#x9000089 Parker Hannifin 424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000130B0000130B0000000000000000000000B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF60D1FF60D1FF60D1FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FFFFFFFFFFFFFFFFFFFF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FFFFFFFFFFFFFFFFFFFF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FFFFFFFFFFFFFFFFFFFFBFEDFFBFEDFFBFEDFF50CDFF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF8FDFFF8FDFFF8FDFFF8FDFFF8FDFFFC7EFFFFFFFFFA8E6FF00B6FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF80DBFFFFFFFFFFFFFF00B6FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF80DBFFFFFFFFFFFFFF00B6FF30C4FF30C4FF30C4FF30C4FF30C4FF30C4FF30C4FF8FDFFF8FDFFF8FDFFF8FDFFF8FDFFFB0E8FFFFFFFFCFF2FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FFEFFAFFEFFAFFEFFAFFEFFAFFEFFAFFEFFAFF80DBFF08B9FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF00B6FF StepperDrive Parker EtherCAT Family Devices DRIVE eCLD-Stepper Drive eCLD-Stepper Drive 2000 9000 5000 200 100 2000 true eCLD-Stepper Drive 402 BOOL 1 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(19) 152 STRING(8) 64 DT1010ARR UDINT 32 1 1 DT1010 48 0 SubIndex 000 USINT 8 0 ro m Elements DT1010ARR 32 16 rw m DT1011ARR UDINT 32 1 1 DT1011 48 0 SubIndex 000 USINT 8 0 ro m Elements DT1011ARR 32 16 rw m DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT10F0 48 0 SubIndex 000 USINT 8 0 ro o 1 Checksum UDINT 32 16 ro o DT10F1 80 0 SubIndex 000 USINT 8 0 ro o 1 Local Error Reaction UDINT 32 16 rw o 2 Sync Error Counter Limit UDINT 32 48 rw o DT1C32 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 32 Sync Error BOOL 1 480 ro c DT1C33 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 32 Sync Error BOOL 1 480 ro c DT10F3 64 0 SubIndex 000 USINT 8 0 ro m 1 Maximum Messages USINT 8 16 ro m 2 Newest Message USINT 8 24 ro m 3 Newest Acknowledged Message USINT 8 32 rw m 4 New Message Available BOOL 1 40 ro m T 5 Flags UINT 16 48 rw m DT1C12ARR UINT 16 1 1 DT1C12 32 0 SubIndex 000 USINT 8 0 rw o Elements DT1C12ARR 16 16 rw o DT1C13ARR UINT 16 1 1 DT1C13 32 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 16 16 rw o DT1600 336 0 SubIndex 000 USINT 8 0 rw m 1 SubIndex 001 UDINT 32 16 rw o 2 SubIndex 002 UDINT 32 48 rw o 3 SubIndex 003 UDINT 32 80 rw o 4 SubIndex 004 UDINT 32 112 rw o 5 SubIndex 005 UDINT 32 144 rw o 6 SubIndex 006 UDINT 32 176 rw o 7 SubIndex 007 UDINT 32 208 rw o 8 SubIndex 008 UDINT 32 240 rw o 9 SubIndex 009 UDINT 32 272 rw o 10 SubIndex 010 UDINT 32 304 rw o DT1A00 336 0 SubIndex 000 USINT 8 0 rw m 1 SubIndex 001 UDINT 32 16 rw o 2 SubIndex 002 UDINT 32 48 rw o 3 SubIndex 003 UDINT 32 80 rw o 4 SubIndex 004 UDINT 32 112 rw o 5 SubIndex 005 UDINT 32 144 rw o 6 SubIndex 006 UDINT 32 176 rw o 7 SubIndex 007 UDINT 32 208 rw o 8 SubIndex 008 UDINT 32 240 rw o 9 SubIndex 009 UDINT 32 272 rw o 10 SubIndex 010 UDINT 32 304 rw o DT607D 80 0 SubIndex 000 USINT 8 0 ro m 1 Min Position Limit DINT 32 16 rw m 2 Max Position Limit DINT 32 48 rw m DT6099 80 0 SubIndex 000 USINT 8 0 ro m 1 Speed During Search For Switch UDINT 32 16 rw m 2 Speed During Search For Zero UDINT 32 48 rw m DT60C2 32 0 SubIndex 000 USINT 8 0 ro m 1 Interpolation time period value USINT 8 16 rw m 2 Interpolation time index SINT 8 24 rw m DT60D0ARR INT 32 1 2 DT60D0 48 0 SubIndex 000 USINT 8 0 ro m Elements DT60D0ARR 32 16 rw m DT60E3ARR INT 480 1 30 DT60E3 496 0 SubIndex 000 USINT 8 0 ro m Elements DT60E3ARR 480 16 ro m DT60FE 80 0 SubIndex 000 USINT 8 0 ro m 1 Physical outputs UDINT 32 16 rw m R 2 Bit mask UDINT 32 48 rw m #x1000 Device type UDINT 32 #x00040192 ro m #x1001 Error register USINT 8 0 ro o #x1008 Device name STRING(19) 152 457A692D534552564F32204574686572434154 ro o #x1009 Hardware version STRING(8) 72 30322E30312E3030 ro o #x100A Software version STRING(8) 96 30322E30302E3033 ro o #x1010 Store parameters DT1010 48 SubIndex 000 1 SubIndex 001 1 ro o #x1011 Restore default parameters DT1011 48 SubIndex 000 1 SubIndex 001 1 ro o #x1018 Identity DT1018 144 SubIndex 000 4 Vendor ID #x0FA00000 Product code #x1002 Revision 1 Serial number 0 ro o #x10F0 Backup parameter handling DT10F0 48 SubIndex 000 1 Checksum 0 ro o #x10F1 Error Settings DT10F1 80 SubIndex 000 2 Local Error Reaction 1 Sync Error Counter Limit 4 ro o #x10F3 Diagnosis History DT10F3 64 SubIndex 000 5 Maximum Messages 20 Newest Message 0 Newest Acknowledged Message 0 New Message Available 0 Flags 0 ro o #x1600 RxPDO-Map0 DT1600 336 SubIndex 000 2 SubIndex 001 #x60400010 SubIndex 002 #x607A0020 rw o #x1601 RxPDO-Map1 DT1600 336 SubIndex 000 4 SubIndex 001 #x60400010 SubIndex 002 #x607A0020 SubIndex 003 #x60810020 SubIndex 004 #x60600008 rw o #x1A00 TxPDO-Map0 DT1A00 336 SubIndex 000 02 SubIndex 001 #x60410010 SubIndex 002 #x60640020 rw o #x1A01 TxPDO-Map1 DT1A00 336 SubIndex 000 4 SubIndex 001 #x60410010 SubIndex 002 #x60640020 SubIndex 003 #x606C0020 SubIndex 004 #x60610008 rw o #x1C00 Sync manager type DT1C00 48 SubIndex 000 4 SubIndex 001 1 SubIndex 002 2 SubIndex 003 3 SubIndex 004 4 ro o #x1C12 RxPDO assign DT1C12 32 SubIndex 000 1 SubIndex 001 #x1600 rw o #x1C13 TxPDO assign DT1C13 32 SubIndex 000 1 SubIndex 001 #x1A00 rw o #x1C32 SM output parameter DT1C32 488 SubIndex 000 32 Synchronization Type #x0002 Cycle Time 0 Synchronization Types supported #x401F Minimum Cycle Time 500000 Calc and Copy Time 10000 Get Cycle Time 0 Delay Time 0 Sync0 Cycle Time 0 SM-Event Missed 0 Cycle Time Too Small 0 Sync Error 0 ro o #x1C33 SM input parameter DT1C33 488 SubIndex 000 32 Synchronization Type #x0002 Cycle Time 0 Synchronization Types supported #x401F Minimum Cycle Time 500000 Calc and Copy Time 10000 Get Cycle Time 0 Delay Time 0 Sync0 Cycle Time 0 SM-Event Missed 0 Cycle Time Too Small 0 Sync Error 0 ro o #x2001 Sensor logics USINT 8 #x00 rw o #x2002 Reverse limit direction USINT 8 0 rw o #x2003 Limit stop method USINT 8 0 rw o #x2005 Encoder resolution UDINT 32 10000 ro o #x2006 Start speed UINT 16 1 rw o #x2007 Run current USINT 8 10 rw o #x2008 Boost current USINT 8 0 rw o #x2009 Stop current USINT 8 5 rw o #x200A Motor number UINT 16 0 ro o #x200C Reference Resolution UDINT 32 10000 rw o #x200D Position control gain USINT 8 3 rw o #x200E In-position mode USINT 8 0 rw o #x2010 Brake delay UINT 16 200 rw o #x2011 Digital input levels UINT 16 #x0000 rw o #x2012 Digtal output levels UINT 16 #x0000 rw o #x2014 Homing Torque Ratio USINT 8 50 rw o #x603F Error code UINT 16 0 ro m T #x6040 Control Word UINT 16 0 rw m R #x6041 Status Word UINT 16 0 ro m T #x605A Quick stop option code INT 16 2 rw o #x605B Shutdown option code INT 16 0 rw o #x605C Disable operation option code INT 16 1 rw o #x605D Halt option code INT 16 2 rw o #x605E Fault reaction option code INT 16 2 rw o #x6060 Mode of operation SINT 8 0 rw o R #x6061 Mode of operation display SINT 8 0 ro o T #x6062 Position Demand Value DINT 32 0 ro o T #x6064 Position actual value DINT 32 0 ro o T #x6065 Following error window UDINT 32 5000 rw o #x6067 Position window UDINT 32 0 rw o #x606C Velocity actual value DINT 32 0 ro o T #x607A Target position DINT 32 0 rw m R #x607C Home offset DINT 32 0 rw o #x607D Software position limit DT607D 80 SubIndex 000 2 Min Position Limit #x80000000 Max Position Limit #x7FFFFFFF ro o #x607E Polarity USINT 8 0 rw o #x607F Max profile velocity UDINT 32 2500000 rw o #x6081 Profile velocity UDINT 32 10000 rw o R #x6083 Profile acceleration UDINT 32 1000000 rw o R #x6084 Profile deceleration UDINT 32 1000000 rw o R #x6098 Homing method SINT 8 0 rw o #x6099 Homing speed DT6099 80 SubIndex 000 2 Speed During Search For Switch 5000 Speed During Search For Zero 1000 ro o #x609A Homing acceleration UDINT 32 100000 rw o #x60B8 Touch probe function UINT 16 0 rw o R #x60B9 Touch probe status UINT 16 0 ro o T #x60BA Touch probe 1 positive value DINT 32 0 ro o T #x60BB Touch probe 1 negative value DINT 32 0 ro o T #x60BC Touch probe 2 positive value DINT 32 0 ro o T #x60BD Touch probe 2 negative value DINT 32 0 ro o T #x60C2 Interpolation time period DT60C2 32 SubIndex 000 2 Interpolation time period value 2 Interpolation time index -3 ro o #x60D0 Touch Probe Source DT60D0 48 SubIndex 000 2 SubIndex 001 1 SubIndex 002 1 ro o #x60D5 Touch probe 1 positive edge counter UINT 16 0 ro o T #x60D6 Touch probe 1 negative edge counter UINT 16 0 ro o T #x60D7 Touch probe 2 positive edge counter UINT 16 0 ro o T #x60D8 Touch probe 2 negative edge counter UINT 16 0 ro o T #x60E3 Supported Homing Methods DT60E3 496 SubIndex 000 30 SubIndex 001 1 SubIndex 002 2 SubIndex 003 7 SubIndex 004 10 SubIndex 005 11 SubIndex 006 14 SubIndex 007 17 SubIndex 008 18 SubIndex 009 24 SubIndex 010 25 SubIndex 011 28 SubIndex 012 29 SubIndex 013 33 SubIndex 014 34 SubIndex 015 35 SubIndex 016 36 SubIndex 017 37 SubIndex 018 -3 SubIndex 019 -4 SubIndex 020 -5 SubIndex 021 -6 SubIndex 022 0 SubIndex 023 0 SubIndex 024 0 SubIndex 025 0 SubIndex 026 0 SubIndex 027 0 SubIndex 028 0 SubIndex 029 0 SubIndex 030 0 ro o #x60F4 Following error actual value DINT 32 0 ro o T #x60FD Digital inputs UDINT 32 #x00000000 ro o T #x60FE Digital outputs DT60FE 80 SubIndex 000 2 Physical outputs #x0000000 Bit mask #x003F0000 ro o #x6502 Supported drive modes UDINT 32 #x000000A1 ro m #x1 State change Request From: %d To:%d #x2 %d #xF Calculate bus cycle time failed (Local timer too slow) #x11 Sync Manager %d invalid address (%d) #x12 Sync Manager %d invalid size (%d) #x13 Sync Manager %d invalid settings (%d) #x20 DC activation register is invalid #x21 Configured SyncType (0x1C32.1 or 0x1C33.1) not supported. Check DC registers and supported SyncTypes (0x1C32.4 and 0x1C33.4) Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 CSP Outputs #x1601 #x6040 0 16 Control Word object 0x6040:0 UINT #x607A 0 32 Target position object 0x607A:0 DINT #x60FE 1 32 Physical outputs object 0x60FE:1 UDINT #x60B8 0 16 Touch probe function object 0x60B8:0 UINT #x1601 PP Outputs #x1600 #x6040 0 16 Control Word object 0x6040:0 UINT #x607A 0 32 Target position object 0x607A:0 DINT #x6081 0 32 Profile velocity object 0x6081:0 UDINT #x60FE 1 32 Physical outputs object 0x60FE:1 UDINT #x6060 0 16 Mode of operation object 0x6060:0 INT #x1A00 CSP Inputs #x1A01 #x6041 0 16 Status Word object 0x6041:0 UINT #x6064 0 32 Position actual value object 0x6064:0 DINT #x60FD 0 32 Digital inputs object 0x60FD:0 UDINT #x603F 0 16 Error code object 0x603F:0 UINT #x60B9 0 16 Touch probe status object 0x60B9:0 UINT #x60BA 0 32 Touch probe 1 positive value object 0x60BA:0 DINT #x60BC 0 32 Touch probe 2 positive value object 0x60BC:0 DINT #x1A01 PP Inputs #x1A00 #x6041 0 16 Status Word object 0x6041:0 UINT #x6064 0 32 Position actual value object 0x6064:0 DINT #x606C 0 32 Velocity actual value object 0x606C:0 DINT #x60FD 0 32 Digital inputs object 0x60FD:0 UDINT #x603F 0 16 Error code object 0x603F:0 UINT #x6061 0 16 Mode of operation display object 0x6061:0 INT SO #x6060 0 08 DC DC-Synchron #x300 0 0 0 Synchron SM-Synchron #x0 0 0 0 2048 080E05040A00 0010800000148000 424DD6020000000000003600000028000000100000000E0000000100180000000000A00200000000000000000000000000000000000000FFFF00FFFF00000000FFFF00FFFF00000000000000FFFF00FFFF00000000000000FFFF00000000FFFF00000000FFFF00FFFF00FFFF00000000FFFF00FFFF00000000FFFF00FFFF00000000FFFF00FFFF00FFFF00000000FFFF00000000FFFF00FFFF00FFFF00000000FFFF00FFFF00000000000000FFFF00000000FFFF00FFFF00FFFF00000000000000000000FFFF00FFFF00FFFF00000000FFFF00FFFF00000000FFFF00FFFF00000000FFFF00FFFF00FFFF00000000FFFF00000000FFFF00FFFF00000000000000000000FFFF00000000000000FFFF00FFFF00000000000000FFFF00000000FFFF00000000FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00000000000000000000000000000000000000000000000000000000000000000000000000000000000000FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00000000FFFF00FFFF00FFFF00000000FFFF00FFFF00FFFF00000000FFFF00000000000000000000000000FFFF00FFFF00000000FFFF00FFFF00FFFF00000000FFFF00FFFF00FFFF00000000FFFF00FFFF00FFFF00FFFF00000000FFFF00FFFF00000000000000000000FFFF00000000000000000000000000000000FFFF00000000000000000000000000FFFF00FFFF00000000FFFF00FFFF00FFFF00000000FFFF00FFFF00FFFF00000000FFFF00000000FFFF00FFFF00FFFF00FFFF00FFFF00000000000000000000FFFF00FFFF00000000000000000000FFFF00FFFF00000000000000000000000000FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF