1337 Guang Zhou SERVODE Electric CO.,LTD ServoDrive SERVODE Servo Drives ASD680 CoE Drive ASD680 EtherCAT(CoE) SERVOPACK 2000 9000 5000 200 100 2000 true ServoDrive 402 BIT2 2 BOOL 1 DINT 32 INT 16 UDINT 32 UINT 16 USINT 8 SINT 8 ARRAY [0..3] OF BYTE USINT 32 0 4 STRING(16) 128 STRING(3) 24 STRING(4) 32 DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT10F1 64 0 SubIndex 000 USINT 8 0 ro o 1 Local Error Reaction UDINT 32 16 rw o 2 Sync Error Counter Limit UINT 16 48 rw o DT1C32 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 32 Sync Error BOOL 1 480 ro c DT1C33 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 32 Sync Error BOOL 1 480 ro c DT1C12ARR UINT 32 1 2 DT1C12 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C12ARR 32 16 rw o DT1C13ARR UINT 32 1 2 DT1C13 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 32 16 rw o DT2701 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 1 1 2 Denominator UDINT 32 48 rw 1 1 DT2702 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 1 1 2 Denominator UDINT 32 48 rw 1 1 DT2703 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 1 1 2 Denominator UDINT 32 48 rw 1 1 DT2704 80 0 Number of entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw 1 1 2 Denominator UDINT 32 48 rw 1 1 DT607D 80 0 Number of entries USINT 8 0 ro 1 Min position limit DINT 32 16 rw 2 Max position limit DINT 32 48 rw DT6099 80 0 Number of entries USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw R 2 Speed during search for zero UDINT 32 48 rw R DT60FE 80 0 Number of entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw RT 2 Bit mask UDINT 32 48 rw DTF000 48 0 SubIndex 000 USINT 8 0 ro o 1 Module index distance UINT 16 16 ro o 2 Maximum number of modules UINT 16 32 ro o DTF010ARR UDINT 64 1 2 DTF010 80 0 SubIndex 000 USINT 8 0 ro o Elements DTF010ARR 64 16 ro o DTF050ARR UDINT 64 1 2 DTF050 80 0 SubIndex 000 USINT 8 0 ro o Elements DTF050ARR 64 16 ro o DT1600 272 0 Number of elements USINT 8 0 rw o 1 Output Object 1 UDINT 32 16 rw o 2 Output Object 2 UDINT 32 48 rw o 3 Output Object 3 UDINT 32 80 rw o 4 Output Object 4 UDINT 32 112 rw o 5 Output Object 5 UDINT 32 144 rw o 6 Output Object 6 UDINT 32 176 rw o 7 Output Object 7 UDINT 32 208 rw o 8 Output Object 8 UDINT 32 240 rw o 9 Output Object 9 UDINT 32 272 rw o 10 Output Object 10 UDINT 32 304 rw o DT1A00 272 0 Number of elements USINT 8 0 rw o 1 Input Object 1 UDINT 32 16 rw o 2 Input Object 2 UDINT 32 48 rw o 3 Input Object 3 UDINT 32 80 rw o 4 Input Object 4 UDINT 32 112 rw o 5 Input Object 5 UDINT 32 144 rw o 6 Input Object 6 UDINT 32 176 rw o 7 Input Object 7 UDINT 32 208 rw o 8 Input Object 8 UDINT 32 240 rw o 9 Input Object 9 UDINT 32 272 rw o 10 Input Object 10 UDINT 32 304 rw o #x1000 Device type UDINT 32 92010000 ro m #x1001 Error register USINT 8 00 ro o #x1008 Device name STRING(16) 128 44524956452049542120436941343032 ro o #x1009 Hardware version STRING(3) 24 312E30 ro o #x100a Software version STRING(4) 32 312E3030 ro o #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 66070000 Product code 02240000 Revision 01000000 Serial number 00000000 ro o #x10F1 Error Settings DT10F1 64 SubIndex 000 02 Local Error Reaction 01000000 Sync Error Counter Limit 0400 ro o #x1c32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 ro o #x1c33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 ro o #x1c12 RxPDO assign DT1C12 48 SubIndex 000 00 SubIndex 001 0000 SubIndex 002 0000 rw o #x1c13 TxPDO assign DT1C13 48 SubIndex 000 00 SubIndex 001 0000 SubIndex 002 0000 rw o #x603F Error Code UINT 16 ro o T #x6040 Control word UINT 16 rw m R #x6041 Status word UINT 16 ro m T #x605A Quick stop option code INT 16 rw #x605B Shutdown option code INT 16 rw #x605C Disable operation option code INT 16 rw #x605D Halt option code INT 16 rw o #x605E Fault reaction option code INT 16 rw #x6060 Modes of operation SINT 8 rw o R #x6061 Modes of operation display SINT 8 ro o T #x6062 Position demand value DINT 32 ro o T #x6063 Position actual internal value DINT 32 ro o T #x6064 Position actual value DINT 32 ro o T #x6065 Following error window UDINT 32 rw #x6066 Following error time out UINT 16 rw o #x6067 Position window UDINT 32 rw o #x6068 Position window time UINT 16 rw o #x606B velocity demand value DINT 32 ro o T #x606C Velocity actual value DINT 32 ro o T #x606D Velocity window UINT 16 rw o #x606E Velocity window time UINT 16 rw o #x6071 Target torque INT 16 rw o R #x6072 Max torque UINT 16 rw o R #x6074 Torque demand value INT 16 ro o T #x6076 Motor rated torque UDINT 32 ro #x6077 Torque actual value INT 16 ro o T #x607A Target position DINT 32 rw o R #x607C Home offset DINT 32 rw o #x607D Software position limit DT607D 80 ro #x607F Max profile velocity UDINT 32 rw o R #x6081 Profile velocity UDINT 32 rw o R #x6083 Profile acceleraion UDINT 32 rw o R #x6084 Profile deceleration UDINT 32 rw o R #x6085 Quick stop deceleration UDINT 32 rw o R #x6086 Motion profile type INT 16 rw o R #x6087 Torque Slope UDINT 32 rw o R #x6098 Homing method SINT 8 rw o R #x6099 Homing speeds DT6099 80 rw o R #x609A Homing acceleration UDINT 32 rw o R #x60A4 Profile jerk UDINT 32 rw o #x60B1 Velocity Offset DINT 32 rw o R #x60B2 Torque Offset INT 16 rw o R #x60B8 Touch probe function UINT 16 rw o R #x60B9 Touch probe status UINT 16 ro o T #x60BA Touch probe 1 position value DINT 32 ro o T #x60BC Touch probe 2 position value DINT 32 ro o T #x60E0 Positive Torque Limit Value UINT 16 rw o R #x60E1 Negtive Torque Limit Value UINT 16 rw o R #x60F4 Following error actual value DINT 32 ro o T #x60FC Position demand internal value DINT 32 ro o T #x60FD Digital inputs UDINT 32 ro o T #x60FE Digital outputs DT60FE 80 ro RT #x60FF Target velocity DINT 32 rw R #x6502 Supported drive modes UDINT 32 ro #x1600 1st Receive PDO mapping DT1600 272 rw o #x1601 2nd Receive PDO mapping DT1600 272 rw o #x1602 3rd Receive PDO mapping DT1600 272 rw o #x1603 4th Receive PDO mapping DT1600 272 rw o #x1A00 1st Transmit PDO mapping DT1A00 272 rw o #x1A01 2nd Transmit PDO mapping DT1A00 272 rw o #x1A02 3rd Transmit PDO mapping DT1A00 272 rw o #x1A03 4th Transmit PDO mapping DT1A00 272 rw o #x2000 Basic Function Select Switch 0 UINT 16 rw #x2001 Application Function Select Switch 1 UINT 16 rw #x2002 Application Function Select Switch 2 UINT 16 rw #x2006 Application Function Select Switch 6 UINT 16 rw #x2007 Application Function Select Switch 7 UINT 16 rw #x2008 Application Function Select Switch 8 UINT 16 rw #x2009 Application Function Select Switch 9 UINT 16 rw #x200B Application Function Select Switch B UINT 16 rw #x200C Application Function Select Switch C UINT 16 rw #x200D Application Function Select Switch D UINT 16 rw #x2010 Axis Address Selection UINT 16 rw #x2081 Application Function Select Switch 81 UINT 16 rw #x2100 Speed Loop Gain UINT 16 rw #x2101 Speed Loop Integral Time Constant UINT 16 rw #x2102 Position Loop Gain UINT 16 rw #x2103 Moment of Inertia Ratio UINT 16 rw #x2104 2nd Speed Loop Gain UINT 16 rw #x2105 2nd Speed Loop Integral Time Constant UINT 16 rw #x2106 2nd Position Loop Gain UINT 16 rw #x2109 Feedforward Gain UINT 16 rw #x210A Feedforward Filter Time Constant UINT 16 rw #x210B Application Function for Gain Select Switch UINT 16 rw #x210C Mode Switch (torque reference) UINT 16 rw #x210D Mode Switch (speed reference) UINT 16 rw #x210E Mode Switch (acceleration) UINT 16 rw #x210F Mode Switch (position error pulse) UINT 16 rw #x211F Position Integral Time Constant UINT 16 rw #x2121 Friction Compensation Gain UINT 16 rw #x2122 2nd Gain for Friction Compensation UINT 16 rw #x2123 Friction Compensation Coefficient UINT 16 rw #x2124 Friction Compensation Frequency Correction INT 16 rw #x2125 Friction Compensation Gain Correction UINT 16 rw #x2131 Gain Switching Time 1 UINT 16 rw #x2132 Gain Switching Time 2 UINT 16 rw #x2135 Gain Switching Waiting Time 1 UINT 16 rw #x2136 Gain Switching Waiting Time 2 UINT 16 rw #x2139 Automatic Gain Changeover Related Switch 1 UINT 16 rw #x213D Current Gain Level UINT 16 rw #x2140 Model Following Control Related Switch UINT 16 rw #x2141 Model Following Control Gain UINT 16 rw #x2142 Model Following Control Gain Compensation UINT 16 rw #x2143 Model Following Control Bias(Forward Direction) UINT 16 rw #x2144 Model Following Control Bias(Reverse Direction) UINT 16 rw #x2145 Vibration Suppression 1 Frequency A UINT 16 rw #x2146 Vibration Suppression 1 Frequency B UINT 16 rw #x2147 Model Following Control Speed Feedforward Compensation UINT 16 rw #x2148 2nd Model Following Control Gain UINT 16 rw #x2149 2nd Model Following Control Gain Compensation UINT 16 rw #x214A Vibration Suppression 2 Frequency UINT 16 rw #x214B Vibration Suppression 2 Compensation UINT 16 rw #x214F Selection related to control UINT 16 rw #x2160 Anti-Resonance Control Related Switch UINT 16 rw #x2161 Anti-Resonance Frequency UINT 16 rw #x2162 Anti-Resonance Gain Compensation UINT 16 rw #x2163 Anti-Resonance Damping Gain UINT 16 rw #x2164 Anti-Resonance Filter Time Constant 1 Compensation INT 16 rw #x2165 Anti-Resonance Filter Time Constant 2 Compensation INT 16 rw #x2170 Tuning-less Function Related Switch UINT 16 rw #x2205 Multi-turn Limit Setting UINT 16 rw #x2207 Position Control Function Switch UINT 16 rw #x220A Number of External Scale Pitch UDINT 32 rw #x220E Electronic Gear Ratio(Numerator) UDINT 32 ro #x2210 Electronic Gear Ratio(Denominator) UDINT 32 ro #x2212 Encoder Output Pulses UDINT 32 rw #x2216 Position Reference Acceleration Time Constant UINT 16 rw #x2217 Average Movement Time of Position Reference Filter UINT 16 rw #x222A Fully-closed Control Selection Switch UINT 16 rw #x2281 Encoder Output Resolution UINT 16 rw #x2304 JOG Speed UINT 16 rw #x2305 Soft Start Acceleration Time UINT 16 rw #x2306 Soft Start Deceleration Time UINT 16 rw #x2308 Speed F/B filter time constant UINT 16 rw #x2310 Vibration Detection Switch UINT 16 rw #x2311 Vibration Detection Sensibility UINT 16 rw #x2312 Vibration Detection Level UINT 16 rw #x2324 Moment of Inertia Calculating Start Level UINT 16 rw #x2401 Torque Reference Filter Time Constant UINT 16 rw #x2402 Forward Torque Limit UINT 16 rw #x2403 Reverse Torque Limit UINT 16 rw #x2404 Forward External Torque Limit UINT 16 rw #x2405 Reverse External Torque Limit UINT 16 rw #x2406 Emergency Stop Torque UINT 16 rw #x2407 Speed Limit during Torque Control UINT 16 rw #x2408 Torque Related Function Switch UINT 16 rw #x2409 1st Notch Filter Frequency UINT 16 rw #x240A 1st Notch Filter Q Value UINT 16 rw #x240B 1st Notch Filter Depth UINT 16 rw #x240C 2nd Notch Filter Frequency UINT 16 rw #x240D 2nd Notch Filter Q Value UINT 16 rw #x240E 2nd Notch Filter Depth UINT 16 rw #x240F 2nd Torque Reference Filter Frequency UINT 16 rw #x2410 2nd Torque Reference Filter Q Value UINT 16 rw #x2412 1st Step 2nd Torque Reference Filter Time Constant UINT 16 rw #x2424 Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2425 Release Time for Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2456 Sweep Torque Reference Amplitude UINT 16 rw #x2460 Notch Filter Adjustment Switch UINT 16 rw #x2502 Rotation Detection Level UINT 16 rw #x2503 Speed Coincidence Signal Output Width UINT 16 rw #x2506 Brake Reference - Servo OFF Delay Time UINT 16 rw #x2507 Brake Reference Output Speed Level UINT 16 rw #x2508 Waiting Time for Brake Signal When Motor Running UINT 16 rw #x2509 Instantaneous Power Cut Hold time UINT 16 rw #x250A Input Signal Selection 1 UINT 16 rw #x250B Input Signal Selection 2 UINT 16 rw #x250C Input Signal Selection 3 UINT 16 rw #x250D Input Signal Selection 4 UINT 16 rw #x250E Output Signal Selection 1 UINT 16 rw #x250F Output Signal Selection 2 UINT 16 rw #x2510 Output Signal Selection 3 UINT 16 rw #x2511 Input Signal Selection 5 UINT 16 rw #x2512 Output Signal Inverse Setting UINT 16 rw #x2513 Output Signal Selection 4 UINT 16 rw #x2515 Input Signal Selection 6 UINT 16 rw #x251B Excessive Error Level Between Servomotor and Load Positions UDINT 32 rw #x251E Excessive Position Error Warning Level UINT 16 rw #x2520 Excessive Position Error Alarm Level UDINT 32 rw #x2522 Positioning Completed Width UDINT 32 rw #x2524 NEAR Signal Width UDINT 32 rw #x2526 Excessive Position Error Alarm Level at Servo ON UDINT 32 rw #x2528 Excessive Position Error Warning Level at Servo ON UINT 16 rw #x2529 Speed Limit Level at Servo ON UINT 16 rw #x252A Multiplier per One Fully-closed Rotation UINT 16 rw #x252B Overload Warning Level UINT 16 rw #x252C Derating of Base Current at Detecting Overload of Motor UINT 16 rw #x2530 Program JOG Operation Related Switch UINT 16 rw #x2531 Program JOG Movement Distance UDINT 32 rw #x2533 Program JOG Movement Speed UINT 16 rw #x2534 Program JOG Acceleration Time UINT 16 rw #x2535 Program JOG Waiting Time UINT 16 rw #x2536 Number of Times of Program JOG Movement UINT 16 rw #x2550 Analog Monitor 1 Offset Voltage INT 16 rw #x2551 Analog Monitor 2 Offset Voltage INT 16 rw #x2552 Analog Monitor Magnification (xl) INT 16 rw #x2553 Analog Monitor Magnification (x2) INT 16 rw #x2560 Remained Vibration Detection Width UINT 16 rw #x2561 Overshoot Detection Level UINT 16 rw #x2600 Regenerative Resistor Capacity UINT 16 rw #x2601 Dynamic Brake Resistor Capacity UINT 16 rw #x2700 Parameter Configulation UDINT 32 0 rw 1 #x2701 Postion User Unit DT2701 80 Numerator 1 Denominator 1 ro #x2702 Velocity User Unit DT2702 80 Numerator 1 Denominator 1 ro #x2703 Acceleration User Unit DT2703 80 Numerator 1 Denominator 1 ro #x2704 Torque User Unit DT2704 80 Numerator 1 Denominator 10 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st Receive PDO mapping #x1601 #x1602 #x1603 #x6040 0 16 Control word object 0x6040:0 UINT #x607A 0 32 Target position object 0x607A:0 DINT #x60FF 0 32 Target velocity object 0x60FF:0 DINT #x6071 0 16 Target torque object 0x6071:0 INT #x6072 0 16 Max torque object 0x6072:0 UINT #x6060 0 8 Modes of operation object 0x6060:0 SINT #x0000 0 8 #x60B8 0 16 Touch Probe Function object 0x60B8:0 UINT #x1601 2nd Receive PDO mapping #x1600 #x1602 #x1603 #x6040 0 16 Control word object 0x6040:0 UINT #x607A 0 32 Target position object 0x607A:0 DINT #x1602 3rd Receive PDO mapping #x1600 #x1601 #x1603 #x6040 0 16 Control word object 0x6040:0 UINT #x60FF 0 32 Target velocity object 0x60FF:0 DINT #x1603 4th Receive PDO mapping #x1600 #x1601 #x1602 #x6040 0 16 Control word object 0x6040:0 UINT #x6071 0 16 Target torque object 0x6071:0 INT #x1a00 1st Transmit PDO mapping #x1a01 #x1a02 #x1a03 #x6041 0 16 Status word object 0x6041:0 UINT #x6064 0 32 Position actual value object 0x6064:0 DINT #x6077 0 16 Torque actual value object 0x6077:0 INT #x60F4 0 32 Following error actual value object 0x60F4:0 DINT #x6061 0 8 Modes of operation display object 0x6061:0 SINT #x0000 0 8 #x60B9 0 16 Touch Probe Status object 0x60B9:0 UINT #x60BA 0 32 Touch Probe Pos1 Pos Value object 0x60BA:0 DINT #x1a01 2nd Transmit PDO mapping #x1a00 #x1a02 #x1a03 #x6041 0 16 Status word object 0x6041:0 UINT #x6064 0 32 Position actual value object 0x6064:0 DINT #x1a02 3rd Transmit PDO mapping #x1a00 #x1a01 #x1a03 #x6041 0 16 Status word object 0x6041:0 UINT #x6064 0 32 Position actual value object 0x6064:0 DINT #x1a03 4th Transmit PDO mapping #x1a00 #x1a01 #x1a02 #x6041 0 16 Status word object 0x6041:0 UINT #x6064 0 32 Position actual value object 0x6064:0 DINT #x6077 0 16 Torque actual value object 0x6077:0 INT PS #x6060 0 08 DC DC-Synchron #x300 0 0 0 Synchron SM-Synchron #x0 0 0 0 2048 800E46EE10270000