chapter_12_appendixes.md

## Chapter 12 Appendixes

### 12.1 Cable Specification

```
Table 12-1 Physical appearance of cables for servo motor and servo drive
```
```
Cable
Name
Cable Model
```
```
Cable
Length
(mm)
```
```
Cable Appearance
```
```
Servo
motor
main
circuit
cable
```
##### S6-L-M00-3.0 3000

```
L±20 mm
```
S6-L-M00-5.0 (^5000) 30 mm 100±10 mm
S6-L-M00-10.0 10000
S5-L-M03-3.0 3000
L±30 mm
25±5 mm
100±5 mm
100±5 mm
9±1 mm
S5-L-M03-5.0 5000

##### S5-L-M03-10.0 10000

##### S6-L-M11-3.0 3000

```
L±30 mm
```
```
200 mm
```
S6-L-M11-5.0 (^5000) 130 mm
S6-L-M11-10.0 10000
S6-L-M12-3.0 3000
L±30 mm
200 mm
S6-L-M12-5.0 (^5000) 130 mm
S6-L-M12-10.0 10000
S6-L-M22-3.0 3000
L±30 mm
250 mm
S6-L-M22-5.0 (^5000) 50 mm
S6-L-M22-10.0 10000
S6-L-B00-3.0 3000
30 mm
L±20 mm
200±10 mm

##### S6-L-B00-5.0 5000

##### S6-L-B00-10.0 10000

##### S6-L-B11-3.0 3000

```
L±30 mm
```
```
200 mm
```
S6-L-B11-5.0 (^5000) 130 mm

##### S6-L-B11-10.0 10000


12 Appendixes

#### 12

```
Cable
Name
Cable Model
```
```
Cable
Length
(mm)
```
```
Cable Appearance
```
```
Servo
motor
incre-
mental
encoder
cable
```
##### S6-L-P00-3.0 3000

```
DB44 plug
```
```
L±15 mm
```
##### S6-L-P00-5.0 5000

##### S6-L-P00-10.0 10000

##### S60-L-P00-3.0 3000

```
DB44 plug
```
```
L±20 mm
```
##### S60-L-P00-5.0 5000

##### S60-

##### L-P00-10.0

##### 10000

##### S6-L-P01-3.0 3000

```
DB44 plug
```
```
L±15 mm
```
##### S6-L-P01-5.0 5000

##### S6-L-P01-10.0 10000


```
12 Appendixes
```
#### 12

```
Cable
Name
Cable Model
```
```
Cable
Length
(mm)
```
```
Cable Appearance
```
```
Servo
motor
absolute
encoder
cable
```
##### S6-L-P20-3.0 3000

```
DB44 plug
```
```
3000 ±20 mm
```
```
90±5 mm
```
##### S6-L-P20-5.0 5000

##### S6-L-P20-10.0 10000

##### S6-L-P21-3.0 3000

```
DB44 plug
```
```
250±10 mm
3000±20 mm
```
##### S6-L-P21-5.0 5000

##### S6-L-P21-10.0 10000

```
Table 11-2 Physical appearance of communication cable between servo motor and drive
```
```
Cable Name
Cable
Model
```
```
Cable
Length
(mm)
```
```
Cable Appearance
```
```
Communication
cable between
servo drive and
PC
```
##### S6N-

##### L-T00-3.0

##### 3000

```
50±5mm
3000±20mm
```
```
Communication
cable for multi-
drive parallel
connection
```
##### S6-

##### L-T04-0.3

##### 300

```
S6- L±10 mm
L-T04-3.0
```
##### 3000


12 Appendixes

#### 12

### 12.2 Mounting Dimensions of Servo Motor

#### 12.2.1 ISMH1 Series Motor

```
100 W, 200 W, 400 W, 550 W, 750 W, 1.0 kW
```
```
LL
```
```
LG
```
```
LE
```
```
LR
KW N9 W h8
```
```
T h8
```
```
LJ
```
```
φSh6
```
```
φ
```
```
LB
```
```
h7
LK
```
```
KH
```
```
LC
```
```
LZ
```
```
LA
```
```
TP
```
```
LH
```
```
500
500
```
```
Shaft end Flat end
```
```
0.04 A
```
```
0.06 A
```
```
A
0.02
```
```
Motor Model LC LL LR LA LZ LH LG LE LJ
ISMH1-10B30CB-****Z 40 103(136) 25±0.5 46 2-φ4.5 34 5 2.5±0.3 0.5±0.35
ISMH1-20B30CB-****Z 60 98(138) 30±0.5 70 4-φ5.5 44 7.8 3±0.3 0.5±0.35
ISMH1-40B30CB-****Z 60 118 30±0.5 70 4-φ5.5 44 7.8 3±0.3 0.5±0.35
ISMH1-55B30CB-****Z 80 126 35±0.5 90 4-φ7 54 8 3±0.3 0.5±0.35
ISMH1-75B30CB-****Z 80 135.5 35±0.5 90 4-φ7 54 8 3±0.3 0.5±0.35
ISMH1-10C30CB-****Z 80 153.5 35±0.5 90 4-φ7 54 8 3±0.3 0.5±0.35
```
```
Motor Model LB S TP LK KH KW W T
Weight
(kg)
```
```
ISMH1-10B30CB-****Z 30 8 M3 x 6 16 6.2
```
##### 0

##### -0.1^333 0.59(0.77)

```
ISMH1-20B30CB-****Z 50 14 M5 x 8 16.5 11
```
##### 0

##### -0.1^555 1.1(1.4)

```
ISMH1-40B30CB-****Z 50 14 M5 x 8 16.5 11
```
##### 0

##### -0.1^555 1.6

```
ISMH1-55B30CB-****Z 70 19 M6 x 20 25 15.5^0
-0.1
```
##### 6 6 6 2.3

```
ISMH1-75B30CB-****Z 70 19 M6 x 20 25 15.5
```
##### 0

##### -0.1^666 2.7

```
ISMH1-10C30CB-****Z 70 19 M6 x 20 25 15.5
```
##### 0

##### -0.1^666 3.2


```
12 Appendixes
```
#### 12

**_Note_** The unit is mm, and () indicates the servo motor with brake.

```
Connector Power Side (with Brake) Encoder Side
Plastic housing MOLEX-50361672 AMP172169-9
Terminal MOLEX-39000059 AMP1473226-1
```
#### 12.2.2 ISMH2 series

```
1) 1.0 kW, 1.5 kW, 2.0 kW, 2.5 kW, 3.0 kW, 4.0 kW, 5.0 kW
```
##### KB2

##### KB1

##### KA1

##### KA2

##### LZ

##### LA

##### TP

##### LC LL LG

##### LE

##### LR

```
KW N9 W h8
```
```
KH T h11
```
##### 0.10 A

##### LJ

```
φSh6
```
```
φ
```
##### LB

```
h7
```
```
0.03
```
```
A
```
##### LK

##### 0.06A

Shaft end Flat end

```
Motor Model LC LL LR LA LZ KA1 KB1 KA2 KB2 LG
```
```
ISMH2-10C30CB-**3*Y 100 164(213.5) 45±1 115 4-φ7 96
```
##### 94.5

##### (101)

##### 74

##### 143.5

##### (192.5)

##### 10

```
ISMH2-15C30CB-**3*Y 100 189(239) 45±1 115 4-φ7 96
```
##### 119.5

##### (128)

##### 74

##### 168.5

##### (219.5)

##### 10

```
ISMH2-10C30CD-**3*Y 100 164(213.5) 45±1 115 4-φ7 96
```
##### 94.5

##### (101)

##### 74

##### 143.5

##### (192.5)

##### 10

```
ISMH2-15C30CD-**3*Y 100 189(239) 45±1 115 4-φ7 96
```
##### 119.5

##### (128)

##### 74

##### 168.5

##### (219.5)

##### 10

```
ISMH2-20C30CD-**3*Y 100 214 45±1 115 4-φ7 96 144.5 74 193.5 10
ISMH2-25C30CD-**3*Y 100 240.5 45±1 115 4-φ7 96 169.5 74 218.5 10
ISMH2-30C30CD-**3*Y 130 209.5 63±1 145 4-φ9 111 136 74 188.5 14
ISMH2-40C30CD-**3*Y 130 252 63±1 145 4-φ9 111 178.5 74 231 14
ISMH2-50C30CD-**3*Y 130 294.5 63±1 145 4-φ9 111 221 74 273.5 14
```

12 Appendixes

#### 12

```
Motor Model LE LJ LB S TP LK KH KW W T
Weight
(kg)
```
```
ISMH2-10C30CB-**3*Y 5±0.3 2.5±0.75 95 24 M8 x 16 36 20
```
##### 0

##### -0.2^887

##### 5.11

##### (6.41)

```
ISMH2-15C30CB-**3*Y 5±0.3 2.5±0.75 95 24 M8 x 16 36 20
```
##### 0

##### -0.2^887

##### 6.22

##### (7.52)

```
ISMH2-10C30CD-**3*Y 5±0.3 2.5±0.75 95 24 M8 x 16 36 20
```
##### 0

##### -0.2^887

##### 5.11

##### (6.41)

```
ISMH2-15C30CD-**3*Y 5±0.3 2.5±0.75 95 24 M8 x 16 36 20
```
##### 0

##### -0.2^887

##### 6.22

##### (7.52)

```
ISMH2-20C30CD-**3*Y 5±0.3 2.5±0.75 95 24 M8 x 16 36 20
```
##### 0

##### -0.2^887 7.39

ISMH2-25C30CD-**3*Y 5±0.3 2.5±0.75 95 24 M8 x 16 (^3620) -0.2^0887 8.55
ISMH2-30C30CD-**3*Y 6±0.3 0.5±0.75 110 28 M8 x 20 54 24

##### 0

##### -0.2^887 10.73

```
ISMH2-40C30CD-**3*Y 6±0.3 0.5±0.75 110 28 M8 x 20 54 24
```
##### 0

##### -0.2^887 15.43

```
ISMH2-50C30CD-**3*Y 6±0.3 0.5±0.75 110 28 M8 x 20 54 24
```
##### 0

##### -0.2^887 16.2

**_Note_** The unit is mm, and () indicates the servo motor with brake.

```
Connector Power Side (with Brake) Encoder Side
```
```
Military spec. plug
```
```
MI-DTL-5015 series
3102E20-18P
```
```
MI-DTL-5015 series
3102E20-29P
```
#### 12.2.3 ISMH3 series

1. 850 W, 1.3 kW, 1.8 kW

```
KB2
KB1
```
```
KA1
KA2
```
```
LZ
LA
```
```
TP
```
```
LC LL LG
```
```
LE
LR
KW N9 W h8
```
```
KH T h11
```
```
0.10 A
LJ
φSh6
```
```
φ
```
```
LB
```
```
h7
```
```
0.03
```
```
A
LK
```
```
0.06A
```
```
Shaft end Flat end
```

```
12 Appendixes
```
#### 12

```
Motor Model LC LL LR LA LZ KA1 KB1 KA2 KB2 LG
```
```
ISMH3-85B15CB-**3*Y 130 168.5 (227.5) 55±1 145 4-φ9 111 95 (97) 74
```
##### 147.5

##### (206.5)

##### 14

```
ISMH3-13C15CB-**3*Y 130 194.5 (253.5) 55±1 145 4-φ9 111
```
##### 121

##### (124)

##### 74

##### 173.5

##### (232.5)

##### 14

```
ISMH3-18C15CD-**3*Y 130 220.5 (279.5) 55±1 145 4-φ9 111
```
##### 147

##### (150)

##### 74

##### 199.5

##### (258.5)

##### 14

```
ISMH3-85B15CD-**3*Y 130 168.5 (227.5) 55±1 145 4-φ9 111 95 (97) 74
```
##### 147.5

##### (206.5)

##### 14

```
ISMH3-13C15CD-**3*Y 130 194.5 (253.5) 55±1 145 4-φ9 111
```
##### 121

##### (124)

##### 74

##### 173.5

##### (232.5)

##### 14

```
Motor Model LE LJ LB S TP LK KH KW W T
Weight
(kg)
```
```
ISMH3-85B15CB-**3*Y 6±0.3 0.5±0.75 110 22 M6 x 20 36 18
```
##### 0

##### -0.2^887

##### 8.23

##### (10.73)

```
ISMH3-13C15CB-**3*Y 6±0.3 0.5±0.75 110 22 M6 x 20 36 18
```
##### 0

##### -0.2^887

##### 10.57

##### (13)

```
ISMH3-18C15CD-**3*Y 6±0.3 0.5±0.75 110 22 M6 x 20 36 18
```
##### 0

##### -0.2^887

##### 12.7

##### (15.2)

```
ISMH3-85B15CD-**3*Y 6±0.3 0.5±0.75 110 22 M6 x 20 36 18
```
##### 0

##### -0.2^887

##### 8.23

##### (10.73)

```
ISMH3-13C15CD-**3*Y 6±0.3 0.5±0.75 110 22 M6 x 20 36 18
```
##### 0

##### -0.2^887

##### 10.57

##### (13)

**_Note_** The unit is mm, and () indicates the servo motor with brake.

```
Connector Power Side (with Brake) Encoder Side
```
```
Military spec. plug
```
```
MI-DTL-5015 series
3102E20-18P
```
```
MI-DTL-5015 series
3102E20-29P
```
2. 2.9 kW, 4.4 kW, 5.5 kW, 7.5 kW

```
KB2
KB1
```
```
KA1
KA2
```
```
LL LG
```
```
LE
LR
KW N9 W h8
T h11
```
```
LJ φSh6
```
```
φ
```
```
LB
```
```
h7
LK
```
```
KH
```
```
LC
```
```
φ0.06
```
```
LZ 0.10 A
```
```
φLA
```
```
TP
```
```
A
```
```
0.03
```
```
A
```
```
Shaft end Flat end
```

12 Appendixes

#### 12

```
Motor Model LC LL LR LA LZ KA1 KB1 KA2 KB2 LG
```
```
ISMH3-29C15CD-****Z 180 197(273) 79±1 200 4-φ13.5 138
```
##### 136

##### (134)

##### 74

##### 177

##### (253)

##### 18

```
ISMH3-44C15CD-****Z 180 230(307) 79±1 200 4-φ13.5 138
```
##### 169

##### (167)

##### 74

##### 210

##### (286)

##### 18

```
ISMH3-55C15CD-****Z 180 274(350) 113±1 200 4-φ13.5 138
```
##### 213

##### (211)

##### 74

##### 254

##### (330)

##### 18

```
ISMH3-75C15CD-****Z 180 330(407) 113±1 200 4-φ13.5 138
```
##### 269

##### (267)

##### 74

##### 310

##### (386)

##### 18

```
Motor Model LE LJ LB S TP LK KH KW W T
Weight
(kg)
```
```
ISMH3-29C15CD-****Z 3.2±0.3 0.3±0.75114.3 35 M12 x 25 65 30
```
##### 0

##### -0.2^10108 15 (25)

```
ISMH3-44C15CD-****Z 3.2±0.3 0.3±0.75114.3 35 M12 x 25 65 30
```
##### 0

##### -0.2^10108

##### 19.5

##### (30)

```
ISMH3-55C15CD-****Z 3.2±0.3 0.3±0.75114.3 42 M16 x 32 96 37
```
##### 0

##### -0.2^12128 28 (38)

```
ISMH3-75C15CD-****Z 3.2±0.3 0.3±0.75114.3 42 M16 x 32 96 37
```
##### 0

##### -0.2^12128 32 (42)

**_Note_** The unit is mm, and () indicates the servo motor with brake.

```
Connector Power Side (with Brake) Encoder Side
```
```
Military spec. plug
```
```
MI-DTL-5015 series
3102E20-22P
```
```
MI-DTL-5015 series
3102E20-29P
```
#### 12.2.4 ISMH4 series

```
1) 400 W, 750 W
```
```
LC
```
```
LZ
```
```
LA
```
```
TP
```
```
LH
```
```
500
500
```
```
KW N9 W h8
```
```
KH T h8
```
```
LL
```
```
LG
```
```
LE
LR
```
```
LJ
```
```
φSh6
```
```
φ
```
```
LB
```
```
h7
LK
```
```
0.04
```
```
0.06A
A
```
```
Shaft end Flat end
```

```
12 Appendixes
```
#### 12

```
Motor Model LC LL LR LA LZ LH LG LE LJ
ISMH4-40B30CB-****Z 60 125 (165) 30±0.5 70 4-φ5.5 44 7.8 3±0.3 0.5±0.35
ISMH4-75B30CB-****Z 80 146.5 (184.5) 35±0.5 90 4-φ7 54 8 3±0.3 0.5±0.35
Motor Model LB S TP LK KH KW W T Weight (kg)
```
```
ISMH4-40B30CB-****Z 50 14 M5 x 8 16.5 11
```
##### 0

##### -0.1^555 1.7 (2.0)

```
ISMH4-75B30CB-****Z 70 19 M6 x 20 25 15.5
```
##### 0

##### -0.1^666 2.9 (3.3)

**_Note_** The unit is mm, and () indicates the servo motor with brake.

```
Connector Power Side (with Brake) Encoder Side
Plastic housing MOLEX-50361672 AMP172169-9
Terminal MOLEX-39000059 AMP1473226-1
```
### 12.3 Physical Appearance and Mounting Dimensions of Servo Drive

```
SIZE A: IS620NS1R6I, IS620NS2R8I, IS620NS5R5I
```
```
SIZE C: IS620NS7R6I, IS620NS012I, IS620NT3R5I, IS620NT5R4I, IS620NT8R4I,
IS620NT012I
```
```
SIZE E: IS620NT017I, IS620NT021I, IS620NT026I
```
```
Figure 12-1 Physical appearance and mounting dimensions of servo drive
```
```
D
```
```
L
```
```
H
```
```
D1
```
##### L1

```
Screw hole
```
##### H1

```
Size
```
##### L

```
(mm)
```
##### H

```
(mm)
```
##### D

```
(mm)
```
##### L1

```
(mm)
```
##### H1

```
(mm)
```
##### D1

```
(mm)
```
```
Screw
Hole
```
```
Tightening
Torque (Nm)
Weight
```
```
SIZE A 50 160 173 40 150 75 2-M4 0.6 to 1.2 1.2
SIZE C 90 160 183 80 150 75 4-M4 0.6 to 1.2 2.2
SIZE E 100 250 230 90 240 75 4-M4 0.6 to1.2 4.3
```

12 Appendixes

#### 12

### 12.4 Overview of Object Dictionary

#### 12.4.1 Object Group 1000h

```
Group 1000h includes the parameters for CANope communication.
```
```
Index
Sub-
index
Name Access
```
##### PDO

```
Mapping
Data Type Unit Data Range Default
```
```
1000 00 Device type RO NO UINT32 - - 0x00020192
```
```
1008 00
Manufacturer device
name
```
##### RO NO - - - IS620-ECAT

##### 1009 00

```
Manufacturer hardware
version
```
##### RO NO - - - -

##### 100A 00

```
Manufacturer software
version
```
##### RO NO - - - -

##### 1018

```
1018h identity object RO NO Uint32 OD Data Range OD Default
```
```
00
Highest sub-index
supported
RO NO UINT8 - - 04 hex
```
```
01 Vendor ID RO NO UINT32 - - 0010 0000 hex
02 Product code RO NO UINT32 - - 0x000C0108
03 Revision number RO NO UINT32 - - 0x00010001
```
##### 1C00

```
Sync Manager Communication
Type
RO NO Uint32 OD Data Range OD Default
```
##### 00

```
Number of Sync Manager
channels
RO NO UINT8 - - 04 hex
```
```
01 Communication type SM0 RO NO UINT8 - - 01hex
02 Communication type SM1 RO NO UINT8 - - 02hex
03 Communication type SM2 RO NO UINT8 - - 03hex
04 Communication type SM3 RO NO UINT8 - - 04hex
```
##### 1600

```
Receive PDO mapping 1 RW NO Uint32 OD Data Range OD Default
```
##### 00

```
Number of mapped
application objects in
RPDO1
```
```
RW NO UINT8 - 0 to 10 3
```
```
01 1st application object RW NO UINT32 - 0 to 4294967295 6040 0010
02 2nd application object RW NO UINT32 - 0 to 4294967295 607A 0020
03 3rd application object RW NO UINT32 - 0 to 4294967295 60B8 0010
04 4th application object RW NO UINT32 - 0 to 4294967295 -
05 5th application object RW NO UINT32 - 0 to 4294967295 -
06 6th application object RW NO UINT32 - 0 to 4294967295 -
07 7th application object RW NO UINT32 - 0 to 4294967295 -
08 8th application object RW NO UINT32 - 0 to 4294967295 -
09 9th application object RW NO UINT32 - 0 to 4294967295 -
0A 10th application object RW NO UINT32 - 0 to 4294967295 -
```

```
12 Appendixes
```
#### 12

```
Index
Sub-
index
Name Access
```
##### PDO

```
Mapping
Data Type Unit Data Range Default
```
##### 1701

```
Receive PDO mapping 258 RO NO Uint32 OD Data Range OD Default
```
##### 00

```
Number of mapped
application objects in
RPDO258
```
```
RO NO UINT8 - - 04hex
```
```
01 1st application object RO NO UINT32 - - 6040 0010
02 2nd application object RO NO UINT32 - - 607A 0020
03 3rd application object RO NO UINT32 - - 60B8 0010
04 4th application object RO NO UINT32 - - 60FE 0120
```
##### 1702

```
Receive PDO mapping 259 RO NO Uint32 OD Data Range OD Default
```
##### 00

```
Number of mapped
application objects in
RPDO259
```
```
RO NO UINT8 - - 07 hex
```
```
01 1st application object RO NO UINT32 - - 6040 0010
02 2nd application object RO NO UINT32 - - 607A 0020
03 3rd application object RO NO UINT32 - - 60FF 0020
04 4th application object RO NO UINT32 - - 6071 0010
05 5th application object RO NO UINT32 - - 6060 0008
06 6th application object RO NO UINT32 - - 60B8 0010
07 7th application object RO NO UINT32 - - 607F0020
```
##### 1703

```
Receive PDO mapping 260 RO NO Uint32 OD Data Range OD Default
```
##### 00

```
Number of mapped
application objects in
RPDO260
```
```
RO NO UINT8 - - 07 hex
```
```
01 1st application object RO NO UINT32 - - 6040 0010
02 2nd application object RO NO UINT32 - - 607A 0020
03 3rd application object RO NO UINT32 - - 60FF 0020
04 4th application object RO NO UINT32 - - 6060 0008
05 5th application object RO NO UINT32 - - 60B8 0010
06 6th application object RO NO UINT32 - - 60E0 0010
07 7th application object RO NO UINT32 - - 60E1 0010
1704 Receive PDO mapping 261 RO NO Uint32 OD Data Range OD Default
```
##### 00

```
Number of mapped
application objects in
RPDO261
```
```
RO NO UINT8 - - 09 hex
```
```
01 1st application object RO NO UINT32 - - 6040 0010
02 2nd application object RO NO UINT32 - - 607A 0020
03 3rd application object RO NO UINT32 - - 60FF 0020
04 4th application object RO NO UINT32 - - 6071 0010
05 5th application object RO NO UINT32 - - 6060 0008
06 6th application object RO NO UINT32 - - 60B8 0010
07 7th application object RO NO UINT32 - - 607F0020
08 8th application object RO NO UINT32 - - 60E0 0010
```

12 Appendixes

#### 12

```
Index
Sub-
index
Name Access
```
##### PDO

```
Mapping
Data Type Unit Data Range Default
```
```
09 9th application object RO NO UINT32 - - 60E1 0010
```
##### 1705

```
Receive PDO mapping 262 RO NO Uint32 OD Data Range OD Default
```
##### 00

```
Number of mapped
application objects in
RPDO262
```
```
RO NO UINT8 - - 08hex
```
```
01 1st application object RO NO UINT32 - - 6040 0010
02 2nd application object RO NO UINT32 - - 607A 0020
03 3rd application object RO NO UINT32 - - 60FF 0020
04 4th application object RO NO UINT32 - - 6060 0008
05 5th application object RO NO UINT32 - - 60B8 0010
06 6th application object RO NO UINT32 - - 60E0 0010
07 7th application object RO NO UINT32 - - 60E1 0010
08 8th application object RO NO UINT32 - - 60B2 0010
```
##### 1A00

```
Transmit PDO mapping 1 RW NO Uint32 - OD Data Range OD Default
```
##### 00

```
Number of mapped
application objects in
TPDO1
```
```
RW NO UINT8 - 0 to 10 7
```
```
01 1st application object RW NO UINT32 - 0 to 4294967295 6041 0010
02 2nd application object RW NO UINT32 - 0 to 4294967295 6064 0020
03 3rd application object RW NO UINT32 - 0 to 4294967295 60B9 0010
04 4th application object RW NO UINT32 - 0 to 4294967295 60BA 0020
05 5th application object RW NO UINT32 - 0 to 4294967295 60BC0020
06 6th application object RW NO UINT32 - 0 to 4294967295 603F0010
07 7th application object RW NO UINT32 - 0 to 4294967295 60FD0020
08 8th application object RW NO UINT32 - 0 to 4294967295 -
09 9th application object RW NO UINT32 - 0 to 4294967295 -
0A 10th application object RW NO UINT32 - 0 to 4294967295 -
```
##### 1B01

```
Transmit PDO mapping 258 RO NO Uint32 - OD Data Range OD Default
```
##### 00

```
Number of mapped
application objects in
TPDO258
```
##### RO NO UINT8 - - 8

```
01 1st application object RO NO UINT32 - - 603F0010
02 2nd application object RO NO UINT32 - - 6041 0010
03 3rd application object RO NO UINT32 - - 6064 0020
04 4th application object RO NO UINT32 - - 6077 0010
05 5th application object RO NO UINT32 - - 60F40020
06 6th application object RO NO UINT32 - - 60B90010
07 7th application object RO NO UINT32 - - 60BA0020
08 8th application object RO NO UINT32 - - 60FD0020
```

```
12 Appendixes
```
#### 12

```
Index
Sub-
index
Name Access
```
##### PDO

```
Mapping
Data Type Unit Data Range Default
```
##### 1B02

```
Transmit PDO mapping 259 RO NO Uint32 - OD Data Range OD Default
```
```
00
Transmit PDO mapping
259
```
##### RO NO UINT8 - - 9

```
01 1st application object RO NO UINT32 - - 603F0010
02 2nd application object RO NO UINT32 - - 6041 0010
03 3rd application object RO NO UINT32 - - 6064 0020
04 4th application object RO NO UINT32 - - 6077 0010
05 5th application object RO NO UINT32 - - 6061 0008
06 6th application object RO NO UINT32 - - 60B9 0010
07 7th application object RO NO UINT32 - - 60BA 0020
08 8th application object RO NO UINT32 - - 60BC0020
09 9th application object RO NO UINT32 - - 60FD0020
```
##### 1B03

```
Transmit PDO mapping 260 RO NO Uint32 - OD Data Range OD Default
```
##### 00

```
Number of mapped
application objects in
TPDO260
```
##### RO NO UINT8 - - 10

```
01 1st application object RO NO UINT32 - - 603F0010
02 2nd application object RO NO UINT32 - - 6041 0010
03 3rd application object RO NO UINT32 - - 6064 0020
04 4th application object RO NO UINT32 - - 6077 0010
05 5th application object RO NO UINT32 - - 60F4 0020
06 6th application object RO NO UINT32 - - 6061 0008
07 7th application object RO NO UINT32 - - 60B9 0010
08 8th application object RO NO UINT32 - - 60BA 0020
09 9th application object RO NO UINT32 - - 60BC0020
0A 10th application object RO NO UINT32 - - 60FD0020
```
##### 1B04

```
Transmit PDO mapping 261 RO NO Uint32 - OD Data Range OD Default
```
##### 00

```
Number of mapped
application objects in
TPDO261
```
##### RO NO UINT8 - - 10

```
01 1st application object RO NO UINT32 - - 603F0010
02 2nd application object RO NO UINT32 - - 6041 0010
03 3rd application object RO NO UINT32 - - 6064 0020
04 4th application object RO NO UINT32 - - 6077 0010
05 5th application object RO NO UINT32 - - 6061 0008
06 6th application object RO NO UINT32 - - 60F4 0020
07 7th application object RO NO UINT32 - - 60B9 0010
08 8th application object RO NO UINT32 - - 60BA 0020
09 9th application object RO NO UINT32 - - 60BC0020
0A 10th application object RO NO UINT32 - - 606C0020
```

12 Appendixes

#### 12

```
Index
Sub-
index
Name Access
```
##### PDO

```
Mapping
Data Type Unit Data Range Default
```
##### 1C12

```
Sync Manager 2 RPDO
assignment
RW NO UINTER16 - OD Data Range OD Default
```
##### 00

```
Number of assigned
RPDOs
RW NO UINT8 - 0 to 1 1
```
##### 01

```
1st PDO mapping object
index of assigned RPDO
RW YES UINT16 - 0 to 65535 0x1701
```
##### 1C13

```
Sync Manager 2 TPDO
assignment
RW NO UINTER16 - OD Data Range OD Default
```
##### 00

```
Number of assigned
TPDOs
RW NO UINT8 - 0 to 1 1
```
##### 01

```
1st PDO mapping object
index of assigned TPDO
RW YES UINT16 - 0 to 65535 0x1B01
```
##### 1C32

```
Sync Manager 2 synchronization
output
RO NO UINTER16 - OD Data Range OD Default
```
##### 00

```
Number of
synchronization
parameters
```
```
RO NO UINT8 - - 0x20
```
```
01 Synchronization type RO NO UINT16 - - 0x0002
02 Cycle time RO NO UINT32 ns - 0
```
```
04
Synchronization types
supported
RO NO UINT16 - - 0x0004
```
```
05 Minimum cycle time RO NO UINT32 ns - 0x0001E848
06 Calc and copy time RO NO UINT32 ns - -
09 DelayTime (ns) RO NO UINT32 ns - -
20 Sync error RO NO BOOL - - -
```
##### 1C33

```
Sync Manager 2 synchronization
input
```
##### RO NO

```
ODData
Type
```
- OD Data Range OD Default

##### 00

```
Number of
synchronization
parameters
```
```
RO NO UINT8 - - 0x20
```
```
01 Synchronization type RO NO UINT16 - 0x0002
02 Cycle time RO NO UINT32 ns - 0
```
```
04
Synchronization types
supported
RO NO UINT16 - - 0x0004
```
```
05 Minmum cycle time RO NO UINT32 ns - 0x0001E848
06 Calc and copy time RO NO UINT32 ns - -
09 Delay time RO NO UINT32 ns - -
20 Sync error RO NO BOOL - - -
```

```
12 Appendixes
```
#### 12

#### 12.2.2 Object Group 2000h

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
Group 2000h (H00): Servo Motor Parameters
```
```
2000 01h H00-00Motor SN RW Uint16 - 0 to 65535 14000h At stop
Power-on
again
```
```
2000 03h H00-02
Customized
firmware versio
RO Uint16 - 0 0h - -
```
```
2000 05h H00-04Encoder version RO Uint16 - 0 - - -
```
```
2000 06h H00-05
Serial encoder
motor SN
RO Uint16 W 0 to 65535 0 - -
```
```
Group 2001h (H01): Servo Drive Parameters
```
```
2001 01h H01-00
MCU firmware
Version
RO UINT8 - 0 to 6553.5 0 - -
```
```
2001 02h H01-01
FPGA firmware
version
RO Uint16 - 0 to 6553.5 0 - -
```
```
2001 03h H01-02Servo drive SN RW Uint16 - 0 to 65535 0 At stop
Power-on
again
Group 2002h (H02): Basic Control Parameters
```
```
2002 01h H02-00Control mode RW Uint16 -
```
```
0 to 8: Reserved
9: EtherCAT bus
control mode
```
```
9 At stop
Imme-
diate
```
```
2002 02h H02-01
Absolute system
selection
```
##### RW -

```
0: Incremental
position mode
1: Absolute position
linear mode
2: Absolute position
rotating mode
```
```
0 During
running
```
##### -

```
2002 03h H02-02
```
```
Rotating
direction
selection
```
```
RW Uint16 -
```
```
0: CCW direction as
forward direction
1: CW direction as
forward direction
```
```
0 At stop
Power-on
again
```
```
2002 04h H02-03
Output pulse
phase
RW Uint16 -
```
```
0: Phase A advancing
phase B
1: Phase A lagging
phase B
```
```
0 At stop
Power-on
again
```
```
2002 06h H02-05
Stop mode at
S-ON off
RW Uint16 -
```
```
0: Coast to stop,
keeping de-energized
state
1: Stop at zero speed,
keeping de-energized
state
```
```
0 At stop
Imme-
diate
```
```
2002 08h H02-07
```
```
Stop mode at
limit switch
signal
```
```
RW Uint16 -
```
```
0: Coast to stop,
keeping de-energized
state
1: Stop at zero speed,
keeping position
locking state
1: Stop at zero speed,
keeping de-energized
state
```
```
1 At stop
```
```
Imme-
diate
```

12 Appendixes

#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
2002 09h H02-08
Stop mode at
NO.1 fault
RW Uint16 -
```
```
0: Coast to stop,
keeping de-energized
state
```
```
0 At stop
Imme-
diate
```
```
2002 0Ah H02-09
```
```
Delay from
brake output
on to command
received
```
```
RW Uint16 ms 0 to 500 250
During
running
```
```
Imme-
diate
```
```
2002 0Bh H02-10
```
```
Delay from
brake output
off to motor de-
energized in
static state
```
```
RW Uint16 ms 1 to 1000 150
During
running
```
```
Imme-
diate
```
```
2002 0Ch H02-11
```
```
Motor speed
threshold at
brake output off
in rotating state
```
```
RW Uint16 RPM 0 to 3000 30
During
running
```
```
Imme-
diate
```
```
2002 0Dh H02-12
```
```
Delay from
S-ON off to
brake output off
```
```
RW Uint16 ms 1 to 1000 500
During
running
```
```
Imme-
diate
```
```
2002 10h H02-15
Warning display
on keypad
RW Uint16 -
```
```
0: Output Imme-
diately
1: Not output
```
```
0 At stop
Imme-
diate
```
```
2002 16h H02-21
```
```
Permissible
minimum
resistance of
regenerative
resistor
```
```
RO Uint16 Ω 0 to 1000 - - -
```
```
2002 17h H02-22
```
```
Power of built-
in regenerative
resistor
```
```
RO Uint16 W 1 to 65535 - - -
```
```
2002 18h H02-23
```
```
Resistance
of built-in
regenerative
resistor
```
```
RO Uint16 Ω 1 to 1000 - - -
```
```
2002 19h H02-24
```
```
Resistor heat
dissipation
coefficient
```
```
RW Uint16 - 10 to 100 30 At stop
Imme-
diate
```
```
2002 1Ah H02-25
Regenerative
resistor type
RW Uint16 -
```
```
0: Built-in
1: External, naturally
ventilated
2: External, forcible
cooling
3: No resistor, using
only capacitor
```
```
0 At stop
Imme-
diate
```
```
2002 1Bh H02-26
```
```
Power of
external
regenerative
resistor
```
```
RW Uint16 W 1 to 65535 40 At stop
Imme-
diate
```

```
12 Appendixes
```
#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
##### 2002

```
1Ch H02-27
```
```
Resistance
of external
regenerative
resistor
```
```
RW Uint16 Ω 1 to 1000 50 At stop
Imme-
diate
```
```
20h H02-31
Parameter
initialization
RW Uint16 -
```
```
0: No operation
1: Restore default
setting
2: Clear fault records
```
```
0 At stop
Imme-
diate
```
```
21h H02-32
Default keypad
display
RW Uint16 - 0 to 99 50
During
running
```
```
Imme-
diate
```
```
26h H02-37
```
```
Speed
switchover
threshold 2 at
stop due to limit
switch
```
```
RW Uint16 - 0 to 6000 6000 At stop
Imme-
diate
```
```
Group 2003h (H03): Input Terminal Parameters
```
```
2003 01h H03-00
```
```
States of DI
functions FunIN1
to 16
```
```
RW Uint16 - 0 to 65535 0
During
running
```
```
Power-on
again
```
```
2003 02h H03-01
```
```
States of DI
functions
FunIN17 to 32
```
```
RW Uint16 - 0 to 65535 0
During
running
```
```
Power-on
again
```
```
2003 03h H03-02
DI1 function
selection
RW Uint16 - 0 to 39 14
During
running
```
```
Upon
stop
```
```
2003 04h H03-03
DI1 logic
selection
RW Uint16 -
```
```
0: Low level
1: High level
2: Rising edge
3: Falling edge
4: Rising edge and
falling edge
```
##### 0

```
During
running
```
```
Upon
stop
```
```
2003 05h H03-04
DI2 function
selection
RW Uint16 - 0 to 39 15
During
running
```
```
Upon
stop
```
```
2003 06h H03-05
DI2 logic
selection
RW Uint16 -
```
```
0: Low level
1: High level
2: Rising edge
3: Falling edge
4: Rising edge and
falling edge
```
##### 0

```
During
running
```
```
Upon
stop
```
```
2003 07h H03-06
DI3 function
selection
RW Uint16 - 0 to 39 0
During
running
```
```
Upon
stop
```

12 Appendixes

#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
2003 08h H03-07
DI3 logic
selection
RW Uint16 -
```
```
0: Low level
1: High level
2: Rising edge
3: Falling edge
4: Rising edge and
falling edge
```
##### 0

```
During
running
```
```
Upon
stop
```
```
2003 09h H03-08
DI4 function
selection
RW Uint16 - 0 to 39 0
During
running
```
```
Upon
stop
```
```
2003 0Ah H03-09
DI4 logic
selection
RW Uint16 -
```
```
0: Low level
1: High level
2: Rising edge
3: Falling edge
4: Rising edge and
falling edge
```
##### 0

```
During
running
```
```
Upon
stop
```
```
2003 0Bh H03-10
DI5 function
selection
RW Uint16 - 0 to 39 0
During
running
```
```
Upon
stop
```
```
2003 0Ch H03-11
DI5 logic
selection
RW Uint16 -
```
```
0: Low level
1: High level
2: Rising edge
3: Falling edge
4: Rising edge and
falling edge
```
##### 0

```
During
running
```
```
Upon
stop
```
```
2003 0Dh H03-12
DI6 function
selection
RW Uint16 - 0 to 39 0
During
running
```
```
Upon
stop
```
```
2003 0Eh H03-13
DI6 logic
selection
RW Uint16 -
```
```
0: Low level
1: High level
2: Rising edge
3: Falling edge
4: Rising edge and
falling edge
```
##### 0

```
During
running
```
```
Upon
stop
```
```
2003 11h H03-16
DI8 function
selection
RW Uint16 - 0 to 39 0
During
running
```
```
Upon
stop
```
```
2003 12h H03-17
DI8 logic
selection
RW Uint16 -
```
```
0: Low level
1: High level
2: Rising edge
3: Falling edge
4: Rising edge and
falling edge
```
##### 0

```
During
running
```
```
Upon
stop
```
```
2003 13h H03-18
DI9 function
selection
RW Uint16 - 0 to 39 31
During
running
```
```
Upon
stop
```

```
12 Appendixes
```
#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
##### 2003

```
14h H03-19
DI9 logic
selection
RW Uint16 -
```
```
0: Low level
1: High level
2: Rising edge
3: Falling edge
4: Rising edge and
falling edge
```
##### 0

```
During
running
At stop
```
```
23h H03-34
```
```
States of DI
functions
FunIN33 to 48
```
```
RW Uint16 - 0 to 65535 0
During
running
```
```
Power-on
again
```
```
24h H03-35
```
```
States of DI
functions
FunIN49 to 64
```
```
RW Uint16 - 0 to 65535 0
During
running
```
```
Power-on
again
```
```
Group 2004h (H04): Output Terminal Parameters
```
```
2004 01h H04-00
DO1 function
selection
RW Uint16 -
```
```
0: No function
1: S-RDY (Servo
ready)
2: TGON (Motor
rotation output)
3: ZERO (Zero speed
signal)
4: V-CMP (Speed
consistent)
5: COIN (Positioning
completed)
7: C-LT (Torque limit)
8: V-LT (Speed limit)
9: BK (Brake output)
10: WARN (Warning
output)
11: ALM (Fault output)
12: ALMO1 (3-digit
fault code output)
13: ALMO2 (3-digit
fault code output)
14: ALMO3 (3-digit
fault code output)
18: ToqReach (Torque
reached)
19: V-Arr (Speed
reached)
20: AngIntRdy (Angle
auto-tuning output)
```
##### 1

```
During
running
At stop
```

12 Appendixes

#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
2004 02h H04-01
DO1 logic
selection
RW Uint16 -
```
```
0: Output low
level when valid
(optocoupler ON)
1: Output high
level when valid
(optocoupler OFF)
```
##### 0

```
During
running
At stop
```
```
2004 03h H04-02
DO2 function
selection
RW Uint16 - 0 to 20 5
During
running
At stop
```
```
2004 04h H04-03
DO2 logic
selection
RW Uint16 -
```
```
0: Output low
level when valid
(optocoupler ON)
1: Output high
level when valid
(optocoupler OFF)
```
##### 0

```
During
running
At stop
```
```
2004 05h H04-04
DO3 function
selection
RW Uint16 - 0 to 20 3
During
running
At stop
```
```
2004 06h H04-05
DO3 logic
selection
RW Uint16 -
```
```
0: Output low
level when valid
(optocoupler ON)
1: Output high
level when valid
(optocoupler OFF)
```
##### 0

```
During
running
At stop
```
```
2004 17h H04-22DO source RW Uint16 -
```
```
Bit0: DO1 source
0: DO1 by drive status
1: DO1 by
communication
setting
Bit1:DO2 source
0: DO2 by drive status
1: DO2 by
communication
setting
Bit2:DO3 source
0: DO3 by drive status
1: DO3 by
communication
setting
```
```
0 At stop
Imme-
diate
```

```
12 Appendixes
```
#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
2004 33h H04-50
AO1 signal
selection
RW Uint16 -
```
```
0: Motor speed (1
V/1000 RPM)
1: Speed reference (1
V/1000 RPM)
2: Torque reference (1
V/rated motor torque)
3: Position deviation
(0.05 V/1 reference
unit)
4: Position deviation
(0.05 V/1 encoder
unit)
5: Position reference
speed (1 V/1000
RPM)
6: Positioning
completed
7: Speed feedforward
(1 V/1000 RPM)
```
##### 0

```
During
running
```
```
Imme-
diate
```
```
2004 34h H04-51
AO1 offset
voltage
RW Uint16 mV -10000 to 10000 5000
During
running
```
```
Imme-
diate
```
```
2004 35h H04-52
AO1 multiplying
factor
RW Uint16 -
-9999 to 9999
(Unit0.01 times)
```
##### 100

```
During
running
```
```
Imme-
diate
```
```
2004 36h H04-53
AO2 signal
selection
RW Uint16 -
```
```
0: Motor speed (1
V/1000 RPM)
1: Speed reference (1
V/1000 RPM)
2: Torque reference (1
V/rated motor torque)
3: Position deviation
(0.05 V/1 reference
unit)
4: Position deviation
(0.05 V/1 encoder
unit)
5: Position reference
speed (1 V/1000
RPM)
6: Positioning
completed
7: Speed feedforward
(1 V/1000 RPM)
```
##### 0

```
During
running
```
```
Imme-
diate
```
```
2004 37h H04-54
AO2 offset
voltage
RW Uint16 mV -10000 to 10000 5000
During
running
```
```
Imme-
diate
```
```
2004 38h H04-55
AO2 multiplying
factor
RW Uint16 -
-9999 to 9999
(Unit0.01 times)
```
##### 100

```
During
running
```
```
Imme-
diate
```

12 Appendixes

#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
Group 2005h (H05): Position Control Parameters
```
```
2005 11h H05-16Clear action RW Uint16 -
```
```
0: Clear position
deviation when S-ON
signal is turned off or
a fault occurs
1: Clear position
deviation when S-ON
signal is turned off
and a fault occurs
2: Clear position
deviation when S-ON
signal is turned off
and the ClrPosErr
signal is input from DI
```
```
0 At stop
Imme-
diate
```
```
2005 12h H05-17
```
```
Encoder
frequency-
division pulses
```
```
RW Uint16 P/Rev 0 to 32767 2500 At stop
Power-on
again
```
```
2005 14h H05-19
```
```
Speed
feedforward
control selection
```
```
RW Uint16 -
```
```
0: No speed
feedforward
1: Internal
2: 60B1h
```
```
1 At stop
Imme-
diate
```
```
2005 20h H05-31Homing mode RW Uint16 - 0 to 9 0 At stop
Imme-
diate
```
```
2005 24h H05-35
Duration limit of
homing
RW Uint16 ms 0 to 65535 50000
During
running
```
```
Imme-
diate
```
```
2005 27h H05-38
Servo pulse
output source
RW Uint16 -
```
```
0: Encoder frequency-
division output
1: Pulse synchronous
output
2: Frequency-division
and synchronous
output forbidden
```
```
0 At stop
Power-on
again
```
```
2005 2Ah H05-41
Output polarity
of Z pulse
RW Uint16 -
```
```
0: Positive (high level
when pulse Z is valid)
1: Negative (low level
when pulse Z is valid)
```
```
1 At stop
Power-on
again
```
```
2005 2Dh H05-44
Encoder multi-
turn data offset
RW Uint16 - 0 to 65535 0 At stop
Imme-
diate
```
```
2005 2Fh H05-46
```
```
Position offset in
absolute position
linear mode (low
32 bits)
```
```
RW int32
Encoder
unit
-2^31 to (2^31 -1) 0 At stop
Imme-
diate
```
```
2005 31h H05-48
```
```
Position offset in
absolute position
linear mode
(high 32 bits)
```
```
RW int32
Encoder
unit
-2^31 to (2^31 -1) 0 At stop
Imme-
diate
```

```
12 Appendixes
```
#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
2005 33h H05-50
```
```
Mechanical
gear ratio in
absolute position
rotating mode
(numerator)
```
```
RW Uint16 - 1 to 65535 65535 At stop
Imme-
diate
```
```
2005 34h H05-51
```
```
Mechanical
gear ratio in
absolute position
rotating mode
(denominator)
```
```
RW Uint16 - 1 to 65535 1 At stop
Imme-
diate
```
```
2005 35h H05-52
```
```
Pulses within
one revolution of
load in absolute
position rotating
mode (low 32
bits)
```
```
RW Uint32
Encoder
unit
0 to (2^32 -1) 0 At stop
Imme-
diate
```
```
2005 37h H05-54
```
```
Pulses within
one revolution of
load in absolute
position rotating
mode (high 32
bits)
```
```
RW Uint32
Encoder
unit
0 to 127 0 At stop
Imme-
diate
```
```
2005 3Eh H05-61
```
```
Unit of position
reached
threshold
```
```
RW Uint16 -
0: Encoder unit
1: Reference unit
1 At stop
Imme-
diate
```
```
Group 2006h (H06): Speed Control Parameters
```
```
2006 05h H06-04
Jog speed
setting value
RW Uint16 RPM 0 to 6000 100
During
running
```
```
Imme-
diate
```
```
2006 0Ch H06-11
```
```
Torque
feedforward
control selection
```
```
RW Uint16 -
```
```
0: None
1: Internal torque
feedforward
2: 60B2h as external
feedforward
```
##### 1

```
During
running
```
```
Imme-
diate
```
```
2006 10h H06-15
```
```
Speed threshold
for zero speed
clamp
```
```
RW - Uint16 0 to 6000 10
During
running
```
```
Imme-
diate
```
```
Group 2007h (H07): Torque Control Parameters
```
```
2007 06h H07-05
```
```
Time constant of
torque reference
filter
```
```
RW Uint16 ms 0 to 3000 (Unit0.01) 79
During
running
```
```
Imme-
diate
```
```
2007 07h H07-06
```
```
2nd time
constant of
torque reference
filter
```
```
RW Uint16 ms 0 to 3000 (Unit0.01) 79
During
running
```
```
Imme-
diate
```

12 Appendixes

#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
2007 08h H07-07
Torque Limit
source
RW Uint16 -
```
```
0: Internal positive/
negative torque limit
1: External positive/
negative torque limit
(via P-CL, N-CL)
2:EtherCAT external
positive/negative
torque limit
3: Minimum of
external positive/
negative torque and
EtherCAT external
positive/negative
torque limit (via P-CL,
N-CL)
4: Switchover
between external
positive/negative
torque and EtherCAT
external positive/
negative torque limit
(via P-CL, N-CL)
```
```
2 At stop
Imme-
diate
```
```
2007 0Ah H07-09
Internal positive
torque limit
RW Uint16 % 0 to 3000 (Unit0.1%) 3000
During
running
```
```
Imme-
diate
```
```
2007 0Bh H07-10
Internal negative
torque limit
RW Uint16 % 0 to 3000 (Unit0.1%) 3000
During
running
```
```
Imme-
diate
```
```
2007 0Ch H07-11
External positive
torque limit
RW Uint16 % 0 to 3000 (Unit0.1%) 3000
During
running
```
```
Imme-
diate
```
```
2007 0Dh H07-12
```
```
External
negative torque
limit
External reverse
torque limit
```
```
RW Uint16 % 0 to 3000 (Unit0.1%) 3000
During
running
```
```
Imme-
diate
```
```
2007 10h H07-15
Emergency stop
torque
RW Uint16 % 0 to 3000 (Unit0.1%) 3000 At stop
Imme-
diate
```
```
2007 12h H07-17
Speed limit
source
RW Uint16 -
```
```
0: Internal speed limit
1: EtherCAT external
speed limit
2: Internal speed limit
selected via DI with
FunIN.36
```
##### 0

```
During
running
```
```
Imme-
diate
```
```
2007 14h H07-19
```
```
Positive speed
limit/1st speed
limit in torque
control
```
```
RW Uint16 RPM 0 to 6000 3000
During
running
```
```
Imme-
diate
```
```
2007 15h H07-20
```
```
Negative speed
limit/2nd speed
limit in torque
control
```
```
RW Uint16 RPM 0 to 6000 3000
During
running
```
```
Imme-
diate
```

```
12 Appendixes
```
#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
2007 16h H07-21
Base value for
torque reached
RW Uint16 % 0 to 3000 (Unit0.1%) 0
During
running
```
```
Imme-
diate
```
```
2007 17h H07-22
```
```
Threshold of
torque reached
valid
```
```
RW Uint16 % 0 to 3000 (Unit0.1%) 200
During
running
```
```
Imme-
diate
```
```
2007 18h H07-23
```
```
Threshold of
torque reached
invalid
```
```
RW Uint16 % 0 to 3000 (Unit0.1%) 100
During
running
```
```
Imme-
diate
```
```
2007 29h H07-40
```
```
Time duration
of speed limit in
torque control
mode
```
```
RW Uint16 ms 5 to 300 (Unit0.1 ms) 10
During
running
```
```
Imme-
diate
```
```
Group 2008h (H08): Gain Parameters
```
```
2008 01h H08-00Speed loop gain RW Uint16 Hz 1 to 20000 (0.1 Hz) 250
During
running
```
```
Imme-
diate
```
```
2008 02h H08-01
```
```
Time constant
of speed loop
integration
```
```
RW Uint16 ms 15 to 51200 (0.01 ms) 3183
During
running
```
```
Imme-
diate
```
```
2008 03h H08-02
Position loop
gain
RW Uint16 Hz 1 to 20000 (0.1 Hz) 400
During
running
```
```
Imme-
diate
```
```
2008 04h H08-03
2nd gain of
speed loop
RW Uint16 Hz 1 to 20000 (0.1 Hz) 400
During
running
```
```
Imme-
diate
```
```
2008 05h H08-04
```
```
2nd time
constant of
speed loop
integration
```
```
RW Uint16 ms 15 to 51200 (0.01 ms) 2000
During
running
```
```
Imme-
diate
```
```
2008 06h H08-05
2nd gain of
position loop
RW Uint16 Hz 0 to 20000 (0.1 Hz) 640
During
running
```
```
Imme-
diate
```
```
2008 09h H08-08
2nd gain mode
setting
RW Uint16 -
```
```
0: 1st gain fixed, P
and PI switchover of
speed loop via DI
1: Gain switchover
based on 2008-0Ah
```
##### 1

```
During
running
```
```
Imme-
diate
```

12 Appendixes

#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
2008 0Ah H08-09
Gain switchover
condition
RW Uint16 -
```
```
0: Fixed at 1st gain
(PS)
1: Switchover via DI
(PS)
2: Torque reference
being large (PS)
3: Speed reference
being large (PS)
4: Speed reference
change rate being
large (PS)
5: Speed reference
high-speed/ low-
speed thresholds (PS)
6: Position deviation
being large (P)
7: Position reference
available (P)
8: Positioning
completed (P)
9: Motor speed being
large (P)
10: Position reference
available + Actual
speed (P)
```
##### 0

```
During
running
```
```
Imme-
diate
```
```
2008 0Bh H08-10
Gain switchover
delay
RW Uint16 ms 0 to 10000 (0.1 ms) 50 At stop
Imme-
diate
```
```
2008 0Ch H08-11
Gain switchover
level
RW Uint16 - 0 to 20000 50 At stop
Imme-
diate
```
```
2008 0Dh H08-12
Gain switchover
hysteresis
RW Uint16 - 0 to 20000 30 At stop
Imme-
diate
```
```
2008 0Eh H08-13
Position gain
switchover time
RW Uint16 ms 0 to 10000 (0.1 ms) 30 At stop
Imme-
diate
```
```
2008 10h H08-15
Load/Rotor
inertia ratio
RW Uint16 -
0 to 12000 (0.01
times)
```
##### 100

```
During
running
```
```
Imme-
diate
```
```
2008 13h H08-18
```
```
Time constant
of speed
feedforward filter
```
```
RW Uint16 ms 0 to 6400 (0.01 ms) 50
During
running
```
```
Imme-
diate
```
```
2008 14h H08-19
Speed
feedforward gain
RW Uint16 % 0 to 1000 (0.1%) 0
During
running
```
```
Imme-
diate
```
```
2008 15h H08-20
```
```
Time constant
of torque
feedforward filter
```
```
RW Uint16 ms 0 to 6400 (0.01 ms) 50
During
running
```
```
Imme-
diate
```
```
2008 16h H08-21
Torque
feedforward gain
RW Uint16 % 0 to 2000 (0.1%) 0
During
running
```
```
Imme-
diate
```

```
12 Appendixes
```
#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
2008 17h H08-22
Speed feedback
filter
RW Uint16 -
```
```
0: Moving average
filter disabled
1: 2 moving average
filters on speed
feedback
2: 4 moving average
filters on speed
feedback
3: 8 moving average
filters on speed
feedback
4: 16 moving average
filters on speed
feedback
```
```
0 At stop
Imme-
diate
```
```
2008 18h H08-23
```
```
Cutoff frequency
of speed
feedback low-
pass filter
```
```
RW Uint16 Hz 0 to 4000 4000
During
running
```
```
Imme-
diate
```
```
2008 19h H08-24
PDFF control
coefficient
RW Uint16 0.10% 0 to 1000 1000
During
running
```
```
Imme-
diate
Group 2009h (H09): Automatic Gain Tuning Parameters
```
```
2009 01h H09-00
```
```
Automatic gain
tuning mode
selection
```
```
RW Uint16 -
```
```
0: Disabled
1: Automatic gain
tuning mode
2: Positioning mode
3: Automatic gain
tuning mode with
friction compensation
4: Positioning
mode with friction
compensation
```
##### 0

```
During
running
```
```
Imme-
diate
```
```
2009 02h H09-01
Rigidity level
selection
RW Uint16 - 0 to 31 12
During
running
```
```
Imme-
diate
```
```
2009 03h H09-02
```
```
Mode selection
of adaptive
notch
```
```
RW Uint16 -
```
```
0: Parameters not
updated
1: Only one notch (3rd
notch) valid
2: Both notches (3rd
and 4th notches) valid
3: Only detect
resonance frequency
(displayed in 2009-
19h)
4: Clear 3rd and
4th notches, restore
parameters to default
setting
```
##### 0

```
During
running
```
```
Imme-
diate
```

12 Appendixes

#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
2009 04h H09-03
```
```
Online inertia
auto-tuning
mode
```
```
RW Uint16 -
```
```
0: Disabled
1: Enabled, change
slowly
2: Enabled, change
always
3: Enabled, change
quickly
```
##### 0

```
During
running
```
```
Imme-
diate
```
```
2009 05h H09-04
```
```
Suppression
mode of low-
frequency
resonance
```
```
RW Uint16 -
```
```
0: Manually set
parameters of low-
frequency resonance
suppression filter
1: Automatically set
parameters of low-
frequency resonance
suppression filter
```
##### 0

```
During
running
```
```
Imme-
diate
```
```
2009 06h H09-05
```
```
Offline inertia
auto-tuning
mode
```
```
RW Uint16 -
```
```
0: Positive and
negative triangular
wave mode
1: Jog mode
```
```
0 At stop
Imme-
diate
```
```
2009 07h H09-06
```
```
Maximum speed
for inertia auto-
tuning
```
```
RW Uint16 RPM 100 to 1000 500 At stop
Imme-
diate
```
```
2009 08h H09-07
```
```
Time constant
of accelerating
to max. speed
for inertia auto-
tuning
```
```
RW Uint16 ms 20 to 800 125 At stop
Imme-
diate
```
```
2009 09h H09-08
```
```
Interval after
an inertia auto-
tuning
```
```
RW Uint16 ms 50 to 10000 800 At stop
Imme-
diate
```
```
2009 0Ah H09-09
```
```
Motor
revolutions for
an inertia auto-
tuning
```
```
RO Uint16 r 0 to 65535 0 - -
```
```
2009 0Dh H09-12
1st notch
frequency
RW Uint16 Hz 50 to 4000 4000
During
running
```
```
Imme-
diate
```
```
2009 0Eh H09-13
1st notch width
level
RW Uint16 - 0 to 20 2
During
running
```
```
Imme-
diate
```
```
2009 0Fh H09-14
1st notch depth
level
RW Uint16 - 0 to 99 0
During
running
```
```
Imme-
diate
```
```
2009 10h H09-15
2nd notch
frequency
RW Uint16 Hz 50 to 4000 4000
During
running
```
```
Imme-
diate
```
```
2009 11h H09-16
2nd notch width
level
RW Uint16 - 0 to 20 2
During
running
```
```
Imme-
diate
```
```
2009 12h H09-17
2nd notch depth
level
RW Uint16 - 0 to 99 0
During
running
```
```
Imme-
diate
```
```
2009 13h H09-18
3rd notch
frequency
RW Uint16 Hz 50 to 4000 4000
During
running
```
```
Imme-
diate
```
```
2009 14h H09-19
3rd notch width
level
RW Uint16 - 0 to 20 2
During
running
```
```
Imme-
diate
```

```
12 Appendixes
```
#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
2009 15h H09-20
3rd notch depth
level
RW Uint16 - 0 to 99 0
During
running
```
```
Imme-
diate
```
```
2009 16h H09-21
4th notch
frequency
RW Uint16 Hz 50 to 4000 4000
During
running
```
```
Imme-
diate
```
```
2009 17h H09-22
4th notch width
level
RW Uint16 - 0 to 20 2
During
running
```
```
Imme-
diate
```
```
2009 18h H09-23
4th notch depth
level
RW Uint16 - 0 to 99 0
During
running
```
```
Imme-
diate
```
```
2009 19h H09-24
```
```
Obtained
resonance
frequency
```
```
RO Uint16 - 0 to 4000 0 - -
```
```
2009 1Fh H09-30
```
```
Torque
disturbance
compensation
gain
```
```
RW Uint16 % -1000 to 1000 (0.1%) 0
During
running
```
```
Imme-
diate
```
```
2009 20h H09-31
```
```
Time constant
of torque
disturbance
observer filter
```
```
RW Uint16 ms 0 to 2500 (0.01 ms) 0.50
During
running
```
```
Imme-
diate
```
```
2009 27h H09-38
```
```
Frequency of
low-frequency
resonance
```
```
RW Uint16 Hz 10 to 1000 (0.1 Hz) 1000
During
running
```
```
Imme-
diate
```
```
2009 28h H09-39
```
```
Filter setting of
low-frequency
resonance
```
```
RW Uint16 - 0 to 10 2
During
running
```
```
Imme-
diate
```
```
Group 200Ah (H0A): Fault and Protection Parameters
```
```
200A 01h H0A-00
```
```
Power input
phase loss
protection
```
```
RW Uint16 -
```
```
0: Enable faults and
inhibit warnings
1: Enable faults and
warnings
2: Inhibit faults and
warnings
```
##### 0

```
During
running
```
```
Imme-
diate
```
```
200A 02h H0A-01
Absolute
position limit
RW Uint16 -
```
```
0: Disabled
1: Enabled
2: Enabled after
homing
```
```
0 At stop
Imme-
diate
```
```
200A 04h H0A-03
Retentive at
power failure
RW Uint16 -
0: Disabled
1: Enabled
```
##### 0

```
During
running
```
```
Imme-
diate
```
```
200A 05h H0A-04
Motor overload
protection gain
RW Uint16 % 50 to 300 100 At stop
Imme-
diate
```
```
200A 09h H0A-08
Overspeed
threshold
RW Uint16 RPM 0 to 10000 0
During
running
```
```
Imme-
diate
```
```
200A 0Ah H0A-09
```
```
Maximum
position pulse
frequency
```
```
RW Uint16 kHz 100 to 4000 (kHz) 4000 At stop
Imme-
diate
```
```
200A 0Dh H0A-12
```
```
Runaway
protection
function
```
```
RW Uint16 -
0: Disabled
1: Enabled
```
##### 1

```
During
running
```
```
Imme-
diate
```

12 Appendixes

#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
200A 11h H0A-16
```
```
Position
deviation
threshold for
low-frequency
resonance
suppression
```
```
RW Uint16 - 1 to 10000 5
During
running
```
```
Imme-
diate
```
```
200A 14h H0A-19DI8 filter time RW Uint16 - 0 to 255 80 At stop
Power-on
again
```
```
200A 15h H0A-20DI9 filter time RW Uint16 - 0 to 255 80 At stop
Power-on
again
```
```
200A 1Ah H0A-25
```
```
Filter time
constant of
speed feedback
display
```
```
RW Uint16 ms 0 to 5000 50 At stop
Imme-
diate
```
```
200A 1Bh H0A-26
Motor overload
shielding
RW Uint16 -
```
```
0: Motor overload
detection enabled
1: Detection of motor
overload warning
(Er.909) and fault
(Er.620) disabled
```
```
0 At stop
Imme-
diate
```
```
200A 1Ch H0A-27
```
```
Filter time
constant of
speed DO
```
```
RW Uint16 ms 0 to 5000 10 At stop
Imme-
diate
```
```
200A 1Dh H0A-28
```
```
Filter time
constant of
quadrature
encoder
```
```
RW Uint16 25 ns 0 to 255 30 At stop
Power-on
again
```
```
200A 21h H0A-32
```
```
Time threshold
for locked
rotor over-
temperature
protection
```
```
RW Uint16 ms 10 to 65535 200
During
running
```
```
Imme-
diate
```
```
200A 22h H0A-33
```
```
Locked
rotor over-
temperature
protection
```
```
RW Uint16 -
0: Shield
1: Enabled
```
##### 1

```
During
running
```
```
Imme-
diate
```
```
200A 25h H0A-36
```
```
Encoder multi-
turn overflow
fault selection
```
```
RW Uint16 -
0: Not shield
1: Shield
0 At stop
Imme-
diate
```
```
Group 200Bh (H0B): Monitoring Parameters
```
```
200B 01h H0B-00
Actual motor
speed
RO int16 RPM - - - -
```
```
200B 02h H0B-01Speed reference RO int16 RPM - - - -
```
```
200B 03h H0B-02
Internal torque
reference
RO int16 % - - - -
```
```
200B 04h H0B-03
Monitored DI
states
RO Uint16 Uint16 - - - -
```
```
200B 06h H0B-05
Monitored DO
states
RO Uint16 Uint16 - - - -
```

```
12 Appendixes
```
#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
200B 08h H0B-07
Absolute
position counter
RO int32
```
```
Refe-
rence unit
```
```
-2^31 to 2^31 - - -
```
```
200B 0Ah H0B-09
Mechanical
angle
RO Uint16
Encoder
unit
```
##### - - - -

```
200B 0Bh H0B-10Electrical angle RO Uint16 ° - - - -
200B 0Ch H0B-11Electrical angle RO int16 RPM - - - -
```
```
200B 0Dh H0B-12
Average load
ratio
RO int16 % - - - -
```
```
200B 0Eh H0B-13
Input reference
pulse counter
RO int32
```
```
Refe-
rence unit
```
##### - - - -

```
200B 10h H0B-15
```
```
Encoder position
deviation
counter
```
```
RO int32
Encoder
unit
```
##### - - - -

```
200B 12h H0B-17
Feedback pulse
counter
RO int32
Encoder
unit
```
##### - - - -

```
200B 14h H0B-19
Total power-on
time
RO Uint32 s - - - -
```
```
200B 19h H0B-24
Phase current
effective value
RO Uint16 A - - - -
```
```
200B 1Bh H0B-26Bus voltage RO Uint16 V - - - -
```
```
200B 1Ch H0B-27
Module
temperature
RO Uint16 °C - - - -
```
```
200B 22h H0B-33Fault record RW Uint16 Uint16
```
```
0: Current fault
1: Latest fault
2: Last 2nd fault
3: Last 3rd fault
4: Last 4th fault
5: Last 5th fault
6: Last 6th fault
7: Last 7th fault
8: Last 8th fault
9:Last 9th fault
```
##### 0

```
During
running
```
##### -

```
200B 23h H0B-34
```
```
Fault code of
selected fault
record
```
```
RO Uint16 Uint16 - 0 - -
```
```
200B 24h H0B-35
```
```
Time stamp
upon displayed
fault
```
```
RO int32 s - - - -
```
```
200B 26h H0B-37
```
```
Motor speed
upon displayed
fault
```
```
RO int16 RPM - - - -
```
```
200B 27h H0B-38
```
```
Motor phase U
current upon
displayed fault
```
```
RO int16 A - - - -
```
```
200B 28h H0B-39
```
```
Motor phase V
current upon
displayed fault
```
```
RO int16 A - - - -
```

12 Appendixes

#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
200B 29h H0B-40
```
```
Bus voltage
upon displayed
fault
```
```
RO Uint16 V - - - -
```
```
200B 2Ah H0B-41
```
```
Input terminal
state upon
displayed fault
```
```
RO Uint16 Uint16 - - - -
```
```
200B 2Bh H0B-42
```
```
Output terminal
state upon
displayed fault
```
```
RO Uint16 Uint16 - - - -
```
```
200B 36h H0B-53
```
```
Position
deviation
counter
```
```
RO int32
```
```
Refe-
rence unit
```
##### - - - -

```
200B 38h H0B-55
Actual motor
speed
RO int32 RPM - - - -
```
```
200B 3Ah H0B-57
Control power
bus voltage
RO Uint16 - - - -
```
```
200B 3Bh H0B-58
```
```
Mechanical
absolute position
(low 32 bits)
```
```
RO int32
Encoder
unit
```
##### - 0 - -

```
200B 3Dh H0B-60
```
```
Mechanical
absolute position
(high 32 bits)
```
```
RO int32
Encoder
unit
```
##### - 0 - -

##### 200B 3FH H0B-62

```
Output line
voltage effective
value of drive
```
```
RO Uint16 - 0 to 65535 0 - -
```
```
200B 41h H0B-64
```
```
Real-time
input position
reference
counter
```
```
RO int32
```
```
Refe-
rence unit
```
##### - - - -

```
200B 47h H0B-70
```
```
Number of
absolute
encoder turns
```
```
RO Uint16 REV - 0 - -
```
```
200B 48h H0B-71
```
```
Absolute
encoder single-
turn position
feedback
```
```
RO int32
Encoder
unit
```
##### - 0 - -

```
200B 4Eh H0B-77
```
```
Absolute
encoder single-
turn position
feedback
```
```
RO int32
Encoder
unit
```
##### - 0 - -

```
200B 50h H0B-79
```
```
Absolute
position (high 32
bits) of absolute
encoder
```
```
RO int32
Encoder
unit
```
##### - 0 - -

```
200B 52h H0B-81
```
```
Rotating load
single-turn
position (low 32
bits)
```
##### RO

```
Uint
32
```
```
Encoder
unit
```
##### - 0 - -


```
12 Appendixes
```
#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
200B 54h H0B-83
```
```
Rotating load
single-turn
position (high 32
bits)
```
##### RO

```
Uint
32
```
```
Encoder
unit
```
##### - 0 - -

```
200B 56h H0B-85
```
```
Rotating load
single-turn
position
```
##### RO

```
Uint
32
```
```
Refe-
rence unit
```
##### - 0 - -

```
Group 200Ch (H0C): Communication Parameters
```
```
200C 01h H0C-00
Servo axis
address
RW Uint16 - 1 to 247 1
During
running
```
```
Imme-
diate
```
```
200C 03h H0C-02Serial baud rate RW Uint16 -
```
```
0: 2400 bps
1: 4800 bps
2: 9600 bps
3: 19200 bps
4: 38400 bps
5: 57600 bps
```
##### 5

```
During
running
```
```
Imme-
diate
```
```
200C 04h H0C-03
Modbus data
format
RW Uint16 -
```
```
0: No check, 2 stop
bit
1: Even parity check,
1 stop bit
2: Odd parity check, 1
stop bit
3: No check, 1 stop
bit
```
##### 0

```
During
running
```
```
Imme-
diate
```
```
200C 05h H0C-04Station name RW Uint16 - 0 0 - -
```
```
200C 06h H0C-05Station alias RW Uint16 - 0 to 65535 0 At stop
Imme-
diate
```
```
200C 0Ah H0C-09
Communication
VDI
RW Uint16 -
0: Disabled
1: Enabled
0 At stop
Imme-
diate
```
```
200C 0Bh H0C-10
VDI default value
after power-on
RW Uint16 - 0 to 65535 0
During
running
```
```
Power-on
again
```
```
200C 0Ch H0C-11
Communication
VDO
RW Uint16 -
0: Disabled
1: Enabled
0 At stop
Imme-
diate
```
```
200C 0Dh H0C-12
```
```
Default level of
VDO allocated
with function 0
```
```
RW Uint16 - 0 to 65535 0 At stop
Imme-
diate
```

12 Appendixes

#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
200C 0Eh H0C-13
```
```
Update function
code values
written via
communication
to EEPROM
```
```
RW Uint16 -
```
```
0: Not update
1: Store 2000h
series object
dictionary written via
communication to
EEPROM
2: Store 6000h
series object
dictionary written via
communication to
EEPROM
3: Store 2000h and
6000h series object
dictionary written via
communication to
EEPROM
```
##### 0

```
During
running
```
```
Imme-
diate
```
```
200C 24h H0C-35
```
```
Permissible
interruption
loss times
of EtherCAT
synchronization
```
```
RW Uint16 ms 4 to 20 9
During
running
```
```
Imme-
diate
```
```
200C 25h H0C-36
Port 0 invalid
frame counter
RO Uint16 - - -
During
running
```
```
Imme-
diate
```
```
200C 26h H0C-37
Port 1 invalid
frame counter
RO Uint16 - - -
During
running
```
```
Imme-
diate
```
```
200C 27h H0C-38
Port 0/1 invalid
frame counter
RO Uint16 - - -
During
running
```
```
Imme-
diate
```
```
200C 28h H0C-39
```
```
Processing unit
and PID error
counter
```
```
RO Uint16 - - -
During
running
```
```
Imme-
diate
```
```
200C 29h H0C-40
Port 0/1 loss
counter
RO Uint16 - - -
During
running
```
```
Imme-
diate
```
```
200C 2Ah H0C-41
Host type
selection
RW Uint16 -
```
```
0 to 1: Reserved
2: Omron NJ series
controller
3: AM600, Beckhoff
controller
```
```
2 At stop
Power-on
again
```
```
200C 2Bh H0C-42
```
```
Synchronization
error detection
mode
```
```
RW Uint16 - 0 to 1 0 At stop
Imme-
diate
```
```
200C 2Ch H0C-43
Synchronization
mode
RW Uint16 - 0 to 2 2 At stop
Imme-
diate
```
```
200C 2Dh H0C-44
Synchronization
error threshold
RW Uint16 nm 0 to 2000 500 At stop
Imme-
diate
```
```
200C 2Eh H0C-45
Position control
buffer
RW Uint16 -
```
```
0: Disabled
1: Enabled
```
```
1 At stop
Imme-
diate
```

```
12 Appendixes
```
#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
200C 2Fh H0C-46
```
```
Increment
excess threshold
of position
reference in
CSP
```
```
RW Uint16 - 1 to 7 3
During
running
```
```
Imme-
diate
```
```
200C 30h H0C-47
```
```
Increment
excess times
of position
reference in
CSP
```
```
RO Uint16 - 0 to 65535 0 - -
```
```
Group 200Dh (H0D): Auxiliary Function Parameters
```
```
200D 01h H0D-00Software reset RW Uint16 -
```
```
0: No operation
1: Enabled
```
```
0 At stop
Imme-
diate
```
```
200D 02h H0D-01Fault reset RW Uint16 -
```
```
0: No operation
1: Enabled
```
```
0 At stop
Imme-
diate
```
```
200D 03h H0D-02
```
```
Offline inertia
auto-tuning
enable
```
```
RW Uint16 -
```
```
0: No operation
1: Enabled
```
##### 0

```
During
running
```
```
Imme-
diate
```
```
200D 06h H0D-05Emergency stop RW Uint16 -
```
```
0: No operation
1: Enabled
```
##### 0

```
During
running
```
```
Imme-
diate
```
```
200D 0Ah H0D-09
One-key
adjustment
RW Uint16 -
0: Disabled
1: Enabled
0 At stop
Imme-
diate
200D 0Ch H0D-11Jog function RW Uint16 - - - - -
```
```
200D 12h H0D-17
Forced DI/DO
setting
RW Uint16 -
```
```
0: No operation
1: Forced DI enabled,
forced DO disabled
2: Forced DO
enabled, forced DI
disabled
3: Forced DI and DO
enabled
4: Forced DO
enabled, forced DI
disabled through
EtherCAT control
```
##### 0

```
During
running
```
```
Imme-
diate
```
```
200D 13h H0D-18Forced DI level RW Uint16 - 0 to 447 447
During
running
```
```
Imme-
diate
```
```
200D 14h H0D-19
Forced DO
setting
RW Uint16 - 0 to 7 0
During
running
```
```
Imme-
diate
```
```
200D 15h H0D-20
```
```
Absolute
encoder reset
function
```
```
RW Uint16 -
```
```
0: No operation
1: Reset faults
2: Reset faults and
multi-turn data
```
##### 0

```
During
running
```
```
Imme-
diate
```
```
Group 200Fh (H0F): Fully Closed-Loop Parameters
```
```
200F 01h H0F-00
Encoder
feedback mode
RW Uint16 -
0: Internal
1: External
0 At stop
Imme-
diate
```

12 Appendixes

#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
200F 02h H0F-01
```
```
Running
direction of
external encoder
```
```
RW Uint16 -
0: Standard
1: Reverse
0 At stop
Imme-
diate
```
```
200F 05h H0F-04
```
```
External encoder
pulses per one
motor revolution
```
```
RW int32
```
```
External
encoder
unit
```
```
0 to 2^3010000 At stop
Power-on
again
```
```
200F 09h H0F-08
```
```
Fully closed-
loop position
deviation excess
threshold
```
```
RW int32
```
```
External
encoder
unit
```
```
0 to 2^301000
During
running
```
```
Imme-
diate
```
```
200F 0Bh H0F-10
```
```
Fully closed-
loop position
deviation clear
setting
```
```
RW Uint16 Rev 0 to 100 0
During
running
```
```
Imme-
diate
```
```
200F 0Eh H0F-13
```
```
Filter time
constant of
hybrid vibration
suppression
```
```
RW Uint16 ms 0 to 65535 (0.01 ms) 0
During
running
```
```
Imme-
diate
```
```
200F 11h H0F-16
```
```
Fully closed-
loop position
deviation
counter
```
##### RO

```
External
encoder
unit
```
```
-2^30 to 2^300 - -
```
```
200F 13h H0F-18
```
```
Feedback pulse
counter of
internal encoder
```
```
RO int32
```
```
Internal
encoder
unit
```
##### - 0 - -

```
200F 15h H0F-20
```
```
Feedback pulse
counter of
external encoder
```
```
RO int32
```
```
External
encoder
unit
```
##### - 0 - -

```
Group 2017h (H17): VDI/VDO Parameters
```
```
2017 01h H17-00
VDI1 function
selection
RW Uint16 - 0 to 39 0 At stop
Upon
stop
```
```
2017 02h H17-01
VDI1 logic
selection
RW Uint16 -
```
```
0: Valid when logic is
1
1: Valid when logic
changes from 0 to 1
```
```
0 At stop
Upon
stop
```
```
2017 03h H17-02
VDI2 function
selection
RW Uint16 - 0 to 39 0 At stop
Upon
stop
```
```
2017 04h H17-03
VDI2 logic
selection
RW Uint16 -
```
```
0: Valid when logic is
1
1: Valid when logic
changes from 0 to 1
```
```
0 At stop
Upon
stop
```
```
2017 05h H17-04
VDI3 function
selection
RW Uint16 - 0 to 39 0 At stop
Upon
stop
```
```
2017 06h H17-05
VDI3 logic
selection
RW Uint16 -
```
```
0: Valid when logic is
1
1: Valid when logic
changes from 0 to 1
```
```
0 At stop
Upon
stop
```
```
2017 07h H17-06
VDI4 function
selection
RW Uint16 - 0 to 39 0 At stop
Upon
stop
```

```
12 Appendixes
```
#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
2017 08h H17-07
VDI4 logic
selection
RW Uint16 -
```
```
0: Valid when logic is
1
1: Valid when logic
changes from 0 to 1
```
```
0 At stop
Upon
stop
```
```
2017 09h H17-08
VDI5 function
selection
RW Uint16 - 0 to 39 0 At stop
Upon
stop
```
```
2017 0Ah H17-09
VDI5 logic
selection
RW Uint16 -
```
```
0: Valid when logic is
1
1: Valid when logic
changes from 0 to 1
```
```
0 At stop
Upon
stop
```
```
2017 0Bh H17-10
VDI6 function
selection
RW Uint16 - 0 to 39 0 At stop
Upon
stop
```
```
2017 0Ch H17-11
VDI6 logic
selection
RW Uint16 -
```
```
0: Valid when logic is
1
1: Valid when logic
changes from 0 to 1
```
```
0 At stop
Upon
stop
```
```
2017 0Dh H17-12
VDI7 function
selection
RW Uint16 - 0 to 39 0 At stop
Upon
stop
```
```
2017 0Eh H17-13
VDI7 logic
selection
RW Uint16 -
```
```
0: Valid when logic is
1
1: Valid when logic
changes from 0 to 1
```
```
0 At stop
Upon
stop
```
```
2017 0Fh H17-14
VDI8 function
selection
RW Uint16 - 0 to 39 0 At stop
Upon
stop
```
```
2017 10h H17-15
VDI8 logic
selection
RW Uint16 -
```
```
0: Valid when logic is
1
1: Valid when logic
changes from 0 to 1
```
```
0 At stop
Upon
stop
```
```
2017 11h H17-16
VDI9 function
selection
RW Uint16 - 0 to 39 0 At stop
Upon
stop
```
```
2017 12h H17-17
VDI9 logic
selection
RW Uint16 -
```
```
0: Valid when logic is
1
1: Valid when logic
changes from 0 to 1
```
```
0 At stop
Upon
stop
```
```
2017 13h H17-18
VDI10 function
selection
RW Uint16 - 0 to 39 0 At stop
Upon
stop
```
```
2017 14h H17-19
VDI10 logic
selection
RW Uint16 -
```
```
0: Valid when logic is
1
1: Valid when logic
changes from 0 to 1
```
```
0 At stop
Upon
stop
```
```
2017 15h H17-20
VDI11 function
selection
RW Uint16 - 0 to 39 0 At stop
Upon
stop
```
```
2017 16h H17-21
VDI11 logic
selection
RW Uint16 -
```
```
0: Valid when logic is
1
1: Valid when logic
changes from 0 to 1
```
```
0 At stop
Upon
stop
```
```
2017 17h H17-22
VDI12 function
selection
RW Uint16 - 0 to 39 0 At stop
Upon
stop
```

12 Appendixes

#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
2017 18h H17-23
VDI12 logic
selection
RW Uint16 -
```
```
0: Valid when logic is
1
1: Valid when logic
changes from 0 to 1
```
```
0 At stop
Upon
stop
```
```
2017 19h H17-24
VDI13 function
selection
RW Uint16 - 0 to 39 0 At stop
Upon
stop
```
```
2017 1Ah H17-25
VDI13 logic
selection
RW Uint16 -
```
```
0: Valid when logic is
1
1: Valid when logic
changes from 0 to 1
```
```
0 At stop
Upon
stop
```
```
2017 1Bh H17-26
VDI14 function
selection
RW Uint16 - 0 to 39 0 At stop
Upon
stop
```
```
2017 1Ch H17-27
VDI14 logic
selection
RW Uint16 -
```
```
0: Valid when logic is
1
1: Valid when logic
changes from 0 to 1
```
```
0 At stop
Upon
stop
```
```
2017 1Dh H17-28
VDI15 function
selection
RW Uint16 - 0 to 39 0 At stop
Upon
stop
```
```
2017 1Eh H17-29
VDI15 logic
selection
RW Uint16 -
```
```
0: Valid when logic is
1
1: Valid when logic
changes from 0 to 1
```
```
0 At stop
Upon
stop
```
```
2017 1Fh H17-30
VDI16 function
selection
RW Uint16 - 0 to 39 0 At stop
Upon
stop
```
```
2017 20h H17-31
VDI16 logic
selection
RW Uint16 -
```
```
0: Valid when logic is
1
1: Valid when logic
changes from 0 to 1
```
```
0 At stop
Upon
stop
```
```
2017 21h H17-32VDO virtual level RO Uint16 - 0 to 65535 0 - -
```

```
12 Appendixes
```
#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
2017 22h H17-33
VDO1 function
selection
RW Uint16 -
```
```
0: No function
1: S-RDY (Servo
ready)
2: TGON (Motor
rotation output)
3: ZERO (Zero speed
signal)
4: V-CMP (Speed
consistent)
5: COIN (Positioning
completed)
7: C-LT (Torque limit)
8: V-LT (Speed limit)
9: BK (Brake output)
10: WARN (Warning
output)
11: ALM (Fault output)
12: ALMO1 (3-digit
fault code output)
13: ALMO2 (3-digit
fault code output)
14: ALMO3 (3-digit
fault code output)
18: ToqReach (Torque
reached)
19: V-Arr (Speed
reached)
20: AngIntRdy (Angle
tuning output)
```
```
0 At stop
Upon
stop
```
```
2017 23h H17-34
VDO1 logic
selection
RW Uint16 -
```
```
0: Output 1 when
function valid
1: Output 0 when
function valid
```
```
0 At stop
Upon
stop
```
```
2017 24h H17-35
VDO2 function
selection
RW Uint16 - See VDO1 0 At stop
Upon
stop
```
```
2017 25h H17-36
VDO2 logic
selection
RW Uint16 -
```
```
0: Output 1 when
function valid
1: Output 0 when
function valid
```
```
0 At stop
Upon
stop
```
```
2017 26h H17-37
VDO3 function
selection
RW Uint16 - See VDO1 0 At stop
Upon
stop
```
```
2017 27h H17-38
VDO3 logic
selection
RW Uint16 -
```
```
0: Output 1 when
function valid
1: Output 0 when
function valid
```
```
0 At stop
Upon
stop
```

12 Appendixes

#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
2017 28h H17-39
VDO4 function
selection
RW Uint16 - See VDO1 0 At stop
Upon
stop
```
```
2017 29h H17-40
VDO4 logic
selection
RW Uint16 -
```
```
0: Output 1 when
function valid
1: Output 0 when
function valid
```
```
0 At stop
Upon
stop
```
```
2017 2Ah H17-41
VDO5 function
selection
RW Uint16 - See VDO1 0 At stop
Upon
stop
```
```
2017 2Bh H17-42
VDO5 logic
selection
RW Uint16 -
```
```
0: Output 1 when
function valid
1: Output 0 when
function valid
```
```
0 At stop
Upon
stop
```
```
2017 2Ch H17-43
VDO6 function
selection
RW Uint16 - See VDO1 0 At stop
Upon
stop
```
```
2017 2Dh H17-44
VDO6 logic
selection
RW Uint16 -
```
```
0: Output 1 when
function valid
1: Output 0 when
function valid
```
```
0 At stop
Upon
stop
```
```
2017 2Eh H17-45
VDO7 function
selection
RW Uint16 - See VDO1 0 At stop
Upon
stop
```
```
2017 2Fh H17-46
VDO7 logic
selection
RW Uint16 -
```
```
0: Output 1 when
function valid
1: Output 0 when
function valid
```
```
0 At stop
Upon
stop
```
```
2017 30h H17-47
VDO8 function
selection
RW Uint16 - See VDO1 0 At stop
Upon
stop
```
```
2017 31h H17-48
VDO8 logic
selection
RW Uint16 -
```
```
0: Output 1 when
function valid
1: Output 0 when
function valid
```
```
0 At stop
Upon
stop
```
```
2017 32h H17-49
VDO9 function
selection
RW Uint16 - See VDO1 0 At stop
Upon
stop
```
```
2017 33h H17-50
VDO9 logic
selection
RW Uint16 -
```
```
0: Output 1 when
function valid
1: Output 0 when
function valid
```
```
0 At stop
Upon
stop
```
```
2017 34h H17-51
VDO10 function
selection
RW Uint16 - See VDO1 0 At stop
Upon
stop
```
```
2017 35h H17-52
VDO10 logic
selection
RW Uint16 -
```
```
0: Output 1 when
function valid
1: Output 0 when
function valid
```
```
0 At stop
Upon
stop
```
```
2017 36h H17-53
VDO11 function
selection
RW Uint16 - See VDO1 0 At stop
Upon
stop
```
```
2017 37h H17-54
VDO11 logic
selection
RW Uint16 -
```
```
0: Output 1 when
function valid
1: Output 0 when
function valid
```
```
0 At stop
Upon
stop
```

```
12 Appendixes
```
#### 12

```
Index
Sub-
index
```
```
Func.
Code
Name
```
```
Ac-
cess
```
```
Data
Type
Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
2017 38h H17-55
VDO12 function
selection
RW Uint16 - See VDO1 0 At stop
Upon
stop
```
```
2017 39h H17-56
VDO12 logic
selection
RW Uint16 -
```
```
0: Output 1 when
function valid
1: Output 0 when
function valid
```
```
0 At stop
Upon
stop
```
```
2017 3Ah H17-57
VDO13 function
selection
RW Uint16 - See VDO1 0 At stop
Upon
stop
```
```
2017 3Bh H17-58
VDO13 logic
selection
RW Uint16 -
```
```
0: Output 1 when
function valid
1: Output 0 when
function valid
```
```
0 At stop
Upon
stop
```
```
2017 3Ch H17-59
VDO14 function
selection
RW Uint16 - See VDO1 0 At stop
Upon
stop
```
```
2017 3Dh H17-60
VDO14 logic
selection
RW Uint16 -
```
```
0: Output 1 when
function valid
1: Output 0 when
function valid
```
```
0 At stop
Upon
stop
```
```
2017 3Eh H17-61
VDO15 function
selection
RW Uint16 - See VDO1 0 At stop
Upon
stop
```
```
2017 3Fh H17-62
VDO15 logic
selection
RW Uint16 -
```
```
0: Output 1 when
function valid
1: Output 0 when
function valid
```
```
0 At stop
Upon
stop
```
```
2017 40h H17-63
VDO16 function
selection
RW Uint16 - See VDO1 0 At stop
Upon
stop
```
```
2017 41h H17-64
VDO16 logic
selection
RW Uint16 -
```
```
0: Output 1 when
function valid
1: Output 0 when
function valid
```
```
0 At stop
Upon
stop
```
```
Group 2030h (H30): Servo Variables Read via Communication
```
```
2030 01h H30-00
```
```
Servo state
read via
communication
```
```
RO Uint16 - - 0 - -
```
```
2030 02h H30-01
```
```
DO function
state 1 read via
communication
```
```
RO Uint16 - 0 to 65535 0 - -
```
```
2030 03h H30-02
```
```
DO function
state 2 read via
communication
```
```
RO Uint16 - 0 to 65535 0 - -
```
```
Group 2031h (H31): Servo Variables Set via Communication
```
```
2031 01h H31-00
```
```
VDI virtual
level set via
communication
```
```
RW Uint16 - 0 to 65535 0
During
running
```
```
Imme-
diate
```
```
2031 05h H31-04
DO state set via
communication
RW Uint16 - 0 to 7 0
During
running
```
```
Imme-
diate
Group 203Fh: Factory Fault Code
```
```
203F 00h
Manufacturer
fault code
RO Uint32 - 0 to (2^31 -1) 0 - -
```

12 Appendixes

#### 12

#### 12.4.3 Object Group 6000h

```
Group 6000h includes the DSP402-related objects.
```
```
Index
(hex)
```
```
Sub-
index
(hex)
```
```
Name
```
```
Ac-
cess
```
##### PDO

```
Map-
ping
```
```
Data Type Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
603F 00 Error code RO TPDO UINT16 - 0 to 65535 0 - -
```
```
6040 00 Control word RW RPDO UINT16 - 0 to 65535 0
During
running
```
```
Upon
stop
6041 00 Status word RO TPDO UINT16 - 0 to xFFFF 0 - -
```
```
605A 00
Quick stop
option code
RW NO INT16 0 to 7 2
During
running
```
```
Upon
stop
```
```
605D 00
Halt option
code
RW NO INT16 1 to 3 1
During
running
```
```
Upon
stop
```
```
6060 00
Modes of
operation
RW RPDO INT8 - 0 to 10 0
During
running
```
```
Upon
stop
```
##### 6061 00

```
Modes of
operation
display
```
```
RO TPDO INT8 - 0 to 10 0 - -
```
##### 6062 00

```
Position
demand value
```
##### RO TPDO DINT32

```
Refe-
rence unit
```
##### - - - -

##### 6063 00

```
Position actual
internal value
RO TPDO Dint32
Encoder
unit
```
##### - - - -

##### 6064 00

```
Position actual
value
RO TPDO Dint32
```
```
Refe-
rence unit
```
##### - - - -

##### 6065 00

```
Following error
window
```
##### RW RPDO UDINT32

```
Refe-
rence unit
```
```
0 to (2^32 -1) 1048576
During
running
```
```
Upon
stop
```
##### 6067 00

```
Position
window
```
##### RW RPDO UINT32

```
Encoder
unit
0 to 65535 734
During
running
```
```
Imme-
diate
```
```
6068 00
Position window
time
RW RPDO UINT16 ms 0 to 65535 x10
During
running
```
```
Imme-
diate
```
##### 606C 00

```
Velocity actual
value
```
##### RO TPDO INT32

```
Refe-
rence unit/
s
```
##### - - - -

```
606D 00 Velocity window RW RPDO UINT16 RPM 0 to 65535 10
During
running
```
```
Upon
stop
```
```
606E 00
Velocity window
time
RW RPDO UINT16 ms 0 to 65535 0
During
running
```
```
Upon
stop
```
```
6071 00 Target torque RW RPDO INT16 0.1%
-5000 to
5000
```
##### 0

```
During
running
```
```
Upon
stop
```
```
6072 00 Max torque RW RPDO UINT16 0.1% 0 to 5000 5000
During
running
```
```
Upon
stop
```
```
6074 00 Max torque RO TPDO INT16 0.1%
-5000 to
5000
```
##### 0 - -

##### 6077 00

```
Torque actual
value
```
##### RO TPDO INT16 0.1%

```
-5000 to
5000
```
##### 0 - -


```
12 Appendixes
```
#### 12

```
Index
(hex)
```
```
Sub-
index
(hex)
```
```
Name
```
```
Ac-
cess
```
##### PDO

```
Map-
ping
```
```
Data Type Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
607A 00 Target position RW RPDO INT32
```
```
Refe-
rence unit
```
```
-2^31 to (2^31 -1) 0
During
running
```
```
Upon
stop
```
```
607C 00 Home offset RW RPDO INT32
```
```
Refe-
rence unit
```
```
-2^31 to (2^31 -1) 0
During
running
```
```
Upon
stop
```
##### 607D

```
Software position limit
```
```
00
Highest sub-
index supported
```
##### RO NO UINT8 - - 2 - -

##### 01

```
Min position
limit
```
##### RW RPDO INT32

```
User
position
unit
```
```
-2^31 to (2^31 -1) -231
During
running
```
```
Upon
stop
```
##### 02

```
Max position
limit
```
##### RW RPDO INT32

```
User
position
unit
```
```
-2^31 to (2^31 -1) 231-1
During
running
```
```
Upon
stop
```
```
607E 00 Polarity RW RPDO UINT8 - 00 to FF 00
During
running
```
```
Upon
stop
```
```
607F 00
Max profile
velocity
```
##### RW RPDO UDINT32

```
Reference
unit/s
0 to (2^32 -1) 230
During
running
```
```
Upon
stop
```
```
6081 00 Profile velocity RW RPDO UDINT32
```
```
User
velocity
unit
```
```
0 to (2^32 -1) 0
During
running
```
```
Upon
stop
```
##### 6083 00

```
Profile
acceleration
```
##### RW RPDO UDINT32

```
Refe-
rence unit/
s^2
```
```
0 to (2^32 -1) 100
During
running
```
```
Upon
stop
```
##### 6084 00

```
Profile
deceleration
```
##### RW RPDO UDINT32

```
Refe-
rence unit/
s^2
```
```
0 to (2^32 -1) 100
During
running
```
```
Upon
stop
```
##### 6085 00

```
Quick stop
deceleration
```
##### RW RPDO UDINT32

```
User
decel. unit
0 to (2^32 -1) 100
During
running
```
```
Upon
stop
```
```
6086 00
Motion profile
type
RW RPDO INT16 - -2^15 to (2^15 -1) 0
During
running
```
```
Upon
stop
```
```
6087 00 Torque slope RW RPDO UDINT32 0.1%/s 0 to (2^32 -1) 232-1
During
running
```
```
Upon
stop
```
##### 6091

```
Gear ratio
```
```
00
Highest sub-
index supported
RO NO UINT8 Uint8 - 2 - -
```
##### 01

```
Motor
revolutions
RW RPDO UINT32 - 0 to (2^32 -1) 1
During
running
```
```
Imme-
diate
```
```
02
Shaft
revolutions
RW RPDO UINT32 - 1 to (2^32 -1) 1
During
running
```
```
Imme-
diate
```
```
6098 00 Homing method RW RPDO INT8 - 1 to 35 1
During
running
```
```
Imme-
diate
```

12 Appendixes

#### 12

```
Index
(hex)
```
```
Sub-
index
(hex)
```
```
Name
```
```
Ac-
cess
```
##### PDO

```
Map-
ping
```
```
Data Type Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
##### 6099

```
Homing method
```
```
00
Highest sub-
index supported
RO NO Uint8 - 2 2 - -
```
##### 01

```
Speed during
search for
switch
```
##### RW RPDO UINT32

```
Refe-
rence unit/
s
```
```
0 to (2^32 -1) 100
During
running
```
```
Upon
stop
```
##### 02

```
Speed during
search for zero
```
##### RW RPDO UINT32

```
Refe-
rence unit/
s
```
```
10 to (2^32 -1) 100
During
running
```
```
Upon
stop
```
##### 609A 00

```
Homing
acceleration
```
##### RW RPDO UDINT32

```
Refe-
rence unit/
s^2
```
```
0 to (2^32 -1) 100
During
running
```
```
Upon
stop
```
```
60B0h 00 Position offset RW RPDO INT32
```
```
Refe-
rence unit
```
```
-2^31 to (2^31 -1) 0
During
running
```
```
Upon
stop
```
```
60B1h 00 Velocity offset RW RPDO INT32
```
```
Refe-
rence unit/
s
```
```
-2^31 to (2^31 -1) 0
During
running
```
```
Upon
stop
```
```
60B2h 00 Torque offset RW RPDO INT16 0.1%
-5000 to
5000
```
##### 0

```
During
running
```
```
Upon
stop
```
```
60B8h 00
Touch probe
function
RW RPDO UINT16 - 0 to 65535 0
During
running
```
```
Upon
stop
```
```
60B9h 00
Touch probe
status
RO TPDO UINT16 - 0 to 65535 0 - -
```
```
60BAh 00
Touch probe
pos1 pos value
```
##### RO TPDO INT32

```
Refe-
rence unit
```
```
-2^31 to (2^31 -1) 0 - -
```
```
60BBh 00
Touch probe
pos1 neg value
```
##### RO TPDO INT32

```
Refe-
rence unit
```
```
-2^31 to (2^31 -1) 0 - -
```
```
60BCh 00
Touch probe
pos2 pos value
```
##### RO TPDO INT32

```
Refe-
rence unit
```
```
-2^31 to (2^31 -1) 0 - -
```
```
60BDh 00
Touch probe
pos2 neg value
```
##### RO TPDO INT32

```
Refe-
rence unit
```
```
-2^31 to (2^31 -1) 0 - -
```
```
60E0h 00
Positive torque
limit value
RW RPDO UINT16 0.1% 0 to 5000 5000
During
running
```
```
Upon
stop
```
```
60E1h 00
Negative torque
limit value
RW RPDO UINT16 0.1% 0 to 5000 5000
During
running
```
```
Upon
stop
```

```
12 Appendixes
```
#### 12

```
Index
(hex)
```
```
Sub-
index
(hex)
```
```
Name
```
```
Ac-
cess
```
##### PDO

```
Map-
ping
```
```
Data Type Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
60E3h
```
```
Supported homing methods
```
```
00
Highest sub-
index supported
```
##### RO NO UINT8 - - 31 - -

##### 01

```
1st supported
homing method
RO NO UINT16 - - 0301h - -
```
##### 02

```
2nd supported
homing method
RO NO UINT16 - - 0302h - -
```
##### 03

```
3rd supported
homing method
RO NO UINT16 - - 0303h - -
```
##### 04

```
4th supported
homing method
RO NO UINT16 - - 0304h - -
```
##### 05

```
5th supported
homing method
RO NO UINT16 - - 0305h - -
```
##### 06

```
6th supported
homing method
RO NO UINT16 - - 0306h - -
```
##### 07

```
7th supported
homing method
RO NO UINT16 - - 0307h - -
```
##### 08

```
8th supported
homing method
RO NO UINT16 - - 0308h - -
```
##### 09

```
9th supported
homing method
RO NO UINT16 - - 0309h - -
```
##### 0A

```
10th supported
homing method
RO NO UINT16 - - 030Ah - -
```
##### 0B

```
11th supported
homing method
RO NO UINT16 - - 030Bh - -
```
##### 0C

```
12th supported
homing method
RO NO UINT16 - - 030Ch - -
```
##### 0D

```
13th supported
homing method
RO NO UINT16 - - 030Dh - -
```
##### 0E

```
14th supported
homing method
RO NO UINT16 - - 030Eh - -
```
##### 0F

```
15th supported
homing method
RO NO UINT16 - - 030Fh - -
```

12 Appendixes

#### 12

```
Index
(hex)
```
```
Sub-
index
(hex)
```
```
Name
```
```
Ac-
cess
```
##### PDO

```
Map-
ping
```
```
Data Type Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
60E3h
```
##### 10

```
16th supported
homing method
RO NO UINT16 - - 0310h - -
```
##### 11

```
17th supported
homing method
RO NO UINT16 - - 0311h - -
```
##### 12

```
18th supported
homing method
RO NO UINT16 - - 0312h - -
```
##### 13

```
19th supported
homing method
RO NO UINT16 - - 0313h - -
```
##### 14

```
20th supported
homing method
RO NO UINT16 - - 0314h - -
```
##### 15

```
21th supported
homing method
RO NO UINT16 - - 0315h - -
```
##### 16

```
22th supported
homing method
RO NO UINT16 - - 0316h - -
```
##### 17

```
23th supported
homing method
RO NO UINT16 - - 0317h - -
```
##### 18

```
24th supported
homing method
RO NO UINT16 - - 0318h - -
```
##### 19

```
25th supported
homing method
RO NO UINT16 - - 0319h - -
```
##### 1A

```
26th supported
homing method
RO NO UINT16 - - 031Ah - -
```
##### 1B

```
27th supported
homing method
RO NO UINT16 - - 031Bh - -
```
##### 1C

```
28th supported
homing method
RO NO UINT16 - - 031Ch - -
```
##### 1D

```
29th supported
homing method
RO NO UINT16 - - 031Dh - -
```
##### 1E

```
30th supported
homing method
RO NO UINT16 - - 031Eh - -
```
##### 1F

```
31th supported
homing method
RO NO UINT16 - - 031Fh - -
```
```
60E6h 00
```
```
Additional
position
encoder
resolution
```
- encoder
increments

##### RW NO UINT8 - 0-1 0

```
During
running
```
```
Upon
stop
```
```
60F4h 00
Following error
actual value
```
##### RO RPDO DINT32

```
Refe-
rence unit
```
##### - - - -

```
60FCh 00
```
```
Position
demand internal
value
```
##### RO TPDO DINT32

```
Encoder
unit
```
##### - - - -

```
60FDh 00 Digital inputs RO RPDO UDINT32 -
0 to
FFFFFFFF
```
##### 0 - -


```
12 Appendixes
```
#### 12

```
Index
(hex)
```
```
Sub-
index
(hex)
```
```
Name
```
```
Ac-
cess
```
##### PDO

```
Map-
ping
```
```
Data Type Unit Data Range Default
Setting
Condition
```
```
Effective
Condition
```
```
60FEh
```
```
Digital outputs
```
##### 00

```
Highest
sub-index
supportedd
```
##### RO NO UINT8 - - 1 - -

##### 01

```
Physical
outputs
```
##### RW RPDO UINT32 -

```
0 to
FFFFFFFF
```
##### 0

```
During
running
```
```
Upon
stop
```
```
02 Bit mask RW NO UINT32 -
0 to
FFFFFFFF
```
##### 0

```
During
running
```
```
Upon
stop
```
```
60FFh 00 Target velocity RW RPDO INT32
Reference
unit/s
```
##### -2^31 -(2^31 -1) 0

```
During
running
```
```
Upon
stop
```
```
6502h 00
Supported drive
modes
RO NO UDINT32 - - 3A1h - -
```
#### 12.4.4 DIDO Function Definitions

```
No. Function Symbol
Function
Name
Description Remarks
```
```
Input Function Description
```
```
FunIN.2 ALM-RST
```
```
Fault and
warning
reset (edge
valid)
```
```
Invalid: Disabled
Valid: Enabled
```
```
This DI function is edge valid
rather than high/low level valid.
The servo drive can continue to
operate after fault/warning reset.
When this function is allocated to
a low-speed DI and logic of the DI
is level valid, the servo drive will
forcibly changes it to
edge logic. The valid level change
must last for more than 3 ms;
otherwise, the fault reset function
becomes invalid.
Do not allocate this function to
high-speed DI. Otherwise,
fault/warning reset will be invalid.
```
```
FunIN.3 GAIN-SEL
Gain
switchover
```
```
2008-09h = 0:
Invalid: Speed control loop
being PI control
Invalid: Speed control loop
being P control
2008-09h = 1:
Operation according to the
setting of 2008-0Ah
```
```
It is recommended that the logic
of the corresponding terminal be
set to level valid.
```
```
FunIN.12 ZCLAMP
Zero speed
clamp
```
```
Valid: Zero speed clamp
enabled
Invalid: Zero speed clamp
disabled
```
```
It is recommended that the logic
of the corresponding terminal be
set to level valid.
```

12 Appendixes

#### 12

```
No. Function Symbol
Function
Name
Description Remarks
```
```
FunIN.13 INHIBIT
```
```
Position
reference
inhibited
```
```
Invalid: The servo drive
responds to position
references in position control
mode.
Valid: The servo drive does
not respond to any internal or
external position reference in
position control mode.
```
```
The position references include
internal and external position
references.
It is recommended that the logic
of the corresponding terminal be
set to level valid.
```
```
FunIN.14 P-OT
Positive
limit switch
```
```
Valid: Positive drive inhibited
Invalid: Positive drive permitted
```
```
When the mechanical movement
is outside the movable range,
the servo drive implements the
function of preventing the motor
from sensing the limit switch.
It is recommended that the logic
of the corresponding terminal be
set to level valid.
```
```
FunIN.15 N-OT
Negative
limit switch
```
```
Valid: Negative drive inhibited
Invalid: Negative drive
permitted
```
```
FunIN.16 P-CL
```
```
External
positive
torque limit
```
```
The torque limit source is
switched over based on the
setting of 2007-08h.
2007-08h = 1:
Valid: External positive torque
limit enabled
Invalid: Internal positive torque
limit enabled
2007-08h = 3 and AI limit
larger than external positive
limit
Valid: External positive torque
limit enabled
Invalid: AI torque limit enabled
2007-08h = 4:
Valid: AI torque limit enabled
Invalid: Internal positive torque
limit enabled
```
```
It is recommended that the logic
of the corresponding terminal be
set to level valid.
```

```
12 Appendixes
```
#### 12

```
No. Function Symbol
Function
Name
Description Remarks
```
```
FunIN.17 N-CL
```
```
External
negative
torque limit
```
```
The torque limit source is
switched over based on the
setting of 2007-08h.
2007-08h = 1:
Valid: External negative torque
limit enabled
Invalid: Internal negative
torque limit enabled
2007-08h = 3 and AI limit
larger than external negative
limit
Valid: External negative torque
limit enabled
Invalid: AI torque limit enabled
2007-08h = 4:
Valid: AI torque limit enabled
Invalid: Internal negative
torque limit enabled
```
```
It is recommended that the logic
of the corresponding terminal be
set to level valid.
```
```
FunIN.18 JOGCMD+ Forward jog
```
```
Valid: Execute reference input
Invalid: Not receive reference
input
```
```
It is recommended that the logic
of the corresponding terminal be
set to level valid.
```
```
FunIN.19 JOGCMD- Reverse jog
```
```
Valid: Input reverse to
reference direction
Invalid: Reference input
stopped
```
```
It is recommended that the logic
of the corresponding terminal be
set to level valid.
```
```
FunIN.25 TOQDirSel
```
```
Torque
reference
direction
selection
```
```
Valid: Forward direction
Invalid: Reverse direction
```
```
It is recommended that the logic
of the corresponding terminal be
set to level valid.
```
```
FunIN.26 SPDDirSel
```
```
Speed
reference
direction
selection
```
```
Valid: Forward direction
Invalid: Reverse direction
```
```
It is recommended that the logic
of the corresponding terminal be
set to level valid.
```
```
FunIN.27 POSDirSel
```
```
Position
reference
direction
selection
```
```
Valid: Actual position reference
direction same as given
position reference direction
Invalid: Actual position
reference direction opposite
to given position reference
direction
```
```
It is recommended that the logic
of the corresponding terminal be
set to level valid.
```

12 Appendixes

#### 12

```
No. Function Symbol
Function
Name
Description Remarks
```
```
FunIN.31 HomeSwitch
Home
switch
```
```
Invalid: Not triggered
Valid: Triggered, current
position being home
```
```
The logic of the corresponding
terminal needs to be set to level
valid.
Allocate this function to the high-
speed DI terminal.
If the logic is set to 2 (rising edge
valid), the servo drive forcibly
changes it to 1 (high level valid).
If the logic is set to 3 (falling edge
valid), the servo drive forcibly
changes it to 0 (low level valid).
If the logic is set to 4 (both rising
edge and falling edge valid), the
servo drive forcibly changes it to 0
(low level valid).
```
```
FunIN.34 EmergencyStop
Emergency
stop
```
```
Valid: Position lock after
emergency stop
Invalid: Current running state
unaffected
```
```
It is recommended that the logic
of the corresponding terminal be
set to level valid.
```
```
FunIN.35 ClrPosErr
```
```
Position
deviation
cleared
(edge valid)
```
```
Valid: Position deviation
cleared
Invalid: Position deviation not
cleared
```
```
It is recommended that the logic
of the corresponding terminal be
set to edge valid.
If the logic is set to 1 (high level
valid), the servo drive forcibly
changes it to 2 (rising edge valid).
If the logic is set to 0 (low level
valid), the servo drive forcibly
changes it to 3 (falling edge valid).
It is recommended that this
function be allocated to DI8 or
DI9.
```
```
FunIN.36 V_LmtSel
```
```
Internal
speed limit
source
```
```
Valid: -(2007-15h) as internal
speed limit (2007-12h = 2)
Valid: -(2007-19h) as internal
speed limit (2007-12h = 2)
```
```
It is recommended that the logic
of the corresponding terminal be
set to level valid.
```
```
FunIN.37 PulseInhibit
Pulse input
inhibited
```
```
When the position reference
source is pulse input (H05-
00 = 0) in the position control
mode:
Invalid: Respond to pulse input
Valid: Not respond to pulse
input
```
```
It is recommended that the logic
of the corresponding terminal be
set to level valid.
```
```
Output Function Description
```
```
FunOUT.1 S-RDY Servo ready
```
```
The servo drive is in ready
state and can receive the
S-ON signal.
Valid: Servo drive ready
Invalid: Servo drive not ready
```
```
Servo not ready: A No. 1 or 2 fault
occurs in the servo drive, or the DI
emergency stop signal is active.
```

```
12 Appendixes
```
#### 12

```
No. Function Symbol
Function
Name
Description Remarks
```
```
FunOUT.2 TGON
```
```
Motor
rotation
output
```
```
When motor speed larger than
speed threshold 2006-01h:
Valid: Motor roation output
Invalid: No motor rotation
output
```
##### -

```
FunOUT.3 ZERO
Zero speed
signal
```
```
Output signal when motor
stops rotation:
Valid: Motor speed being 0
Invalid: Motor speed being not
0
```
##### -

```
FunOUT.4 V-CMP
Speed
consistent
```
```
In the speed control mode,
when the absolute value of the
deviation between the motor
speed and the speed reference
is smaller than the value of
606Dh and the duration lasts
for 606Eh, this signal is active.
```
##### -

```
FunOUT.5 COIN
Positioning
completed
```
```
In the position control mode,
when the position deviation
pulses reach the value of
6067h and the duration lasts
for 6068h, this signal is active.
```
##### -

```
FunOUT.6 NEAR
Positioning
near
```
```
In the position control mode,
when the position deviation
pulses reach the value of H05-
22, this signal is active.
```
##### -

```
FunOUT.7 C-LT Torque limit
```
```
Confirming torque limit:
Valid: Motor torque limited
Invalid: Motor torque not
limited
```
##### -

```
FunOUT.8 V-LT Speed limit
```
```
Confirming speed limit in
torque control:
Invalid: Motor speed not limited
Valid: Motor speed limited
```
##### -

```
FunOUT.9 BK
Brake
output
```
```
Brake output:
Invalid: The power is on, the
brake is applied, and the motor
is in position lock state.
Valid: The power is off, the
brake is released, and the
motor can rotate.
```
##### -

```
FunOUT.10 WARN
Warning
output
```
```
The warning output is active
(conducted).
```
##### -

```
FunOUT.11 ALM Fault output
This signal is valid when a fault
occurs.
```
##### -

```
FunOUT.12 ALMO1
3-digit fault
code output
A 3-digit fault code is output. -
```

12 Appendixes

#### 12

```
No. Function Symbol
Function
Name
Description Remarks
```
```
FunOUT.13 ALMO2
3-digit fault
code output
A 3-digit fault code is output. -
```
```
FunOUT.14 ALMO3
3-digit fault
code output
A 3-digit fault code is output. -
```
```
FunOUT.18 ToqReach
Torque
reached
```
```
Valid: Absolute value of torque
reference reaching setting
value
Invalid: Absolute value of
torque reference smaller than
setting value
```
##### -

```
FunOUT.19 V-Arr
Speed
reached
```
```
Valid: Speed feedback reaches
setting value
Invalid: Speed feedback
smaller than setting value
```
##### -

```
FunOUT.20 AngIntRdy
```
```
Angle auto-
tuning
output
```
```
Valid: Angle auto-tuning
completed
Invalid: Angle auto-tuning not
completed
```
##### -


```
12 Appendixes
```
#### 12