BYTE 152 2800 ro o 25 Diagnostic message 20 ARRAY [0..18] OF BYTE 152 2952 ro o 26 Diagnostic message 21 ARRAY [0..18] OF BYTE 152 3104 ro o 27 Diagnostic message 22 ARRAY [0..18] OF BYTE 152 3256 ro o 28 Diagnostic message 23 ARRAY [0..18] OF BYTE 152 3408 ro o 29 Diagnostic message 24 ARRAY [0..18] OF BYTE 152 3560 ro o 30 Diagnostic message 25 ARRAY [0..18] OF BYTE 152 3712 ro o 31 Diagnostic message 26 ARRAY [0..18] OF BYTE 152 3864 ro o 32 Diagnostic message 27 ARRAY [0..18] OF BYTE 152 4016 ro o 33 Diagnostic message 28 ARRAY [0..18] OF BYTE 152 4168 ro o 34 Diagnostic message 29 ARRAY [0..18] OF BYTE 152 4320 ro o 35 Diagnostic message 30 ARRAY [0..18] OF BYTE 152 4472 ro o 36 Diagnostic message 31 ARRAY [0..18] OF BYTE 152 4624 ro o 37 Diagnostic message 32 ARRAY [0..18] OF BYTE 152 4776 ro o 38 Diagnostic message 33 ARRAY [0..18] OF BYTE 152 4928 ro o 39 Diagnostic message 34 ARRAY [0..18] OF BYTE 152 5080 ro o 40 Diagnostic message 35 ARRAY [0..18] OF BYTE 152 5232 ro o 41 Diagnostic message 36 ARRAY [0..18] OF BYTE 152 5384 ro o 42 Diagnostic message 37 ARRAY [0..18] OF BYTE 152 5536 ro o 43 Diagnostic message 38 ARRAY [0..18] OF BYTE 152 5688 ro o 44 Diagnostic message 39 ARRAY [0..18] OF BYTE 152 5840 ro o 45 Diagnostic message 40 ARRAY [0..18] OF BYTE 152 5992 ro o 46 Diagnostic message 41 ARRAY [0..18] OF BYTE 152 6144 ro o 47 Diagnostic message 42 ARRAY [0..18] OF BYTE 152 6296 ro o 48 Diagnostic message 43 ARRAY [0..18] OF BYTE 152 6448 ro o 49 Diagnostic message 44 ARRAY [0..18] OF BYTE 152 6600 ro o 50 Diagnostic message 45 ARRAY [0..18] OF BYTE 152 6752 ro o 51 Diagnostic message 46 ARRAY [0..18] OF BYTE 152 6904 ro o 52 Diagnostic message 47 ARRAY [0..18] OF BYTE 152 7056 ro o 53 Diagnostic message 48 ARRAY [0..18] OF BYTE 152 7208 ro o 54 Diagnostic message 49 ARRAY [0..18] OF BYTE 152 7360 ro o 55 Diagnostic message 50 ARRAY [0..18] OF BYTE 152 7512 ro o 56 Diagnostic message 51 ARRAY [0..18] OF BYTE 152 7664 ro o 57 Diagnostic message 52 ARRAY [0..18] OF BYTE 152 7816 ro o 58 Diagnostic message 53 ARRAY [0..18] OF BYTE 152 7968 ro o 59 Diagnostic message 54 ARRAY [0..18] OF BYTE 152 8120 ro o 60 Diagnostic message 55 ARRAY [0..18] OF BYTE 152 8272 ro o 61 Diagnostic message 56 ARRAY [0..18] OF BYTE 152 8424 ro o 62 Diagnostic message 57 ARRAY [0..18] OF BYTE 152 8576 ro o 63 Diagnostic message 58 ARRAY [0..18] OF BYTE 152 8728 ro o 64 Diagnostic message 59 ARRAY [0..18] OF BYTE 152 8880 ro o 65 Diagnostic message 60 ARRAY [0..18] OF BYTE 152 9032 ro o 66 Diagnostic message 61 ARRAY [0..18] OF BYTE 152 9184 ro o 67 Diagnostic message 62 ARRAY [0..18] OF BYTE 152 9336 ro o 68 Diagnostic message 63 ARRAY [0..18] OF BYTE 152 9488 ro o 69 Diagnostic message 64 ARRAY [0..18] OF BYTE 152 9640 ro o 70 Diagnostic message 65 ARRAY [0..18] OF BYTE 152 9792 ro o 71 Diagnostic message 66 ARRAY [0..18] OF BYTE 152 9944 ro o 72 Diagnostic message 67 ARRAY [0..18] OF BYTE 152 10096 ro o 73 Diagnostic message 68 ARRAY [0..18] OF BYTE 152 10248 ro o 74 Diagnostic message 69 ARRAY [0..18] OF BYTE 152 10400 ro o 75 Diagnostic message 70 ARRAY [0..18] OF BYTE 152 10552 ro o 76 Diagnostic message 71 ARRAY [0..18] OF BYTE 152 10704 ro o 77 Diagnostic message 72 ARRAY [0..18] OF BYTE 152 10856 ro o 78 Diagnostic message 73 ARRAY [0..18] OF BYTE 152 11008 ro o 79 Diagnostic message 74 ARRAY [0..18] OF BYTE 152 11160 ro o 80 Diagnostic message 75 ARRAY [0..18] OF BYTE 152 11312 ro o 81 Diagnostic message 76 ARRAY [0..18] OF BYTE 152 11464 ro o 82 Diagnostic message 77 ARRAY [0..18] OF BYTE 152 11616 ro o 83 Diagnostic message 78 ARRAY [0..18] OF BYTE 152 11768 ro o 84 Diagnostic message 79 ARRAY [0..18] OF BYTE 152 11920 ro o 85 Diagnostic message 80 ARRAY [0..18] OF BYTE 152 12072 ro o 86 Diagnostic message 81 ARRAY [0..18] OF BYTE 152 12224 ro o 87 Diagnostic message 82 ARRAY [0..18] OF BYTE 152 12376 ro o 88 Diagnostic message 83 ARRAY [0..18] OF BYTE 152 12528 ro o 89 Diagnostic message 84 ARRAY [0..18] OF BYTE 152 12680 ro o 90 Diagnostic message 85 ARRAY [0..18] OF BYTE 152 12832 ro o 91 Diagnostic message 86 ARRAY [0..18] OF BYTE 152 12984 ro o 92 Diagnostic message 87 ARRAY [0..18] OF BYTE 152 13136 ro o 93 Diagnostic message 88 ARRAY [0..18] OF BYTE 152 13288 ro o 94 Diagnostic message 89 ARRAY [0..18] OF BYTE 152 13440 ro o 95 Diagnostic message 90 ARRAY [0..18] OF BYTE 152 13592 ro o 96 Diagnostic message 91 ARRAY [0..18] OF BYTE 152 13744 ro o 97 Diagnostic message 92 ARRAY [0..18] OF BYTE 152 13896 ro o 98 Diagnostic message 93 ARRAY [0..18] OF BYTE 152 14048 ro o 99 Diagnostic message 94 ARRAY [0..18] OF BYTE 152 14200 ro o 100 Diagnostic message 95 ARRAY [0..18] OF BYTE 152 14352 ro o 101 Diagnostic message 96 ARRAY [0..18] OF BYTE 152 14504 ro o 102 Diagnostic message 97 ARRAY [0..18] OF BYTE 152 14656 ro o 103 Diagnostic message 98 ARRAY [0..18] OF BYTE 152 14808 ro o 104 Diagnostic message 99 ARRAY [0..18] OF BYTE 152 14960 ro o 105 Diagnostic message 100 ARRAY [0..18] OF BYTE 152 15112 ro o 106 Diagnostic message 101 ARRAY [0..18] OF BYTE 152 15264 ro o 107 Diagnostic message 102 ARRAY [0..18] OF BYTE 152 15416 ro o 108 Diagnostic message 103 ARRAY [0..18] OF BYTE 152 15568 ro o 109 Diagnostic message 104 ARRAY [0..18] OF BYTE 152 15720 ro o 110 Diagnostic message 105 ARRAY [0..18] OF BYTE 152 15872 ro o 111 Diagnostic message 106 ARRAY [0..18] OF BYTE 152 16024 ro o 112 Diagnostic message 107 ARRAY [0..18] OF BYTE 152 16176 ro o 113 Diagnostic message 108 ARRAY [0..18] OF BYTE 152 16328 ro o 114 Diagnostic message 109 ARRAY [0..18] OF BYTE 152 16480 ro o 115 Diagnostic message 110 ARRAY [0..18] OF BYTE 152 16632 ro o 116 Diagnostic message 111 ARRAY [0..18] OF BYTE 152 16784 ro o 117 Diagnostic message 112 ARRAY [0..18] OF BYTE 152 16936 ro o 118 Diagnostic message 113 ARRAY [0..18] OF BYTE 152 17088 ro o 119 Diagnostic message 114 ARRAY [0..18] OF BYTE 152 17240 ro o 120 Diagnostic message 115 ARRAY [0..18] OF BYTE 152 17392 ro o 121 Diagnostic message 116 ARRAY [0..18] OF BYTE 152 17544 ro o 122 Diagnostic message 117 ARRAY [0..18] OF BYTE 152 17696 ro o 123 Diagnostic message 118 ARRAY [0..18] OF BYTE 152 17848 ro o 124 Diagnostic message 119 ARRAY [0..18] OF BYTE 152 18000 ro o 125 Diagnostic message 120 ARRAY [0..18] OF BYTE 152 18152 ro o 126 Diagnostic message 121 ARRAY [0..18] OF BYTE 152 18304 ro o 127 Diagnostic message 122 ARRAY [0..18] OF BYTE 152 18456 ro o 128 Diagnostic message 123 ARRAY [0..18] OF BYTE 152 18608 ro o 129 Diagnostic message 124 ARRAY [0..18] OF BYTE 152 18760 ro o 130 Diagnostic message 125 ARRAY [0..18] OF BYTE 152 18912 ro o 131 Diagnostic message 126 ARRAY [0..18] OF BYTE 152 19064 ro o 132 Diagnostic message 127 ARRAY [0..18] OF BYTE 152 19216 ro o 133 Diagnostic message 128 ARRAY [0..18] OF BYTE 152 19368 ro o DT1600 272 0 Number of entries USINT 8 0 rw m 1 Mapped object 1 UDINT 32 16 rw c 2 Mapped object 2 UDINT 32 48 rw c 3 Mapped object 3 UDINT 32 80 rw c 4 Mapped object 4 UDINT 32 112 rw c 5 Mapped object 5 UDINT 32 144 rw c 6 Mapped object 6 UDINT 32 176 rw c 7 Mapped object 7 UDINT 32 208 rw c 8 Mapped object 8 UDINT 32 240 rw c DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro m Sync manager type DT1C00ARR 32 16 ro c DT1C12ARR UINT 80 1 5 DT1C12 96 0 Number of entries USINT 8 0 rw c Index of assigned PDO DT1C12ARR 80 16 rw c DT1C32 273 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 7 Minimum delay time UDINT 32 144 ro o 8 Get cycle time UINT 16 176 rw c 9 Delay time UDINT 32 192 ro c 11 SM-event missed counter UINT 16 224 ro o 12 Cycle time too small counter UINT 16 240 ro c 13 Shift too short counter UINT 16 256 ro c 32 Sync error BOOL 1 272 ro c T DT1C33 241 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 8 Get cycle time UINT 16 144 rw c 9 Delay time UDINT 32 160 ro c 11 SM-event missed counter UINT 16 192 ro o 12 Cycle time too small counter UINT 16 208 ro c 13 Shift too short counter UINT 16 224 ro o 32 Sync error BOOL 1 240 ro c T DT2001ARR INT 64 1 4 DT2001 80 0 Number of entries USINT 8 0 ro Analog inputs DT2001ARR 64 16 ro T DT2002ARR INT 16 1 1 DT2002 32 0 Number of entries USINT 8 0 ro Analog outputs DT2002ARR 16 16 rw R DT2400 152 0 Number of entries USINT 8 0 ro 1 Activate BOOL 1 16 rw 2 Peripheral ID UDINT 32 24 rw 3 Peripheral serial UDINT 32 56 ro 4 Pending peripheral ID UDINT 32 88 ro 5 Pending peripheral serial UDINT 32 120 ro DT607BARR DINT 64 1 2 DT607B 80 0 Number of entries USINT 8 0 ro m Position range limit DT607BARR 64 16 rw m DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro m Software position limit DT607DARR 64 16 rw m DT6097ARR UDINT 64 1 2 DT6097 80 0 Number of entries USINT 8 0 ro o Acceleration factor DT6097ARR 64 16 rw o DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro m Homing speeds DT6099ARR 64 16 rw m DT60E3ARR SINT 24 1 3 DT60E3 40 0 Number of entries USINT 8 0 ro c Supported homing method DT60E3ARR 24 16 ro c DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro o Digital outputs DT60FEARR 64 16 rw o #x0001 Critical system error For further information, refer to CiA402 error code 0xFF04 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF04 #x0101 Resolved: Critical system error For further information, refer to CiA402 error code 0xFF04 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF04 #x0002 Peripheral not supported, axis %u For further information, refer to CiA402 error code 0xFF00 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF00 #x0102 Resolved: Peripheral not supported, axis %u For further information, refer to CiA402 error code 0xFF00 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF00 #x0003 Peripheral inactive, axis %u For further information, refer to CiA402 error code 0xFF01 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF01 #x0103 Resolved: Peripheral inactive, axis %u For further information, refer to CiA402 error code 0xFF01 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF01 #x0004 Contact 1 (hardware emergency stop), axis %u For further information, refer to CiA402 error code 0x5441 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_5441 #x0104 Resolved: Contact 1 (hardware emergency stop), axis %u For further information, refer to CiA402 error code 0x5441 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_5441 #x0005 Overvoltage or undervoltage, axis %u For further information, refer to CiA402 error code 0x3281 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3281 #x0105 Resolved: Overvoltage or undervoltage, axis %u For further information, refer to CiA402 error code 0x3281 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3281 #x0006 Current inrush error, axis %u For further information, refer to CiA402 error code 0x2280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2280 #x0106 Resolved: Current inrush error, axis %u For further information, refer to CiA402 error code 0x2280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2280 #x0007 Excess temperature drive, axis %u For further information, refer to CiA402 error code 0x4310 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4310 #x0107 Resolved: Excess temperature drive, axis %u For further information, refer to CiA402 error code 0x4310 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4310 #x0008 Driver temperature/current error, axis %u For further information, refer to CiA402 error code 0xFF02 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF02 #x0108 Resolved: Driver temperature/current error, axis %u For further information, refer to CiA402 error code 0xFF02 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF02 #x0009 Encoder error, axis %u For further information, refer to CiA402 error code 0x7380 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7380 #x0109 Resolved: Encoder error, axis %u For further information, refer to CiA402 error code 0x7380 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7380 #x000A Index error, axis %u For further information, refer to CiA402 error code 0x7381 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7381 #x010A Resolved: Index error, axis %u For further information, refer to CiA402 error code 0x7381 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7381 #x000B Analog encoder sync error, axis %u For further information, refer to CiA402 error code 0x7382 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7382 #x010B Resolved: Analog encoder sync error, axis %u For further information, refer to CiA402 error code 0x7382 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_7382 #x000C Load Level Fault (I²T, Thermal State), axis %u For further information, refer to CiA402 error code 0x2350 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2350 #x010C Resolved: Load Level Fault (I²T, Thermal State), axis %u For further information, refer to CiA402 error code 0x2350 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_2350 #x000D Following error, axis %u For further information, refer to CiA402 error code 0x8611 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8611 #x010D Resolved: Following error, axis %u For further information, refer to CiA402 error code 0x8611 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8611 #x000E Reference limit, axis %u For further information, refer to CiA402 error code 0x8612 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8612 #x010E Resolved: Reference limit, axis %u For further information, refer to CiA402 error code 0x8612 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8612 #x000F Voltage out of range For further information, refer to CiA402 error code 0x3280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3280 #x010F Resolved: Voltage out of range For further information, refer to CiA402 error code 0x3280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_3280 #x0010 Excess temperature device For further information, refer to CiA402 error code 0x4210 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4210 #x0110 Resolved: Excess temperature device For further information, refer to CiA402 error code 0x4210 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_4210 #x0011 Following error while stationary, axis %u For further information, refer to CiA402 error code 0x8682 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8682 #x0111 Resolved: Following error while stationary, axis %u For further information, refer to CiA402 error code 0x8682 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8682 #x0012 Invalid calibration type, axis %u For further information, refer to CiA402 error code 0xFF03 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF03 #x0112 Resolved: Invalid calibration type, axis %u For further information, refer to CiA402 error code 0xFF03 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_FF03 #x0013 No reference position, axis %u For further information, refer to CiA402 error code 0x8680 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8680 #x0113 Resolved: No reference position, axis %u For further information, refer to CiA402 error code 0x8680 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8680 #x0014 Device not homed, axis %u For further information, refer to CiA402 error code 0x8681 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8681 #x0114 Resolved: Device not homed, axis %u For further information, refer to CiA402 error code 0x8681 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8681 #x0015 Non-existent object sub-index PDO-mapped For further information, refer to CiA402 error code 0x8280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8280 #x0115 Resolved: Non-existent object sub-index PDO-mapped For further information, refer to CiA402 error code 0x8280 in the Zaber CANopen protocol manual. https://www.zaber.com/protocol-manual?protocol=CANopen#topic_cia402_error_codes__topic_error_codes_8280 Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 RxPDO mapping 1 #x1601 RxPDO mapping 2 #x1602 RxPDO mapping 3 #x1603 RxPDO mapping 4 #x1A00 TxPDO mapping 1 #x1A01 TxPDO mapping 2 #x1A02 TxPDO mapping 3 #x1A03 TxPDO mapping 4 PS #x10F3 5 0000 DC Sync0 DC-Synchronous #x0300 0 0 Axis 1 #x00020108 #x00020100 Axis 2 #x00020108 #x00020100 Axis 3 #x00020108 #x00020100 #x0100 2048 807E000C64000000000000800000 30 00000000000D000000000015000000001100000000000000000000000000 40 01020300 41 0010800026000101801000802200010200121500640001030011210020000104 43 00FF 60 000000000000000000000000000000030100000000000000 70 B80B10278813C8006400D00700000000 CSP mode Cyclic synchronous position mode #x1700 CSP mode RxPDO mapping #x6040 16 Controlword UINT #x607A 32 Target position DINT #x1B00 CSP mode TxPDO mapping #x6041 16 Statusword UINT #x6064 32 Position actual value DINT #x60F4 32 Following error actual value DINT PS #x6060 0 08 Set Op Mode to CSP 402 6 BOOL Boolean bit 1 BYTE Byte 8 SINT Signed short integer 8 USINT Unsigned short integer 8 INT Signed integer 16 UINT Unsigned integer 16 DINT Signed double integer 32 UDINT Unsigned double integer 32 LINT Signed long integer 64 ULINT Unsigned long integer 64 STRING(4) Visible string, 4 octets 32 STRING(6) Visible string, 6 octets 48 DT1018 144 0 Number of entries USINT 8 0 ro m 1 Vendor ID UDINT 32 16 ro m 2 Product code UDINT 32 48 ro m 3 Revision number UDINT 32 80 ro m 4 Serial number UDINT 32 112 ro m DT10E0 32 0 Number of entries USINT 8 0 ro o 1 Configured station alias register value UINT 16 16 rw o DT10F1 64 0 Number of entries USINT 8 0 ro o 1 Local error reaction UDINT 32 16 ro o 2 Sync error counter limit UINT 16 48 rw o DT1600 272 0 Number of entries USINT 8 0 rw m 1 Mapped object 1 UDINT 32 16 rw c 2 Mapped object 2 UDINT 32 48 rw c 3 Mapped object 3 UDINT 32 80 rw c 4 Mapped object 4 UDINT 32 112 rw c 5 Mapped object 5 UDINT 32 144 rw c 6 Mapped object 6 UDINT 32 176 rw c 7 Mapped object 7 UDINT 32 208 rw c 8 Mapped object 8 UDINT 32 240 rw c DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro m Sync manager type DT1C00ARR 32 16 ro c DT1C12ARR UINT 80 1 5 DT1C12 96 0 Number of entries USINT 8 0 rw c Index of assigned PDO DT1C12ARR 80 16 rw c DT1C32 273 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 7 Minimum delay time UDINT 32 144 ro o 8 Get cycle time UINT 16 176 rw c 9 Delay time UDINT 32 192 ro c 11 SM-event missed counter UINT 16 224 ro o 12 Cycle time too small counter UINT 16 240 ro c 13 Shift too short counter UINT 16 256 ro c 32 Sync error BOOL 1 272 ro c T DT1C33 241 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 8 Get cycle time UINT 16 144 rw c 9 Delay time UDINT 32 160 ro c 11 SM-event missed counter UINT 16 192 ro o 12 Cycle time too small counter UINT 16 208 ro c 13 Shift too short counter UINT 16 224 ro o 32 Sync error BOOL 1 240 ro c T DT2001ARR INT 64 1 4 DT2001 80 0 Number of entries USINT 8 0 ro Analog inputs DT2001ARR 64 16 ro T DT2002ARR INT 16 1 1 DT2002 32 0 Number of entries USINT 8 0 ro Analog outputs DT2002ARR 16 16 rw R DT2400 152 0 Number of entries USINT 8 0 ro 1 Activate BOOL 1 16 rw 2 Peripheral ID UDINT 32 24 rw 3 Peripheral serial UDINT 32 56 ro 4 Pending peripheral ID UDINT 32 88 ro 5 Pending peripheral serial UDINT 32 120 ro DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro m Software position limit DT607DARR 64 16 rw m DT6097ARR UDINT 64 1 2 DT6097 80 0 Number of entries USINT 8 0 ro o Acceleration factor DT6097ARR 64 16 rw o DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro m Homing speeds DT6099ARR 64 16 rw m DT60E3ARR SINT 8 1 1 DT60E3 24 0 Number of entries USINT 8 0 ro c Supported homing method DT60E3ARR 8 16 ro c DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro o Digital outputs DT60FEARR 64 16 rw o CSP mode Cyclic synchronous position mode #x1700 CSP mode RxPDO mapping #x6040 16 Controlword UINT #x607A 32 Target position DINT #x1B00 CSP mode TxPDO mapping #x6041 16 Statusword UINT #x6064 32 Position actual value DINT #x60F4 32 Following error actual value DINT PS #x6060 0 08 Set Op Mode to CSP 402 2 BOOL Boolean bit 1 BYTE Byte 8 SINT Signed short integer 8 USINT Unsigned short integer 8 INT Signed integer 16 UINT Unsigned integer 16 DINT Signed double integer 32 UDINT Unsigned double integer 32 LINT Signed long integer 64 ULINT Unsigned long integer 64 STRING(4) Visible string, 4 octets 32 STRING(6) Visible string, 6 octets 48 ARRAY [0..18] OF BYTE BYTE Diagnostic message 152 0 19 DT1018 144 0 Number of entries USINT 8 0 ro m 1 Vendor ID UDINT 32 16 ro m 2 Product code UDINT 32 48 ro m 3 Revision number UDINT 32 80 ro m 4 Serial number UDINT 32 112 ro m DT10E0 32 0 Number of entries USINT 8 0 ro o 1 Configured station alias register value UINT 16 16 rw o DT10F1 64 0 Number of entries USINT 8 0 ro o 1 Local error reaction UDINT 32 16 ro o 2 Sync error counter limit UINT 16 48 rw o DT10F3 19520 0 Number of entries USINT 8 0 ro m 1 Maximum messages USINT 8 16 ro m 2 Newest message USINT 8 24 ro m 3 Newest acknowledged message USINT 8 32 rw m 4 New messages available BOOL 1 40 ro m 5 Flags UINT 16 48 rw m 6 Diagnostic message 1 ARRAY [0..18] OF BYTE 152 64 ro m 7 Diagnostic message 2 ARRAY [0..18] OF BYTE 152 216 ro o 8 Diagnostic message 3 ARRAY [0..18] OF BYTE 152 368 ro o 9 Diagnostic message 4 ARRAY [0..18] OF BYTE 152 520 ro o 10 Diagnostic message 5 ARRAY [0..18] OF BYTE 152 672 ro o 11 Diagnostic message 6 ARRAY [0..18] OF BYTE 152 824 ro o 12 Diagnostic message 7 ARRAY [0..18] OF BYTE 152 976 ro o 13 Diagnostic message 8 ARRAY [0..18] OF BYTE 152 1128 ro o 14 Diagnostic message 9 ARRAY [0..18] OF BYTE 152 1280 ro o 15 Diagnostic message 10 ARRAY [0..18] OF BYTE 152 1432 ro o 16 Diagnostic message 11 ARRAY [0..18] OF BYTE 152 1584 ro o 17 Diagnostic message 12 ARRAY [0..18] OF BYTE 152 1736 ro o 18 Diagnostic message 13 ARRAY [0..18] OF BYTE 152 1888 ro o 19 Diagnostic message 14 ARRAY [0..18] OF BYTE 152 2040 ro o 20 Diagnostic message 15 ARRAY [0..18] OF BYTE 152 2192 ro o 21 Diagnostic message 16 ARRAY [0..18] OF BYTE 152 2344 ro o 22 Diagnostic message 17 ARRAY [0..18] OF BYTE 152 2496 ro o 23 Diagnostic message 18 ARRAY [0..18] OF BYTE 152 2648 ro o 24 Diagnostic message 19 ARRAY [0..18] OF BYTE 152 2800 ro o 25 Diagnostic message 20 ARRAY [0..18] OF BYTE 152 2952 ro o 26 Diagnostic message 21 ARRAY [0..18] OF BYTE 152 3104 ro o 27 Diagnostic message 22 ARRAY [0..18] OF BYTE 152 3256 ro o 28 Diagnostic message 23 ARRAY [0..18] OF BYTE 152 3408 ro o 29 Diagnostic message 24 ARRAY [0..18] OF BYTE 152 3560 ro o 30 Diagnostic message 25 ARRAY [0..18] OF BYTE 152 3712 ro o 31 Diagnostic message 26 ARRAY [0..18] OF BYTE 152 3864 ro o 32 Diagnostic message 27 ARRAY [0..18] OF BYTE 152 4016 ro o 33 Diagnostic message 28 ARRAY [0..18] OF BYTE 152 4168 ro o 34 Diagnostic message 29 ARRAY [0..18] OF BYTE 152 4320 ro o 35 Diagnostic message 30 ARRAY [0..18] OF BYTE 152 4472 ro o 36 Diagnostic message 31 ARRAY [0..18] OF BYTE 152 4624 ro o 37 Diagnostic message 32 ARRAY [0..18] OF BYTE 152 4776 ro o 38 Diagnostic message 33 ARRAY [0..18] OF BYTE 152 4928 ro o 39 Diagnostic message 34 ARRAY [0..18] OF BYTE 152 5080 ro o 40 Diagnostic message 35 ARRAY [0..18] OF BYTE 152 5232 ro o 41 Diagnostic message 36 ARRAY [0..18] OF BYTE 152 5384 ro o 42 Diagnostic message 37 ARRAY [0..18] OF BYTE 152 5536 ro o 43 Diagnostic message 38 ARRAY [0..18] OF BYTE 152 5688 ro o 44 Diagnostic message 39 ARRAY [0..18] OF BYTE 152 5840 ro o 45 Diagnostic message 40 ARRAY [0..18] OF BYTE 152 5992 ro o 46 Diagnostic message 41 ARRAY [0..18] OF BYTE 152 6144 ro o 47 Diagnostic message 42 ARRAY [0..18] OF BYTE 152 6296 ro o 48 Diagnostic message 43 ARRAY [0..18] OF BYTE 152 6448 ro o 49 Diagnostic message 44 ARRAY [0..18] OF BYTE 152 6600 ro o 50 Diagnostic message 45 ARRAY [0..18] OF BYTE 152 6752 ro o 51 Diagnostic message 46 ARRAY [0..18] OF BYTE 152 6904 ro o 52 Diagnostic message 47 ARRAY [0..18] OF BYTE 152 7056 ro o 53 Diagnostic message 48 ARRAY [0..18] OF BYTE 152 7208 ro o 54 Diagnostic message 49 ARRAY [0..18] OF BYTE 152 7360 ro o 55 Diagnostic message 50 ARRAY [0..18] OF BYTE 152 7512 ro o 56 Diagnostic message 51 ARRAY [0..18] OF BYTE 152 7664 ro o 57 Diagnostic message 52 ARRAY [0..18] OF BYTE 152 7816 ro o 58 Diagnostic message 53 ARRAY [0..18] OF BYTE 152 7968 ro o 59 Diagnostic message 54 ARRAY [0..18] OF BYTE 152 8120 ro o 60 Diagnostic message 55 ARRAY [0..18] OF BYTE 152 8272 ro o 61 Diagnostic message 56 ARRAY [0..18] OF BYTE 152 8424 ro o 62 Diagnostic message 57 ARRAY [0..18] OF BYTE 152 8576 ro o 63 Diagnostic message 58 ARRAY [0..18] OF BYTE 152 8728 ro o 64 Diagnostic message 59 ARRAY [0..18] OF BYTE 152 8880 ro o 65 Diagnostic message 60 ARRAY [0..18] OF BYTE 152 9032 ro o 66 Diagnostic message 61 ARRAY [0..18] OF BYTE 152 9184 ro o 67 Diagnostic message 62 ARRAY [0..18] OF BYTE 152 9336 ro o 68 Diagnostic message 63 ARRAY [0..18] OF BYTE 152 9488 ro o 69 Diagnostic message 64 ARRAY [0..18] OF BYTE 152 9640 ro o 70 Diagnostic message 65 ARRAY [0..18] OF BYTE 152 9792 ro o 71 Diagnostic message 66 ARRAY [0..18] OF BYTE 152 9944 ro o 72 Diagnostic message 67 ARRAY [0..18] OF BYTE 152 10096 ro o 73 Diagnostic message 68 ARRAY [0..18] OF BYTE 152 10248 ro o 74 Diagnostic message 69 ARRAY [0..18] OF BYTE 152 10400 ro o 75 Diagnostic message 70 ARRAY [0..18] OF BYTE 152 10552 ro o 76 Diagnostic message 71 ARRAY [0..18] OF BYTE 152 10704 ro o 77 Diagnostic message 72 ARRAY [0..18] OF BYTE 152 10856 ro o 78 Diagnostic message 73 ARRAY [0..18] OF BYTE 152 11008 ro o 79 Diagnostic message 74 ARRAY [0..18] OF BYTE 152 11160 ro o 80 Diagnostic message 75 ARRAY [0..18] OF BYTE 152 11312 ro o 81 Diagnostic message 76 ARRAY [0..18] OF BYTE 152 11464 ro o 82 Diagnostic message 77 ARRAY [0..18] OF BYTE 152 11616 ro o 83 Diagnostic message 78 ARRAY [0..18] OF BYTE 152 11768 ro o 84 Diagnostic message 79 ARRAY [0..18] OF BYTE 152 11920 ro o 85 Diagnostic message 80 ARRAY [0..18] OF BYTE 152 12072 ro o 86 Diagnostic message 81 ARRAY [0..18] OF BYTE 152 12224 ro o 87 Diagnostic message 82 ARRAY [0..18] OF BYTE 152 12376 ro o 88 Diagnostic message 83 ARRAY [0..18] OF BYTE 152 12528 ro o 89 Diagnostic message 84 ARRAY [0..18] OF BYTE 152 12680 ro o 90 Diagnostic message 85 ARRAY [0..18] OF BYTE 152 12832 ro o 91 Diagnostic message 86 ARRAY [0..18] OF BYTE 152 12984 ro o 92 Diagnostic message 87 ARRAY [0..18] OF BYTE 152 13136 ro o 93 Diagnostic message 88 ARRAY [0..18] OF BYTE 152 13288 ro o 94 Diagnostic message 89 ARRAY [0..18] OF BYTE 152 13440 ro o 95 Diagnostic message 90 ARRAY [0..18] OF BYTE 152 13592 ro o 96 Diagnostic message 91 ARRAY [0..18] OF BYTE 152 13744 ro o 97 Diagnostic message 92 ARRAY [0..18] OF BYTE 152 13896 ro o 98 Diagnostic message 93 ARRAY [0..18] OF BYTE 152 14048 ro o 99 Diagnostic message 94 ARRAY [0..18] OF BYTE 152 14200 ro o 100 Diagnostic message 95 ARRAY [0..18] OF BYTE 152 14352 ro o 101 Diagnostic message 96 ARRAY [0..18] OF BYTE 152 14504 ro o 102 Diagnostic message 97 ARRAY [0..18] OF BYTE 152 14656 ro o 103 Diagnostic message 98 ARRAY [0..18] OF BYTE 152 14808 ro o 104 Diagnostic message 99 ARRAY [0..18] OF BYTE 152 14960 ro o 105 Diagnostic message 100 ARRAY [0..18] OF BYTE 152 15112 ro o 106 Diagnostic message 101 ARRAY [0..18] OF BYTE 152 15264 ro o 107 Diagnostic message 102 ARRAY [0..18] OF BYTE 152 15416 ro o 108 Diagnostic message 103 ARRAY [0..18] OF BYTE 152 15568 ro o 109 Diagnostic message 104 ARRAY [0..18] OF BYTE 152 15720 ro o 110 Diagnostic message 105 ARRAY [0..18] OF BYTE 152 15872 ro o 111 Diagnostic message 106 ARRAY [0..18] OF BYTE 152 16024 ro o 112 Diagnostic message 107 ARRAY [0..18] OF BYTE 152 16176 ro o 113 Diagnostic message 108 ARRAY [0..18] OF BYTE 152 16328 ro o 114 Diagnostic message 109 ARRAY [0..18] OF BYTE 152 16480 ro o 115 Diagnostic message 110 ARRAY [0..18] OF BYTE 152 16632 ro o 116 Diagnostic message 111 ARRAY [0..18] OF BYTE 152 16784 ro o 117 Diagnostic message 112 ARRAY [0..18] OF BYTE 152 16936 ro o 118 Diagnostic message 113 ARRAY [0..18] OF BYTE 152 17088 ro o 119 Diagnostic message 114 ARRAY [0..18] OF BYTE 152 17240 ro o 120 Diagnostic message 115 ARRAY [0..18] OF BYTE 152 17392 ro o 121 Diagnostic message 116 ARRAY [0..18] OF BYTE 152 17544 ro o 122 Diagnostic message 117 ARRAY [0..18] OF BYTE 152 17696 ro o 123 Diagnostic message 118 ARRAY [0..18] OF BYTE 152 17848 ro o 124 Diagnostic message 119 ARRAY [0..18] OF BYTE 152 18000 ro o 125 Diagnostic message 120 ARRAY [0..18] OF BYTE 152 18152 ro o 126 Diagnostic message 121 ARRAY [0..18] OF BYTE 152 18304 ro o 127 Diagnostic message 122 ARRAY [0..18] OF BYTE 152 18456 ro o 128 Diagnostic message 123 ARRAY [0..18] OF BYTE 152 18608 ro o 129 Diagnostic message 124 ARRAY [0..18] OF BYTE 152 18760 ro o 130 Diagnostic message 125 ARRAY [0..18] OF BYTE 152 18912 ro o 131 Diagnostic message 126 ARRAY [0..18] OF BYTE 152 19064 ro o 132 Diagnostic message 127 ARRAY [0..18] OF BYTE 152 19216 ro o 133 Diagnostic message 128 ARRAY [0..18] OF BYTE 152 19368 ro o DT1600 272 0 Number of entries USINT 8 0 rw m 1 Mapped object 1 UDINT 32 16 rw c 2 Mapped object 2 UDINT 32 48 rw c 3 Mapped object 3 UDINT 32 80 rw c 4 Mapped object 4 UDINT 32 112 rw c 5 Mapped object 5 UDINT 32 144 rw c 6 Mapped object 6 UDINT 32 176 rw c 7 Mapped object 7 UDINT 32 208 rw c 8 Mapped object 8 UDINT 32 240 rw c DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro m Sync manager type DT1C00ARR 32 16 ro c DT1C12ARR UINT 80 1 5 DT1C12 96 0 Number of entries USINT 8 0 rw c Index of assigned PDO DT1C12ARR 80 16 rw c DT1C32 273 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 7 Minimum delay time UDINT 32 144 ro o 8 Get cycle time UINT 16 176 rw c 9 Delay time UDINT 32 192 ro c 11 SM-event missed counter UINT 16 224 ro o 12 Cycle time too small counter UINT 16 240 ro c 13 Shift too short counter UINT 16 256 ro c 32 Sync error BOOL 1 272 ro c T DT1C33 241 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 8 Get cycle time UINT 16 144 rw c 9 Delay time UDINT 32 160 ro c 11 SM-event missed counter UINT 16 192 ro o 12 Cycle time too small counter UINT 16 208 ro c 13 Shift too short counter UINT 16 224 ro o 32 Sync error BOOL 1 240 ro c T DT2001ARR INT 64 1 4 DT2001 80 0 Number of entries USINT 8 0 ro Analog inputs DT2001ARR 64 16 ro T DT2002ARR INT 16 1 1 DT2002 32 0 Number of entries USINT 8 0 ro Analog outputs DT2002ARR 16 16 rw R DT2400 152 0 Number of entries USINT 8 0 ro 1 Activate BOOL 1 16 rw 2 Peripheral ID UDINT 32 24 rw 3 Peripheral serial UDINT 32 56 ro 4 Pending peripheral ID UDINT 32 88 ro 5 Pending peripheral serial UDINT 32 120 ro DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro m Software position limit DT607DARR 64 16 rw m DT6097ARR UDINT 64 1 2 DT6097 80 0 Number of entries USINT 8 0 ro o Acceleration factor DT6097ARR 64 16 rw o DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro m Homing speeds DT6099ARR 64 16 rw m DT60E3ARR SINT 24 1 3 DT60E3 40 0 Number of entries USINT 8 0 ro c Supported homing method DT60E3ARR 24 16 ro c DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro o Digital outputs DT60FEARR 64 16 rw o CSP mode Cyclic synchronous position mode #x1700 CSP mode RxPDO mapping #x6040 16 Controlword UINT #x607A 32 Target position DINT #x1B00 CSP mode TxPDO mapping #x6041 16 Statusword UINT #x6064 32 Position actual value DINT #x60F4 32 Following error actual value DINT PS #x6060 0 08 Set Op Mode to CSP 402 2 BOOL Boolean bit 1 BYTE Byte 8 SINT Signed short integer 8 USINT Unsigned short integer 8 INT Signed integer 16 UINT Unsigned integer 16 DINT Signed double integer 32 UDINT Unsigned double integer 32 LINT Signed long integer 64 ULINT Unsigned long integer 64 STRING(4) Visible string, 4 octets 32 STRING(6) Visible string, 6 octets 48 ARRAY [0..18] OF BYTE BYTE Diagnostic message 152 0 19 DT1018 144 0 Number of entries USINT 8 0 ro m 1 Vendor ID UDINT 32 16 ro m 2 Product code UDINT 32 48 ro m 3 Revision number UDINT 32 80 ro m 4 Serial number UDINT 32 112 ro m DT10E0 32 0 Number of entries USINT 8 0 ro o 1 Configured station alias register value UINT 16 16 rw o DT10F1 64 0 Number of entries USINT 8 0 ro o 1 Local error reaction UDINT 32 16 ro o 2 Sync error counter limit UINT 16 48 rw o DT10F3 19520 0 Number of entries USINT 8 0 ro m 1 Maximum messages USINT 8 16 ro m 2 Newest message USINT 8 24 ro m 3 Newest acknowledged message USINT 8 32 rw m 4 New messages available BOOL 1 40 ro m 5 Flags UINT 16 48 rw m 6 Diagnostic message 1 ARRAY [0..18] OF BYTE 152 64 ro m 7 Diagnostic message 2 ARRAY [0..18] OF BYTE 152 216 ro o 8 Diagnostic message 3 ARRAY [0..18] OF BYTE 152 368 ro o 9 Diagnostic message 4 ARRAY [0..18] OF BYTE 152 520 ro o 10 Diagnostic message 5 ARRAY [0..18] OF BYTE 152 672 ro o 11 Diagnostic message 6 ARRAY [0..18] OF BYTE 152 824 ro o 12 Diagnostic message 7 ARRAY [0..18] OF BYTE 152 976 ro o 13 Diagnostic message 8 ARRAY [0..18] OF BYTE 152 1128 ro o 14 Diagnostic message 9 ARRAY [0..18] OF BYTE 152 1280 ro o 15 Diagnostic message 10 ARRAY [0..18] OF BYTE 152 1432 ro o 16 Diagnostic message 11 ARRAY [0..18] OF BYTE 152 1584 ro o 17 Diagnostic message 12 ARRAY [0..18] OF BYTE 152 1736 ro o 18 Diagnostic message 13 ARRAY [0..18] OF BYTE 152 1888 ro o 19 Diagnostic message 14 ARRAY [0..18] OF BYTE 152 2040 ro o 20 Diagnostic message 15 ARRAY [0..18] OF BYTE 152 2192 ro o 21 Diagnostic message 16 ARRAY [0..18] OF BYTE 152 2344 ro o 22 Diagnostic message 17 ARRAY [0..18] OF BYTE 152 2496 ro o 23 Diagnostic message 18 ARRAY [0..18] OF BYTE 152 2648 ro o 24 Diagnostic message 19 ARRAY [0..18] OF BYTE 152 2800 ro o 25 Diagnostic message 20 ARRAY [0..18] OF BYTE 152 2952 ro o 26 Diagnostic message 21 ARRAY [0..18] OF BYTE 152 3104 ro o 27 Diagnostic message 22 ARRAY [0..18] OF BYTE 152 3256 ro o 28 Diagnostic message 23 ARRAY [0..18] OF BYTE 152 3408 ro o 29 Diagnostic message 24 ARRAY [0..18] OF BYTE 152 3560 ro o 30 Diagnostic message 25 ARRAY [0..18] OF BYTE 152 3712 ro o 31 Diagnostic message 26 ARRAY [0..18] OF BYTE 152 3864 ro o 32 Diagnostic message 27 ARRAY [0..18] OF BYTE 152 4016 ro o 33 Diagnostic message 28 ARRAY [0..18] OF BYTE 152 4168 ro o 34 Diagnostic message 29 ARRAY [0..18] OF BYTE 152 4320 ro o 35 Diagnostic message 30 ARRAY [0..18] OF BYTE 152 4472 ro o 36 Diagnostic message 31 ARRAY [0..18] OF BYTE 152 4624 ro o 37 Diagnostic message 32 ARRAY [0..18] OF BYTE 152 4776 ro o 38 Diagnostic message 33 ARRAY [0..18] OF BYTE 152 4928 ro o 39 Diagnostic message 34 ARRAY [0..18] OF BYTE 152 5080 ro o 40 Diagnostic message 35 ARRAY [0..18] OF BYTE 152 5232 ro o 41 Diagnostic message 36 ARRAY [0..18] OF BYTE 152 5384 ro o 42 Diagnostic message 37 ARRAY [0..18] OF BYTE 152 5536 ro o 43 Diagnostic message 38 ARRAY [0..18] OF BYTE 152 5688 ro o 44 Diagnostic message 39 ARRAY [0..18] OF BYTE 152 5840 ro o 45 Diagnostic message 40 ARRAY [0..18] OF BYTE 152 5992 ro o 46 Diagnostic message 41 ARRAY [0..18] OF BYTE 152 6144 ro o 47 Diagnostic message 42 ARRAY [0..18] OF BYTE 152 6296 ro o 48 Diagnostic message 43 ARRAY [0..18] OF BYTE 152 6448 ro o 49 Diagnostic message 44 ARRAY [0..18] OF BYTE 152 6600 ro o 50 Diagnostic message 45 ARRAY [0..18] OF BYTE 152 6752 ro o 51 Diagnostic message 46 ARRAY [0..18] OF BYTE 152 6904 ro o 52 Diagnostic message 47 ARRAY [0..18] OF BYTE 152 7056 ro o 53 Diagnostic message 48 ARRAY [0..18] OF BYTE 152 7208 ro o 54 Diagnostic message 49 ARRAY [0..18] OF BYTE 152 7360 ro o 55 Diagnostic message 50 ARRAY [0..18] OF BYTE 152 7512 ro o 56 Diagnostic message 51 ARRAY [0..18] OF BYTE 152 7664 ro o 57 Diagnostic message 52 ARRAY [0..18] OF BYTE 152 7816 ro o 58 Diagnostic message 53 ARRAY [0..18] OF BYTE 152 7968 ro o 59 Diagnostic message 54 ARRAY [0..18] OF BYTE 152 8120 ro o 60 Diagnostic message 55 ARRAY [0..18] OF BYTE 152 8272 ro o 61 Diagnostic message 56 ARRAY [0..18] OF BYTE 152 8424 ro o 62 Diagnostic message 57 ARRAY [0..18] OF BYTE 152 8576 ro o 63 Diagnostic message 58 ARRAY [0..18] OF BYTE 152 8728 ro o 64 Diagnostic message 59 ARRAY [0..18] OF BYTE 152 8880 ro o 65 Diagnostic message 60 ARRAY [0..18] OF BYTE 152 9032 ro o 66 Diagnostic message 61 ARRAY [0..18] OF BYTE 152 9184 ro o 67 Diagnostic message 62 ARRAY [0..18] OF BYTE 152 9336 ro o 68 Diagnostic message 63 ARRAY [0..18] OF BYTE 152 9488 ro o 69 Diagnostic message 64 ARRAY [0..18] OF BYTE 152 9640 ro o 70 Diagnostic message 65 ARRAY [0..18] OF BYTE 152 9792 ro o 71 Diagnostic message 66 ARRAY [0..18] OF BYTE 152 9944 ro o 72 Diagnostic message 67 ARRAY [0..18] OF BYTE 152 10096 ro o 73 Diagnostic message 68 ARRAY [0..18] OF BYTE 152 10248 ro o 74 Diagnostic message 69 ARRAY [0..18] OF BYTE 152 10400 ro o 75 Diagnostic message 70 ARRAY [0..18] OF BYTE 152 10552 ro o 76 Diagnostic message 71 ARRAY [0..18] OF BYTE 152 10704 ro o 77 Diagnostic message 72 ARRAY [0..18] OF BYTE 152 10856 ro o 78 Diagnostic message 73 ARRAY [0..18] OF BYTE 152 11008 ro o 79 Diagnostic message 74 ARRAY [0..18] OF BYTE 152 11160 ro o 80 Diagnostic message 75 ARRAY [0..18] OF BYTE 152 11312 ro o 81 Diagnostic message 76 ARRAY [0..18] OF BYTE 152 11464 ro o 82 Diagnostic message 77 ARRAY [0..18] OF BYTE 152 11616 ro o 83 Diagnostic message 78 ARRAY [0..18] OF BYTE 152 11768 ro o 84 Diagnostic message 79 ARRAY [0..18] OF BYTE 152 11920 ro o 85 Diagnostic message 80 ARRAY [0..18] OF BYTE 152 12072 ro o 86 Diagnostic message 81 ARRAY [0..18] OF BYTE 152 12224 ro o 87 Diagnostic message 82 ARRAY [0..18] OF BYTE 152 12376 ro o 88 Diagnostic message 83 ARRAY [0..18] OF BYTE 152 12528 ro o 89 Diagnostic message 84 ARRAY [0..18] OF BYTE 152 12680 ro o 90 Diagnostic message 85 ARRAY [0..18] OF BYTE 152 12832 ro o 91 Diagnostic message 86 ARRAY [0..18] OF BYTE 152 12984 ro o 92 Diagnostic message 87 ARRAY [0..18] OF BYTE 152 13136 ro o 93 Diagnostic message 88 ARRAY [0..18] OF BYTE 152 13288 ro o 94 Diagnostic message 89 ARRAY [0..18] OF BYTE 152 13440 ro o 95 Diagnostic message 90 ARRAY [0..18] OF BYTE 152 13592 ro o 96 Diagnostic message 91 ARRAY [0..18] OF BYTE 152 13744 ro o 97 Diagnostic message 92 ARRAY [0..18] OF BYTE 152 13896 ro o 98 Diagnostic message 93 ARRAY [0..18] OF BYTE 152 14048 ro o 99 Diagnostic message 94 ARRAY [0..18] OF BYTE 152 14200 ro o 100 Diagnostic message 95 ARRAY [0..18] OF BYTE 152 14352 ro o 101 Diagnostic message 96 ARRAY [0..18] OF BYTE 152 14504 ro o 102 Diagnostic message 97 ARRAY [0..18] OF BYTE 152 14656 ro o 103 Diagnostic message 98 ARRAY [0..18] OF BYTE 152 14808 ro o 104 Diagnostic message 99 ARRAY [0..18] OF BYTE 152 14960 ro o 105 Diagnostic message 100 ARRAY [0..18] OF BYTE 152 15112 ro o 106 Diagnostic message 101 ARRAY [0..18] OF BYTE 152 15264 ro o 107 Diagnostic message 102 ARRAY [0..18] OF BYTE 152 15416 ro o 108 Diagnostic message 103 ARRAY [0..18] OF BYTE 152 15568 ro o 109 Diagnostic message 104 ARRAY [0..18] OF BYTE 152 15720 ro o 110 Diagnostic message 105 ARRAY [0..18] OF BYTE 152 15872 ro o 111 Diagnostic message 106 ARRAY [0..18] OF BYTE 152 16024 ro o 112 Diagnostic message 107 ARRAY [0..18] OF BYTE 152 16176 ro o 113 Diagnostic message 108 ARRAY [0..18] OF BYTE 152 16328 ro o 114 Diagnostic message 109 ARRAY [0..18] OF BYTE 152 16480 ro o 115 Diagnostic message 110 ARRAY [0..18] OF BYTE 152 16632 ro o 116 Diagnostic message 111 ARRAY [0..18] OF BYTE 152 16784 ro o 117 Diagnostic message 112 ARRAY [0..18] OF BYTE 152 16936 ro o 118 Diagnostic message 113 ARRAY [0..18] OF BYTE 152 17088 ro o 119 Diagnostic message 114 ARRAY [0..18] OF BYTE 152 17240 ro o 120 Diagnostic message 115 ARRAY [0..18] OF BYTE 152 17392 ro o 121 Diagnostic message 116 ARRAY [0..18] OF BYTE 152 17544 ro o 122 Diagnostic message 117 ARRAY [0..18] OF BYTE 152 17696 ro o 123 Diagnostic message 118 ARRAY [0..18] OF BYTE 152 17848 ro o 124 Diagnostic message 119 ARRAY [0..18] OF BYTE 152 18000 ro o 125 Diagnostic message 120 ARRAY [0..18] OF BYTE 152 18152 ro o 126 Diagnostic message 121 ARRAY [0..18] OF BYTE 152 18304 ro o 127 Diagnostic message 122 ARRAY [0..18] OF BYTE 152 18456 ro o 128 Diagnostic message 123 ARRAY [0..18] OF BYTE 152 18608 ro o 129 Diagnostic message 124 ARRAY [0..18] OF BYTE 152 18760 ro o 130 Diagnostic message 125 ARRAY [0..18] OF BYTE 152 18912 ro o 131 Diagnostic message 126 ARRAY [0..18] OF BYTE 152 19064 ro o 132 Diagnostic message 127 ARRAY [0..18] OF BYTE 152 19216 ro o 133 Diagnostic message 128 ARRAY [0..18] OF BYTE 152 19368 ro o DT1600 272 0 Number of entries USINT 8 0 rw m 1 Mapped object 1 UDINT 32 16 rw c 2 Mapped object 2 UDINT 32 48 rw c 3 Mapped object 3 UDINT 32 80 rw c 4 Mapped object 4 UDINT 32 112 rw c 5 Mapped object 5 UDINT 32 144 rw c 6 Mapped object 6 UDINT 32 176 rw c 7 Mapped object 7 UDINT 32 208 rw c 8 Mapped object 8 UDINT 32 240 rw c DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro m Sync manager type DT1C00ARR 32 16 ro c DT1C12ARR UINT 80 1 5 DT1C12 96 0 Number of entries USINT 8 0 rw c Index of assigned PDO DT1C12ARR 80 16 rw c DT1C32 273 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 7 Minimum delay time UDINT 32 144 ro o 8 Get cycle time UINT 16 176 rw c 9 Delay time UDINT 32 192 ro c 11 SM-event missed counter UINT 16 224 ro o 12 Cycle time too small counter UINT 16 240 ro c 13 Shift too short counter UINT 16 256 ro c 32 Sync error BOOL 1 272 ro c T DT1C33 241 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 8 Get cycle time UINT 16 144 rw c 9 Delay time UDINT 32 160 ro c 11 SM-event missed counter UINT 16 192 ro o 12 Cycle time too small counter UINT 16 208 ro c 13 Shift too short counter UINT 16 224 ro o 32 Sync error BOOL 1 240 ro c T DT2001ARR INT 64 1 4 DT2001 80 0 Number of entries USINT 8 0 ro Analog inputs DT2001ARR 64 16 ro T DT2002ARR INT 16 1 1 DT2002 32 0 Number of entries USINT 8 0 ro Analog outputs DT2002ARR 16 16 rw R DT2400 152 0 Number of entries USINT 8 0 ro 1 Activate BOOL 1 16 rw 2 Peripheral ID UDINT 32 24 rw 3 Peripheral serial UDINT 32 56 ro 4 Pending peripheral ID UDINT 32 88 ro 5 Pending peripheral serial UDINT 32 120 ro DT607BARR DINT 64 1 2 DT607B 80 0 Number of entries USINT 8 0 ro m Position range limit DT607BARR 64 16 rw m DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro m Software position limit DT607DARR 64 16 rw m DT6097ARR UDINT 64 1 2 DT6097 80 0 Number of entries USINT 8 0 ro o Acceleration factor DT6097ARR 64 16 rw o DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro m Homing speeds DT6099ARR 64 16 rw m DT60E3ARR SINT 24 1 3 DT60E3 40 0 Number of entries USINT 8 0 ro c Supported homing method DT60E3ARR 24 16 ro c DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro o Digital outputs DT60FEARR 64 16 rw o Dynamic modes Dynamic op mode switching #x1700 Dynamic modes RxPDO mapping #x6040 16 Controlword UINT #x607A 32 Target position DINT #x6060 8 Modes of operation SINT #x1B00 Dynamic modes TxPDO mapping #x6041 16 Statusword UINT #x6064 32 Position actual value DINT #x60F4 32 Following error actual value DINT #x6061 8 Modes of operation display SINT 402 6 BOOL Boolean bit 1 BYTE Byte 8 SINT Signed short integer 8 USINT Unsigned short integer 8 INT Signed integer 16 UINT Unsigned integer 16 DINT Signed double integer 32 UDINT Unsigned double integer 32 LINT Signed long integer 64 ULINT Unsigned long integer 64 STRING(4) Visible string, 4 octets 32 STRING(6) Visible string, 6 octets 48 DT1018 144 0 Number of entries USINT 8 0 ro m 1 Vendor ID UDINT 32 16 ro m 2 Product code UDINT 32 48 ro m 3 Revision number UDINT 32 80 ro m 4 Serial number UDINT 32 112 ro m DT10E0 32 0 Number of entries USINT 8 0 ro o 1 Configured station alias register value UINT 16 16 rw o DT10F1 64 0 Number of entries USINT 8 0 ro o 1 Local error reaction UDINT 32 16 ro o 2 Sync error counter limit UINT 16 48 rw o DT1600 272 0 Number of entries USINT 8 0 rw m 1 Mapped object 1 UDINT 32 16 rw c 2 Mapped object 2 UDINT 32 48 rw c 3 Mapped object 3 UDINT 32 80 rw c 4 Mapped object 4 UDINT 32 112 rw c 5 Mapped object 5 UDINT 32 144 rw c 6 Mapped object 6 UDINT 32 176 rw c 7 Mapped object 7 UDINT 32 208 rw c 8 Mapped object 8 UDINT 32 240 rw c DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro m Sync manager type DT1C00ARR 32 16 ro c DT1C12ARR UINT 80 1 5 DT1C12 96 0 Number of entries USINT 8 0 rw c Index of assigned PDO DT1C12ARR 80 16 rw c DT1C32 273 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 7 Minimum delay time UDINT 32 144 ro o 8 Get cycle time UINT 16 176 rw c 9 Delay time UDINT 32 192 ro c 11 SM-event missed counter UINT 16 224 ro o 12 Cycle time too small counter UINT 16 240 ro c 13 Shift too short counter UINT 16 256 ro c 32 Sync error BOOL 1 272 ro c T DT1C33 241 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 8 Get cycle time UINT 16 144 rw c 9 Delay time UDINT 32 160 ro c 11 SM-event missed counter UINT 16 192 ro o 12 Cycle time too small counter UINT 16 208 ro c 13 Shift too short counter UINT 16 224 ro o 32 Sync error BOOL 1 240 ro c T DT2001ARR INT 64 1 4 DT2001 80 0 Number of entries USINT 8 0 ro Analog inputs DT2001ARR 64 16 ro T DT2002ARR INT 16 1 1 DT2002 32 0 Number of entries USINT 8 0 ro Analog outputs DT2002ARR 16 16 rw R DT2400 152 0 Number of entries USINT 8 0 ro 1 Activate BOOL 1 16 rw 2 Peripheral ID UDINT 32 24 rw 3 Peripheral serial UDINT 32 56 ro 4 Pending peripheral ID UDINT 32 88 ro 5 Pending peripheral serial UDINT 32 120 ro DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro m Software position limit DT607DARR 64 16 rw m DT6097ARR UDINT 64 1 2 DT6097 80 0 Number of entries USINT 8 0 ro o Acceleration factor DT6097ARR 64 16 rw o DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro m Homing speeds DT6099ARR 64 16 rw m DT60E3ARR SINT 8 1 1 DT60E3 24 0 Number of entries USINT 8 0 ro c Supported homing method DT60E3ARR 8 16 ro c DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro o Digital outputs DT60FEARR 64 16 rw o Dynamic modes Dynamic op mode switching #x1700 Dynamic modes RxPDO mapping #x6040 16 Controlword UINT #x607A 32 Target position DINT #x6060 8 Modes of operation SINT #x1B00 Dynamic modes TxPDO mapping #x6041 16 Statusword UINT #x6064 32 Position actual value DINT #x60F4 32 Following error actual value DINT #x6061 8 Modes of operation display SINT 402 2 BOOL Boolean bit 1 BYTE Byte 8 SINT Signed short integer 8 USINT Unsigned short integer 8 INT Signed integer 16 UINT Unsigned integer 16 DINT Signed double integer 32 UDINT Unsigned double integer 32 LINT Signed long integer 64 ULINT Unsigned long integer 64 STRING(4) Visible string, 4 octets 32 STRING(6) Visible string, 6 octets 48 ARRAY [0..18] OF BYTE BYTE Diagnostic message 152 0 19 DT1018 144 0 Number of entries USINT 8 0 ro m 1 Vendor ID UDINT 32 16 ro m 2 Product code UDINT 32 48 ro m 3 Revision number UDINT 32 80 ro m 4 Serial number UDINT 32 112 ro m DT10E0 32 0 Number of entries USINT 8 0 ro o 1 Configured station alias register value UINT 16 16 rw o DT10F1 64 0 Number of entries USINT 8 0 ro o 1 Local error reaction UDINT 32 16 ro o 2 Sync error counter limit UINT 16 48 rw o DT10F3 19520 0 Number of entries USINT 8 0 ro m 1 Maximum messages USINT 8 16 ro m 2 Newest message USINT 8 24 ro m 3 Newest acknowledged message USINT 8 32 rw m 4 New messages available BOOL 1 40 ro m 5 Flags UINT 16 48 rw m 6 Diagnostic message 1 ARRAY [0..18] OF BYTE 152 64 ro m 7 Diagnostic message 2 ARRAY [0..18] OF BYTE 152 216 ro o 8 Diagnostic message 3 ARRAY [0..18] OF BYTE 152 368 ro o 9 Diagnostic message 4 ARRAY [0..18] OF BYTE 152 520 ro o 10 Diagnostic message 5 ARRAY [0..18] OF BYTE 152 672 ro o 11 Diagnostic message 6 ARRAY [0..18] OF BYTE 152 824 ro o 12 Diagnostic message 7 ARRAY [0..18] OF BYTE 152 976 ro o 13 Diagnostic message 8 ARRAY [0..18] OF BYTE 152 1128 ro o 14 Diagnostic message 9 ARRAY [0..18] OF BYTE 152 1280 ro o 15 Diagnostic message 10 ARRAY [0..18] OF BYTE 152 1432 ro o 16 Diagnostic message 11 ARRAY [0..18] OF BYTE 152 1584 ro o 17 Diagnostic message 12 ARRAY [0..18] OF BYTE 152 1736 ro o 18 Diagnostic message 13 ARRAY [0..18] OF BYTE 152 1888 ro o 19 Diagnostic message 14 ARRAY [0..18] OF BYTE 152 2040 ro o 20 Diagnostic message 15 ARRAY [0..18] OF BYTE 152 2192 ro o 21 Diagnostic message 16 ARRAY [0..18] OF BYTE 152 2344 ro o 22 Diagnostic message 17 ARRAY [0..18] OF BYTE 152 2496 ro o 23 Diagnostic message 18 ARRAY [0..18] OF BYTE 152 2648 ro o 24 Diagnostic message 19 ARRAY [0..18] OF BYTE 152 2800 ro o 25 Diagnostic message 20 ARRAY [0..18] OF BYTE 152 2952 ro o 26 Diagnostic message 21 ARRAY [0..18] OF BYTE 152 3104 ro o 27 Diagnostic message 22 ARRAY [0..18] OF BYTE 152 3256 ro o 28 Diagnostic message 23 ARRAY [0..18] OF BYTE 152 3408 ro o 29 Diagnostic message 24 ARRAY [0..18] OF BYTE 152 3560 ro o 30 Diagnostic message 25 ARRAY [0..18] OF BYTE 152 3712 ro o 31 Diagnostic message 26 ARRAY [0..18] OF BYTE 152 3864 ro o 32 Diagnostic message 27 ARRAY [0..18] OF BYTE 152 4016 ro o 33 Diagnostic message 28 ARRAY [0..18] OF BYTE 152 4168 ro o 34 Diagnostic message 29 ARRAY [0..18] OF BYTE 152 4320 ro o 35 Diagnostic message 30 ARRAY [0..18] OF BYTE 152 4472 ro o 36 Diagnostic message 31 ARRAY [0..18] OF BYTE 152 4624 ro o 37 Diagnostic message 32 ARRAY [0..18] OF BYTE 152 4776 ro o 38 Diagnostic message 33 ARRAY [0..18] OF BYTE 152 4928 ro o 39 Diagnostic message 34 ARRAY [0..18] OF BYTE 152 5080 ro o 40 Diagnostic message 35 ARRAY [0..18] OF BYTE 152 5232 ro o 41 Diagnostic message 36 ARRAY [0..18] OF BYTE 152 5384 ro o 42 Diagnostic message 37 ARRAY [0..18] OF BYTE 152 5536 ro o 43 Diagnostic message 38 ARRAY [0..18] OF BYTE 152 5688 ro o 44 Diagnostic message 39 ARRAY [0..18] OF BYTE 152 5840 ro o 45 Diagnostic message 40 ARRAY [0..18] OF BYTE 152 5992 ro o 46 Diagnostic message 41 ARRAY [0..18] OF BYTE 152 6144 ro o 47 Diagnostic message 42 ARRAY [0..18] OF BYTE 152 6296 ro o 48 Diagnostic message 43 ARRAY [0..18] OF BYTE 152 6448 ro o 49 Diagnostic message 44 ARRAY [0..18] OF BYTE 152 6600 ro o 50 Diagnostic message 45 ARRAY [0..18] OF BYTE 152 6752 ro o 51 Diagnostic message 46 ARRAY [0..18] OF BYTE 152 6904 ro o 52 Diagnostic message 47 ARRAY [0..18] OF BYTE 152 7056 ro o 53 Diagnostic message 48 ARRAY [0..18] OF BYTE 152 7208 ro o 54 Diagnostic message 49 ARRAY [0..18] OF BYTE 152 7360 ro o 55 Diagnostic message 50 ARRAY [0..18] OF BYTE 152 7512 ro o 56 Diagnostic message 51 ARRAY [0..18] OF BYTE 152 7664 ro o 57 Diagnostic message 52 ARRAY [0..18] OF BYTE 152 7816 ro o 58 Diagnostic message 53 ARRAY [0..18] OF BYTE 152 7968 ro o 59 Diagnostic message 54 ARRAY [0..18] OF BYTE 152 8120 ro o 60 Diagnostic message 55 ARRAY [0..18] OF BYTE 152 8272 ro o 61 Diagnostic message 56 ARRAY [0..18] OF BYTE 152 8424 ro o 62 Diagnostic message 57 ARRAY [0..18] OF BYTE 152 8576 ro o 63 Diagnostic message 58 ARRAY [0..18] OF BYTE 152 8728 ro o 64 Diagnostic message 59 ARRAY [0..18] OF BYTE 152 8880 ro o 65 Diagnostic message 60 ARRAY [0..18] OF BYTE 152 9032 ro o 66 Diagnostic message 61 ARRAY [0..18] OF BYTE 152 9184 ro o 67 Diagnostic message 62 ARRAY [0..18] OF BYTE 152 9336 ro o 68 Diagnostic message 63 ARRAY [0..18] OF BYTE 152 9488 ro o 69 Diagnostic message 64 ARRAY [0..18] OF BYTE 152 9640 ro o 70 Diagnostic message 65 ARRAY [0..18] OF BYTE 152 9792 ro o 71 Diagnostic message 66 ARRAY [0..18] OF BYTE 152 9944 ro o 72 Diagnostic message 67 ARRAY [0..18] OF BYTE 152 10096 ro o 73 Diagnostic message 68 ARRAY [0..18] OF BYTE 152 10248 ro o 74 Diagnostic message 69 ARRAY [0..18] OF BYTE 152 10400 ro o 75 Diagnostic message 70 ARRAY [0..18] OF BYTE 152 10552 ro o 76 Diagnostic message 71 ARRAY [0..18] OF BYTE 152 10704 ro o 77 Diagnostic message 72 ARRAY [0..18] OF BYTE 152 10856 ro o 78 Diagnostic message 73 ARRAY [0..18] OF BYTE 152 11008 ro o 79 Diagnostic message 74 ARRAY [0..18] OF BYTE 152 11160 ro o 80 Diagnostic message 75 ARRAY [0..18] OF BYTE 152 11312 ro o 81 Diagnostic message 76 ARRAY [0..18] OF BYTE 152 11464 ro o 82 Diagnostic message 77 ARRAY [0..18] OF BYTE 152 11616 ro o 83 Diagnostic message 78 ARRAY [0..18] OF BYTE 152 11768 ro o 84 Diagnostic message 79 ARRAY [0..18] OF BYTE 152 11920 ro o 85 Diagnostic message 80 ARRAY [0..18] OF BYTE 152 12072 ro o 86 Diagnostic message 81 ARRAY [0..18] OF BYTE 152 12224 ro o 87 Diagnostic message 82 ARRAY [0..18] OF BYTE 152 12376 ro o 88 Diagnostic message 83 ARRAY [0..18] OF BYTE 152 12528 ro o 89 Diagnostic message 84 ARRAY [0..18] OF BYTE 152 12680 ro o 90 Diagnostic message 85 ARRAY [0..18] OF BYTE 152 12832 ro o 91 Diagnostic message 86 ARRAY [0..18] OF BYTE 152 12984 ro o 92 Diagnostic message 87 ARRAY [0..18] OF BYTE 152 13136 ro o 93 Diagnostic message 88 ARRAY [0..18] OF BYTE 152 13288 ro o 94 Diagnostic message 89 ARRAY [0..18] OF BYTE 152 13440 ro o 95 Diagnostic message 90 ARRAY [0..18] OF BYTE 152 13592 ro o 96 Diagnostic message 91 ARRAY [0..18] OF BYTE 152 13744 ro o 97 Diagnostic message 92 ARRAY [0..18] OF BYTE 152 13896 ro o 98 Diagnostic message 93 ARRAY [0..18] OF BYTE 152 14048 ro o 99 Diagnostic message 94 ARRAY [0..18] OF BYTE 152 14200 ro o 100 Diagnostic message 95 ARRAY [0..18] OF BYTE 152 14352 ro o 101 Diagnostic message 96 ARRAY [0..18] OF BYTE 152 14504 ro o 102 Diagnostic message 97 ARRAY [0..18] OF BYTE 152 14656 ro o 103 Diagnostic message 98 ARRAY [0..18] OF BYTE 152 14808 ro o 104 Diagnostic message 99 ARRAY [0..18] OF BYTE 152 14960 ro o 105 Diagnostic message 100 ARRAY [0..18] OF BYTE 152 15112 ro o 106 Diagnostic message 101 ARRAY [0..18] OF BYTE 152 15264 ro o 107 Diagnostic message 102 ARRAY [0..18] OF BYTE 152 15416 ro o 108 Diagnostic message 103 ARRAY [0..18] OF BYTE 152 15568 ro o 109 Diagnostic message 104 ARRAY [0..18] OF BYTE 152 15720 ro o 110 Diagnostic message 105 ARRAY [0..18] OF BYTE 152 15872 ro o 111 Diagnostic message 106 ARRAY [0..18] OF BYTE 152 16024 ro o 112 Diagnostic message 107 ARRAY [0..18] OF BYTE 152 16176 ro o 113 Diagnostic message 108 ARRAY [0..18] OF BYTE 152 16328 ro o 114 Diagnostic message 109 ARRAY [0..18] OF BYTE 152 16480 ro o 115 Diagnostic message 110 ARRAY [0..18] OF BYTE 152 16632 ro o 116 Diagnostic message 111 ARRAY [0..18] OF BYTE 152 16784 ro o 117 Diagnostic message 112 ARRAY [0..18] OF BYTE 152 16936 ro o 118 Diagnostic message 113 ARRAY [0..18] OF BYTE 152 17088 ro o 119 Diagnostic message 114 ARRAY [0..18] OF BYTE 152 17240 ro o 120 Diagnostic message 115 ARRAY [0..18] OF BYTE 152 17392 ro o 121 Diagnostic message 116 ARRAY [0..18] OF BYTE 152 17544 ro o 122 Diagnostic message 117 ARRAY [0..18] OF BYTE 152 17696 ro o 123 Diagnostic message 118 ARRAY [0..18] OF BYTE 152 17848 ro o 124 Diagnostic message 119 ARRAY [0..18] OF BYTE 152 18000 ro o 125 Diagnostic message 120 ARRAY [0..18] OF BYTE 152 18152 ro o 126 Diagnostic message 121 ARRAY [0..18] OF BYTE 152 18304 ro o 127 Diagnostic message 122 ARRAY [0..18] OF BYTE 152 18456 ro o 128 Diagnostic message 123 ARRAY [0..18] OF BYTE 152 18608 ro o 129 Diagnostic message 124 ARRAY [0..18] OF BYTE 152 18760 ro o 130 Diagnostic message 125 ARRAY [0..18] OF BYTE 152 18912 ro o 131 Diagnostic message 126 ARRAY [0..18] OF BYTE 152 19064 ro o 132 Diagnostic message 127 ARRAY [0..18] OF BYTE 152 19216 ro o 133 Diagnostic message 128 ARRAY [0..18] OF BYTE 152 19368 ro o DT1600 272 0 Number of entries USINT 8 0 rw m 1 Mapped object 1 UDINT 32 16 rw c 2 Mapped object 2 UDINT 32 48 rw c 3 Mapped object 3 UDINT 32 80 rw c 4 Mapped object 4 UDINT 32 112 rw c 5 Mapped object 5 UDINT 32 144 rw c 6 Mapped object 6 UDINT 32 176 rw c 7 Mapped object 7 UDINT 32 208 rw c 8 Mapped object 8 UDINT 32 240 rw c DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro m Sync manager type DT1C00ARR 32 16 ro c DT1C12ARR UINT 80 1 5 DT1C12 96 0 Number of entries USINT 8 0 rw c Index of assigned PDO DT1C12ARR 80 16 rw c DT1C32 273 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 7 Minimum delay time UDINT 32 144 ro o 8 Get cycle time UINT 16 176 rw c 9 Delay time UDINT 32 192 ro c 11 SM-event missed counter UINT 16 224 ro o 12 Cycle time too small counter UINT 16 240 ro c 13 Shift too short counter UINT 16 256 ro c 32 Sync error BOOL 1 272 ro c T DT1C33 241 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 8 Get cycle time UINT 16 144 rw c 9 Delay time UDINT 32 160 ro c 11 SM-event missed counter UINT 16 192 ro o 12 Cycle time too small counter UINT 16 208 ro c 13 Shift too short counter UINT 16 224 ro o 32 Sync error BOOL 1 240 ro c T DT2001ARR INT 64 1 4 DT2001 80 0 Number of entries USINT 8 0 ro Analog inputs DT2001ARR 64 16 ro T DT2002ARR INT 16 1 1 DT2002 32 0 Number of entries USINT 8 0 ro Analog outputs DT2002ARR 16 16 rw R DT2400 152 0 Number of entries USINT 8 0 ro 1 Activate BOOL 1 16 rw 2 Peripheral ID UDINT 32 24 rw 3 Peripheral serial UDINT 32 56 ro 4 Pending peripheral ID UDINT 32 88 ro 5 Pending peripheral serial UDINT 32 120 ro DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro m Software position limit DT607DARR 64 16 rw m DT6097ARR UDINT 64 1 2 DT6097 80 0 Number of entries USINT 8 0 ro o Acceleration factor DT6097ARR 64 16 rw o DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro m Homing speeds DT6099ARR 64 16 rw m DT60E3ARR SINT 24 1 3 DT60E3 40 0 Number of entries USINT 8 0 ro c Supported homing method DT60E3ARR 24 16 ro c DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro o Digital outputs DT60FEARR 64 16 rw o Dynamic modes Dynamic op mode switching #x1700 Dynamic modes RxPDO mapping #x6040 16 Controlword UINT #x607A 32 Target position DINT #x6060 8 Modes of operation SINT #x1B00 Dynamic modes TxPDO mapping #x6041 16 Statusword UINT #x6064 32 Position actual value DINT #x60F4 32 Following error actual value DINT #x6061 8 Modes of operation display SINT 402 2 BOOL Boolean bit 1 BYTE Byte 8 SINT Signed short integer 8 USINT Unsigned short integer 8 INT Signed integer 16 UINT Unsigned integer 16 DINT Signed double integer 32 UDINT Unsigned double integer 32 LINT Signed long integer 64 ULINT Unsigned long integer 64 STRING(4) Visible string, 4 octets 32 STRING(6) Visible string, 6 octets 48 ARRAY [0..18] OF BYTE BYTE Diagnostic message 152 0 19 DT1018 144 0 Number of entries USINT 8 0 ro m 1 Vendor ID UDINT 32 16 ro m 2 Product code UDINT 32 48 ro m 3 Revision number UDINT 32 80 ro m 4 Serial number UDINT 32 112 ro m DT10E0 32 0 Number of entries USINT 8 0 ro o 1 Configured station alias register value UINT 16 16 rw o DT10F1 64 0 Number of entries USINT 8 0 ro o 1 Local error reaction UDINT 32 16 ro o 2 Sync error counter limit UINT 16 48 rw o DT10F3 19520 0 Number of entries USINT 8 0 ro m 1 Maximum messages USINT 8 16 ro m 2 Newest message USINT 8 24 ro m 3 Newest acknowledged message USINT 8 32 rw m 4 New messages available BOOL 1 40 ro m 5 Flags UINT 16 48 rw m 6 Diagnostic message 1 ARRAY [0..18] OF BYTE 152 64 ro m 7 Diagnostic message 2 ARRAY [0..18] OF BYTE 152 216 ro o 8 Diagnostic message 3 ARRAY [0..18] OF BYTE 152 368 ro o 9 Diagnostic message 4 ARRAY [0..18] OF BYTE 152 520 ro o 10 Diagnostic message 5 ARRAY [0..18] OF BYTE 152 672 ro o 11 Diagnostic message 6 ARRAY [0..18] OF BYTE 152 824 ro o 12 Diagnostic message 7 ARRAY [0..18] OF BYTE 152 976 ro o 13 Diagnostic message 8 ARRAY [0..18] OF BYTE 152 1128 ro o 14 Diagnostic message 9 ARRAY [0..18] OF BYTE 152 1280 ro o 15 Diagnostic message 10 ARRAY [0..18] OF BYTE 152 1432 ro o 16 Diagnostic message 11 ARRAY [0..18] OF BYTE 152 1584 ro o 17 Diagnostic message 12 ARRAY [0..18] OF BYTE 152 1736 ro o 18 Diagnostic message 13 ARRAY [0..18] OF BYTE 152 1888 ro o 19 Diagnostic message 14 ARRAY [0..18] OF BYTE 152 2040 ro o 20 Diagnostic message 15 ARRAY [0..18] OF BYTE 152 2192 ro o 21 Diagnostic message 16 ARRAY [0..18] OF BYTE 152 2344 ro o 22 Diagnostic message 17 ARRAY [0..18] OF BYTE 152 2496 ro o 23 Diagnostic message 18 ARRAY [0..18] OF BYTE 152 2648 ro o 24 Diagnostic message 19 ARRAY [0..18] OF BYTE 152 2800 ro o 25 Diagnostic message 20 ARRAY [0..18] OF BYTE 152 2952 ro o 26 Diagnostic message 21 ARRAY [0..18] OF BYTE 152 3104 ro o 27 Diagnostic message 22 ARRAY [0..18] OF BYTE 152 3256 ro o 28 Diagnostic message 23 ARRAY [0..18] OF BYTE 152 3408 ro o 29 Diagnostic message 24 ARRAY [0..18] OF BYTE 152 3560 ro o 30 Diagnostic message 25 ARRAY [0..18] OF BYTE 152 3712 ro o 31 Diagnostic message 26 ARRAY [0..18] OF BYTE 152 3864 ro o 32 Diagnostic message 27 ARRAY [0..18] OF BYTE 152 4016 ro o 33 Diagnostic message 28 ARRAY [0..18] OF BYTE 152 4168 ro o 34 Diagnostic message 29 ARRAY [0..18] OF BYTE 152 4320 ro o 35 Diagnostic message 30 ARRAY [0..18] OF BYTE 152 4472 ro o 36 Diagnostic message 31 ARRAY [0..18] OF BYTE 152 4624 ro o 37 Diagnostic message 32 ARRAY [0..18] OF BYTE 152 4776 ro o 38 Diagnostic message 33 ARRAY [0..18] OF BYTE 152 4928 ro o 39 Diagnostic message 34 ARRAY [0..18] OF BYTE 152 5080 ro o 40 Diagnostic message 35 ARRAY [0..18] OF BYTE 152 5232 ro o 41 Diagnostic message 36 ARRAY [0..18] OF BYTE 152 5384 ro o 42 Diagnostic message 37 ARRAY [0..18] OF BYTE 152 5536 ro o 43 Diagnostic message 38 ARRAY [0..18] OF BYTE 152 5688 ro o 44 Diagnostic message 39 ARRAY [0..18] OF BYTE 152 5840 ro o 45 Diagnostic message 40 ARRAY [0..18] OF BYTE 152 5992 ro o 46 Diagnostic message 41 ARRAY [0..18] OF BYTE 152 6144 ro o 47 Diagnostic message 42 ARRAY [0..18] OF BYTE 152 6296 ro o 48 Diagnostic message 43 ARRAY [0..18] OF BYTE 152 6448 ro o 49 Diagnostic message 44 ARRAY [0..18] OF BYTE 152 6600 ro o 50 Diagnostic message 45 ARRAY [0..18] OF BYTE 152 6752 ro o 51 Diagnostic message 46 ARRAY [0..18] OF BYTE 152 6904 ro o 52 Diagnostic message 47 ARRAY [0..18] OF BYTE 152 7056 ro o 53 Diagnostic message 48 ARRAY [0..18] OF BYTE 152 7208 ro o 54 Diagnostic message 49 ARRAY [0..18] OF BYTE 152 7360 ro o 55 Diagnostic message 50 ARRAY [0..18] OF BYTE 152 7512 ro o 56 Diagnostic message 51 ARRAY [0..18] OF BYTE 152 7664 ro o 57 Diagnostic message 52 ARRAY [0..18] OF BYTE 152 7816 ro o 58 Diagnostic message 53 ARRAY [0..18] OF BYTE 152 7968 ro o 59 Diagnostic message 54 ARRAY [0..18] OF BYTE 152 8120 ro o 60 Diagnostic message 55 ARRAY [0..18] OF BYTE 152 8272 ro o 61 Diagnostic message 56 ARRAY [0..18] OF BYTE 152 8424 ro o 62 Diagnostic message 57 ARRAY [0..18] OF BYTE 152 8576 ro o 63 Diagnostic message 58 ARRAY [0..18] OF BYTE 152 8728 ro o 64 Diagnostic message 59 ARRAY [0..18] OF BYTE 152 8880 ro o 65 Diagnostic message 60 ARRAY [0..18] OF BYTE 152 9032 ro o 66 Diagnostic message 61 ARRAY [0..18] OF BYTE 152 9184 ro o 67 Diagnostic message 62 ARRAY [0..18] OF BYTE 152 9336 ro o 68 Diagnostic message 63 ARRAY [0..18] OF BYTE 152 9488 ro o 69 Diagnostic message 64 ARRAY [0..18] OF BYTE 152 9640 ro o 70 Diagnostic message 65 ARRAY [0..18] OF BYTE 152 9792 ro o 71 Diagnostic message 66 ARRAY [0..18] OF BYTE 152 9944 ro o 72 Diagnostic message 67 ARRAY [0..18] OF BYTE 152 10096 ro o 73 Diagnostic message 68 ARRAY [0..18] OF BYTE 152 10248 ro o 74 Diagnostic message 69 ARRAY [0..18] OF BYTE 152 10400 ro o 75 Diagnostic message 70 ARRAY [0..18] OF BYTE 152 10552 ro o 76 Diagnostic message 71 ARRAY [0..18] OF BYTE 152 10704 ro o 77 Diagnostic message 72 ARRAY [0..18] OF BYTE 152 10856 ro o 78 Diagnostic message 73 ARRAY [0..18] OF BYTE 152 11008 ro o 79 Diagnostic message 74 ARRAY [0..18] OF BYTE 152 11160 ro o 80 Diagnostic message 75 ARRAY [0..18] OF BYTE 152 11312 ro o 81 Diagnostic message 76 ARRAY [0..18] OF BYTE 152 11464 ro o 82 Diagnostic message 77 ARRAY [0..18] OF BYTE 152 11616 ro o 83 Diagnostic message 78 ARRAY [0..18] OF BYTE 152 11768 ro o 84 Diagnostic message 79 ARRAY [0..18] OF BYTE 152 11920 ro o 85 Diagnostic message 80 ARRAY [0..18] OF BYTE 152 12072 ro o 86 Diagnostic message 81 ARRAY [0..18] OF BYTE 152 12224 ro o 87 Diagnostic message 82 ARRAY [0..18] OF BYTE 152 12376 ro o 88 Diagnostic message 83 ARRAY [0..18] OF BYTE 152 12528 ro o 89 Diagnostic message 84 ARRAY [0..18] OF BYTE 152 12680 ro o 90 Diagnostic message 85 ARRAY [0..18] OF BYTE 152 12832 ro o 91 Diagnostic message 86 ARRAY [0..18] OF BYTE 152 12984 ro o 92 Diagnostic message 87 ARRAY [0..18] OF BYTE 152 13136 ro o 93 Diagnostic message 88 ARRAY [0..18] OF BYTE 152 13288 ro o 94 Diagnostic message 89 ARRAY [0..18] OF BYTE 152 13440 ro o 95 Diagnostic message 90 ARRAY [0..18] OF BYTE 152 13592 ro o 96 Diagnostic message 91 ARRAY [0..18] OF BYTE 152 13744 ro o 97 Diagnostic message 92 ARRAY [0..18] OF BYTE 152 13896 ro o 98 Diagnostic message 93 ARRAY [0..18] OF BYTE 152 14048 ro o 99 Diagnostic message 94 ARRAY [0..18] OF BYTE 152 14200 ro o 100 Diagnostic message 95 ARRAY [0..18] OF BYTE 152 14352 ro o 101 Diagnostic message 96 ARRAY [0..18] OF BYTE 152 14504 ro o 102 Diagnostic message 97 ARRAY [0..18] OF BYTE 152 14656 ro o 103 Diagnostic message 98 ARRAY [0..18] OF BYTE 152 14808 ro o 104 Diagnostic message 99 ARRAY [0..18] OF BYTE 152 14960 ro o 105 Diagnostic message 100 ARRAY [0..18] OF BYTE 152 15112 ro o 106 Diagnostic message 101 ARRAY [0..18] OF BYTE 152 15264 ro o 107 Diagnostic message 102 ARRAY [0..18] OF BYTE 152 15416 ro o 108 Diagnostic message 103 ARRAY [0..18] OF BYTE 152 15568 ro o 109 Diagnostic message 104 ARRAY [0..18] OF BYTE 152 15720 ro o 110 Diagnostic message 105 ARRAY [0..18] OF BYTE 152 15872 ro o 111 Diagnostic message 106 ARRAY [0..18] OF BYTE 152 16024 ro o 112 Diagnostic message 107 ARRAY [0..18] OF BYTE 152 16176 ro o 113 Diagnostic message 108 ARRAY [0..18] OF BYTE 152 16328 ro o 114 Diagnostic message 109 ARRAY [0..18] OF BYTE 152 16480 ro o 115 Diagnostic message 110 ARRAY [0..18] OF BYTE 152 16632 ro o 116 Diagnostic message 111 ARRAY [0..18] OF BYTE 152 16784 ro o 117 Diagnostic message 112 ARRAY [0..18] OF BYTE 152 16936 ro o 118 Diagnostic message 113 ARRAY [0..18] OF BYTE 152 17088 ro o 119 Diagnostic message 114 ARRAY [0..18] OF BYTE 152 17240 ro o 120 Diagnostic message 115 ARRAY [0..18] OF BYTE 152 17392 ro o 121 Diagnostic message 116 ARRAY [0..18] OF BYTE 152 17544 ro o 122 Diagnostic message 117 ARRAY [0..18] OF BYTE 152 17696 ro o 123 Diagnostic message 118 ARRAY [0..18] OF BYTE 152 17848 ro o 124 Diagnostic message 119 ARRAY [0..18] OF BYTE 152 18000 ro o 125 Diagnostic message 120 ARRAY [0..18] OF BYTE 152 18152 ro o 126 Diagnostic message 121 ARRAY [0..18] OF BYTE 152 18304 ro o 127 Diagnostic message 122 ARRAY [0..18] OF BYTE 152 18456 ro o 128 Diagnostic message 123 ARRAY [0..18] OF BYTE 152 18608 ro o 129 Diagnostic message 124 ARRAY [0..18] OF BYTE 152 18760 ro o 130 Diagnostic message 125 ARRAY [0..18] OF BYTE 152 18912 ro o 131 Diagnostic message 126 ARRAY [0..18] OF BYTE 152 19064 ro o 132 Diagnostic message 127 ARRAY [0..18] OF BYTE 152 19216 ro o 133 Diagnostic message 128 ARRAY [0..18] OF BYTE 152 19368 ro o DT1600 272 0 Number of entries USINT 8 0 rw m 1 Mapped object 1 UDINT 32 16 rw c 2 Mapped object 2 UDINT 32 48 rw c 3 Mapped object 3 UDINT 32 80 rw c 4 Mapped object 4 UDINT 32 112 rw c 5 Mapped object 5 UDINT 32 144 rw c 6 Mapped object 6 UDINT 32 176 rw c 7 Mapped object 7 UDINT 32 208 rw c 8 Mapped object 8 UDINT 32 240 rw c DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro m Sync manager type DT1C00ARR 32 16 ro c DT1C12ARR UINT 80 1 5 DT1C12 96 0 Number of entries USINT 8 0 rw c Index of assigned PDO DT1C12ARR 80 16 rw c DT1C32 273 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 7 Minimum delay time UDINT 32 144 ro o 8 Get cycle time UINT 16 176 rw c 9 Delay time UDINT 32 192 ro c 11 SM-event missed counter UINT 16 224 ro o 12 Cycle time too small counter UINT 16 240 ro c 13 Shift too short counter UINT 16 256 ro c 32 Sync error BOOL 1 272 ro c T DT1C33 241 0 Number of entries USINT 8 0 ro o 1 Synchronization type UINT 16 16 ro m 2 Cycle time UDINT 32 32 ro o 4 Synchronization types supported UINT 16 64 ro m 5 Minimum cycle time UDINT 32 80 ro c 6 Calc and copy time UDINT 32 112 ro c 8 Get cycle time UINT 16 144 rw c 9 Delay time UDINT 32 160 ro c 11 SM-event missed counter UINT 16 192 ro o 12 Cycle time too small counter UINT 16 208 ro c 13 Shift too short counter UINT 16 224 ro o 32 Sync error BOOL 1 240 ro c T DT2001ARR INT 64 1 4 DT2001 80 0 Number of entries USINT 8 0 ro Analog inputs DT2001ARR 64 16 ro T DT2002ARR INT 16 1 1 DT2002 32 0 Number of entries USINT 8 0 ro Analog outputs DT2002ARR 16 16 rw R DT2400 152 0 Number of entries USINT 8 0 ro 1 Activate BOOL 1 16 rw 2 Peripheral ID UDINT 32 24 rw 3 Peripheral serial UDINT 32 56 ro 4 Pending peripheral ID UDINT 32 88 ro 5 Pending peripheral serial UDINT 32 120 ro DT607BARR DINT 64 1 2 DT607B 80 0 Number of entries USINT 8 0 ro m Position range limit DT607BARR 64 16 rw m DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro m Software position limit DT607DARR 64 16 rw m DT6097ARR UDINT 64 1 2 DT6097 80 0 Number of entries USINT 8 0 ro o Acceleration factor DT6097ARR 64 16 rw o DT6099ARR UDINT 64 1 2 DT6099 80 0 Number of entries USINT 8 0 ro m Homing speeds DT6099ARR 64 16 rw m DT60E3ARR SINT 24 1 3 DT60E3 40 0 Number of entries USINT 8 0 ro c Supported homing method DT60E3ARR 24 16 ro c DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro o Digital outputs DT60FEARR 64 16 rw o