#x1a1 Brunner Elektronik AG 424DE6000000000000007600000028000000100000000E000000010004000000000070000000120B0000120B0000000000000000000000000000000080001BBF890000808000800000008000800080800000999999000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000C0C0C000FFFFFF00FFFFFFFFFFFFFFFFFFFFFFF777777FFFFFFFFFF7777777FF2222222FFFFFF77F2222222FFFFFF77FFFFFFFF7777777FFFFFFFFF777777FFF2222222FFFFF77FF2222222FFFFF77FFFFFFFFF777777FFFFFFFFFF77777FFFF2222222FFFFFFFFF2222222FFFFFFFFFFFFFFFFFFFFFFFFF Drives Antriebe Drives 424DE6000000000000007600000028000000100000000E000000010004000000000070000000120B0000120B0000000000000000000000000000000080001BBF890000808000800000008000800080800000999999000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000C0C0C000FFFFFF00FFFFFFFFFFFFFFFFFFFFFFF777777FFFFFFFFFF7777777FF2222222FFFFFF77F2222222FFFFFF77FFFFFFFF7777777FFFFFFFFF777777FFF2222222FFFFF77FF2222222FFFFF77FFFFFFFFF777777FFFFFFFFFF77777FFFF2222222FFFFFFFFF2222222FFFFFFFFFFFFFFFFFFFFFFFFF Micro-Drive EtherCAT (GER.1002.0xxx) 5000 10000 5000 200 500 5000 8 8 Drives 402 UDINT 32 UINT 16 INT 16 SINT 8 USINT 8 DINT 32 STRING(1) 8 STRING(7) 56 STRING(8) 64 STRING(13) 104 STRING(18) 144 STRING(20) 160 DT1003 352 0 Number of Errors UDINT 32 0 1 Standard Error Field 1 UDINT 32 32 ro o 2 Standard Error Field 2 UDINT 32 64 ro o 3 Standard Error Field 3 UDINT 32 96 ro o 4 Standard Error Field 4 UDINT 32 128 ro o 5 Standard Error Field 5 UDINT 32 160 ro o 6 Standard Error Field 6 UDINT 32 192 ro o 7 Standard Error Field 7 UDINT 32 224 ro o 8 Standard Error Field 8 UDINT 32 256 ro o 9 Standard Error Field 9 UDINT 32 288 ro o 10 Standard Error Field 10 UDINT 32 320 ro o DT1010 160 0 Number of elements UDINT 32 0 ro o 1 Save all Parameters UDINT 32 32 rw o 2 Save Communication Parameters UDINT 32 64 rw o 3 Save Application Parameters UDINT 32 96 rw o 4 Save Manufacturer Parameters UDINT 32 128 rw o DT1011 160 0 Number of Entries UDINT 32 0 ro o 1 Restore all Default Parameters UDINT 32 32 rw o 2 Restore Communication Default Parameters UDINT 32 64 rw o 3 Restore Application Default Parameters UDINT 32 96 rw o 4 Restore Manufacturer Default Parameters UDINT 32 128 rw o DT1016 96 0 Number of Entries UDINT 32 0 ro o 1 Consumer Heartbeat Time 1 UDINT 32 32 rw o 2 Consumer Heartbeat Time 2 UDINT 32 64 rw o DT1018 144 0 Number of elements USINT 8 0 ro o 1 Vendor Id UDINT 32 16 ro o 2 Product Code UDINT 32 48 ro o 3 Revision Number UDINT 32 80 ro o 4 Serial Number UDINT 32 112 ro o DT16xx 272 0 Number of elements USINT 8 0 rw o 1 Output Object 1 UDINT 32 16 rw o 2 Output Object 2 UDINT 32 48 rw o 3 Output Object 3 UDINT 32 80 rw o 4 Output Object 4 UDINT 32 112 rw o 5 Output Object 5 UDINT 32 144 rw o 6 Output Object 6 UDINT 32 176 rw o 7 Output Object 7 UDINT 32 208 rw o 8 Output Object 8 UDINT 32 240 rw o DT1Axx 272 0 Number of elements USINT 8 0 rw o 1 Input Object 1 UDINT 32 16 rw o 2 Input Object 2 UDINT 32 48 rw o 3 Input Object 3 UDINT 32 80 rw o 4 Input Object 4 UDINT 32 112 rw o 5 Input Object 5 UDINT 32 144 rw o 6 Input Object 6 UDINT 32 176 rw o 7 Input Object 7 UDINT 32 208 rw o 8 Input Object 8 UDINT 32 240 rw o DT1C00ARR UDINT 32 1 4 DT1C00 32 0 Number of elements UDINT 32 0 ro o Elements DT1C00ARR 32 32 ro o DT1C12ARR UINT 16 1 9 DT1C12 32 0 Number of elements UINT 16 0 rw o Elements DT1C12ARR 16 16 rw o DT1C13ARR UINT 16 1 9 DT1C13 16 0 Number of elements UINT 16 0 rw o Elements DT1C13ARR 16 16 rw o DT1C32 944 0 Number of elements USINT 8 0 ro o 1 Synchronization type UINT 16 16 rw o 2 Cycle time / ns UDINT 32 32 rw o 3 Shift time / ns UDINT 32 64 rw o 4 Sync Types supported UINT 16 96 ro o 5 Minimum cycle time / ns UDINT 32 112 ro o 6 Minimum shift time / ns UDINT 32 144 ro o 7 Reserve 1 UDINT 32 176 rw o 8 Comand UINT 16 208 rw o 9 Delay time UDINT 32 224 ro o 10 Reserve 2 UDINT 32 256 rw o 11 SM event missed counter UINT 16 288 ro o 12 Cycle exceeded counter UINT 16 304 ro o 13 Shift toot short counter UINT 16 320 ro o 14 Reserve 3 UDINT 32 336 rw o 15 Reserve 4 UDINT 32 368 rw o 16 Reserve 5 UDINT 32 400 rw o 17 Reserve 6 UDINT 32 432 rw o 18 Reserve 7 UDINT 32 464 rw o 19 Reserve 8 UDINT 32 496 rw o 20 Reserve 9 UDINT 32 528 rw o 21 Reserve 10 UDINT 32 560 rw o 22 Reserve 11 UDINT 32 592 rw o 23 Reserve 12 UDINT 32 624 rw o 24 Reserve 13 UDINT 32 656 rw o 25 Reserve 14 UDINT 32 688 rw o 26 Reserve 15 UDINT 32 720 rw o 27 Reserve 16 UDINT 32 752 rw o 28 Reserve 17 UDINT 32 784 rw o 29 Reserve 18 UDINT 32 816 rw o 30 Reserve 19 UDINT 32 848 rw o 31 Reserve 20 UDINT 32 880 rw o 32 Sync error UINT 16 912 ro o 33 Reserve 21 UINT 16 928 rw o DT2001ARR UINT 16 1 4 DT2001 16 0 Number of elements UINT 16 0 ro o Elements DT2001ARR 16 16 ro o DT2015ARR DINT 32 1 3 DT2015 32 0 Number of elements DINT 32 0 ro o Elements DT2015ARR 32 32 rw o DT2020 88 0 Number of entries USINT 8 0 1 Res DINT 32 16 ro m 2 Resolver pos UINT 16 48 ro m 3 Resolver dir USINT 8 64 ro m 4 Resolver error on off USINT 8 72 rw m 5 Frequency USINT 8 80 rw m DT2031ARR INT 16 1 2 DT2031 16 0 Number of elements INT 16 0 ro o Elements DT2031ARR 16 16 ro o DT2032ARR INT 16 1 8 DT2032 16 0 Number of elements INT 16 0 ro o Elements DT2032ARR 16 16 rw o DT2040ARR UINT 16 1 3 DT2040 16 0 Number of elements UINT 16 0 ro o Elements DT2040ARR 16 16 rw o DT2061ARR UDINT 32 1 14 DT2061 32 0 Number of elements UDINT 32 0 ro o Elements DT2061ARR 32 32 rw o DT2062ARR UDINT 32 1 5 DT2062 32 0 Number of elements UDINT 32 0 ro o Elements DT2062ARR 32 32 rw o DT2080 112 0 Number of entries UINT 16 0 1 IN 1 UINT 16 16 rw m 2 IN 2 UINT 16 32 rw m 3 IN 3 UINT 16 48 rw m 4 IN 4 UINT 16 64 rw m 5 Reset taster UINT 16 80 ro m 6 Exdchin Debounce Time UINT 16 96 ro m DT2081 96 0 Number of entries USINT 8 0 1 State UINT 16 16 ro m 2 Trigger cond USINT 8 32 rw m 3 Object index UINT 16 40 rw m 4 Sub index USINT 8 56 rw m 5 Data on UINT 16 64 rw m 6 Data off UINT 16 80 rw m DT2085ARR USINT 8 1 2 DT2085 8 0 Number of elements USINT 8 0 ro o Elements DT2085ARR 8 16 ro o DT2086ARR INT 16 1 6 DT2086 16 0 Number of elements INT 16 0 ro o Elements DT2086ARR 16 16 rw o DT208fARR USINT 8 1 2 DT208f 8 0 Number of elements USINT 8 0 ro o Elements DT208fARR 8 16 rw o DT2090ARR INT 16 1 2 DT2090 16 0 Number of elements INT 16 0 ro o Elements DT2090ARR 16 16 rw o DT2120 288 0 Number of entries UDINT 32 0 1 Mirror UDINT 32 32 rw m 2 Negative UDINT 32 64 rw m 3 Scale UDINT 32 96 rw m 4 File Size UDINT 32 128 rw m 5 Velocitiy Size UDINT 32 160 ro m 6 Timer UDINT 32 192 ro m 7 Data UDINT 32 224 rw m 8 Data pointer UDINT 32 256 rw m DT2150 72 0 Number of entries USINT 8 0 1 Overload USINT 8 16 ro m 2 Following Error USINT 8 24 rw m 3 Over Temperatur Motor USINT 8 32 rw m 4 Limit Switch USINT 8 40 rw m 5 Feedback error USINT 8 48 rw m 6 Software Limit USINT 8 56 rw m 7 Overvoltage USINT 8 64 rw m DT2223ARR UINT 16 1 4 DT2223 16 0 Number of elements UINT 16 0 rw o Elements DT2223ARR 16 16 rw o DT607dARR DINT 32 1 2 DT607d 32 0 Number of elements UDINT 32 0 ro o Elements DT607dARR 32 32 rw o DT608fARR UDINT 32 1 2 DT608f 32 0 Number of elements UDINT 32 0 ro o Elements DT608fARR 32 32 ro o DT6090 96 0 Number of entries UDINT 32 0 1 Encoder increments per second UDINT 32 32 ro m 2 Motor revolutions per second UDINT 32 64 ro m DT6091ARR UDINT 32 1 2 DT6091 32 0 Number of elements UDINT 32 0 ro o Elements DT6091ARR 32 32 rw o DT6099ARR UDINT 32 1 2 DT6099 32 0 Number of elements UDINT 32 0 ro o Elements DT6099ARR 32 32 rw o DT60c1ARR UDINT 32 1 1 DT60c1 32 0 Number of elements UDINT 32 0 ro o Elements DT60c1ARR 32 32 rw o RT DT60c2 24 0 Number of entries USINT 8 0 1 timeUnits USINT 8 8 rw m 2 timeIndex SINT 8 16 rw m DT60c4 120 0 Number of entries USINT 8 0 1 Max buffer size UDINT 32 16 rw m 2 Actual buffer size UDINT 32 48 rw m 3 Buffer organization USINT 8 80 rw m 4 Buffer position UINT 16 88 rw m 5 Size of data record USINT 8 104 rw m 6 Buffer clear USINT 8 112 rw m DT60feARR UDINT 32 1 2 DT60fe 32 0 Number of elements UDINT 32 0 ro o Elements DT60feARR 32 32 rw o RT #x1000 Device Type UDINT 32 920102ff ro o #x1001 Error Register USINT 8 00 ro o #x1002 Manufacturer Status Register UDINT 32 00000000 ro o #x1003 Pre-defined Error Field DT1003 352 rw o #x1005 COB-ID SYNC UDINT 32 rw o #x1006 Communication Cycle Period UDINT 32 rw o #x1007 Synchronous Window Length UDINT 32 rw o #x1008 Device Name STRING(13) 104 4745522e313030322e30303041 ro o #x1009 Hardware Version STRING(1) 8 44 ro o #x100a Software Version STRING(18) 144 5052472e313031342e303130412e56303032 ro o #x1010 Store Parameter Field DT1010 160 ro o #x1011 Restore Default Parameters DT1011 160 ro o #x1014 COB-ID EMCY UDINT 32 ro o #x1015 Inhibit Time Emergency UINT 16 rw o #x1016 Heartbeat Consumer Entries DT1016 96 ro o #x1017 Producer Heartbeat Time UINT 16 rw o #x1018 Identity DT1018 144 ro o #x1600 RxPDO 1 DT16xx 272 rw o #x1601 RxPDO 2 DT16xx 272 rw o #x1602 RxPDO 3 DT16xx 272 rw o #x1603 RxPDO 4 DT16xx 272 rw o #x1604 RxPDO 5 DT16xx 272 rw o #x1605 RxPDO 6 DT16xx 272 rw o #x1606 RxPDO 7 DT16xx 272 rw o #x1610 RxPDO 17 DT16xx 272 rw o #x1611 RxPDO 18 DT16xx 272 rw o #x1A00 TxPDO 1 DT1Axx 272 rw o #x1A01 TxPDO 2 DT1Axx 272 rw o #x1A02 TxPDO 3 DT1Axx 272 rw o #x1A03 TxPDO 4 DT1Axx 272 rw o #x1A04 TxPDO 5 DT1Axx 272 rw o #x1A05 TxPDO 6 DT1Axx 272 rw o #x1A06 TxPDO 7 DT1Axx 272 rw o #x1A10 TxPDO 17 DT1Axx 272 rw o #x1A11 TxPDO 18 DT1Axx 272 rw o #x1c00 Sync Man Communication type DT1C00 160 ro o #x1c12 Sync Man 2 Assignment DT1C12 160 rw o #x1c13 Sync Man 3 Assignment DT1C13 160 rw o #x1c32 Sync Man 2 Synchronization DT1C32 944 ro o #x1c33 Sync Man 3 Synchronization DT1C32 944 ro o #x2001 MSP error code memory DT2001 80 ro o #x2015 Cam controller 1 DT2015 128 ro o #x2016 Cam controller 2 DT2015 128 ro o #x2017 Cam controller 3 DT2015 128 ro o #x2018 Cam controller 4 DT2015 128 ro o #x2019 Cam controller 5 DT2015 128 ro o #x2020 Resolver settings DT2020 88 ro o #x2031 Temperatur Monitor DT2031 48 ro o RT #x2032 Voltage Monitor DT2032 144 ro o #x2036 ANIN0 DINT 32 ro o RT #x2040 Motor Temperature Options DT2040 64 ro o #x2043 Velocity Demand DINT 32 ro o #x2045 Actual Motor speed DINT 32 ro o #x2050 Pp target position intern DINT 32 ro o #x2051 Position Window intern UDINT 32 ro o #x2055 IP Mode Stop Motor USINT 8 rw o #x2056 Homing Mode Time Out UINT 16 rw o #x2057 Homing Delay UINT 16 rw o #x2058 Homing Current Limit UINT 16 rw o #x2060 Motor Max Current Time UINT 16 rw o #x2061 ISR Flux Torq DT2061 480 ro o #x2062 Vel PID Regler DT2062 192 ro o #x2068 Following Error Ist DINT 32 ro o RT #x2080 Inputs Debounce Time DT2080 112 ro o #x2081 Input1 Mapping DT2081 96 ro o #x2082 Input2 Mapping DT2081 96 ro o #x2083 Input3 Mapping DT2081 96 ro o #x2084 Input4 Mapping DT2081 96 ro o #x2085 Limit Switch DT2085 24 ro o #x2086 Analog In Settings DT2086 112 ro o #x208f Limit Switch Soft DT208f 24 ro o #x2090 Torque To Current DT2090 48 ro o #x2120 Cycle Data 1 DT2120 288 ro o #x2121 Cycle Data 2 DT2120 288 ro o #x2122 Cycle Data 3 DT2120 288 ro o #x2123 Cycle Data 4 DT2120 288 ro o #x2124 Cycle Data 5 DT2120 288 ro o #x2125 Select Cycle USINT 8 rw o #x2126 Profile Curve Size UINT 16 rw o #x2150 Manufacturer Error Option Codes DT2150 72 ro o #x2223 Digital Outputs Mirror DT2223 80 rw o #x3000 Total Operation Time UDINT 32 ro o #x6007 Abort connection option code UINT 16 rw o #x603F Error code UINT 16 ro o #x6040 Controlword UINT 16 rw o RT #x6041 Statusword UINT 16 ro o RT #x605a Quick Stop option code UINT 16 rw o #x605c Disable operation option code UINT 16 rw o #x605d Halt option code UINT 16 rw o #x605e Fault reaction option code UINT 16 rw o #x6060 Modes of operation USINT 8 rw o RT #x6061 Modes of operation display USINT 8 ro o RT #x6063 Position actual value ( increments ) DINT 32 ro o RT #x6064 Position actual value ( units ) DINT 32 ro o RT #x6065 Following error window DINT 32 rw o #x6066 Following error time out INT 16 rw o #x6067 Position window DINT 32 rw o #x6068 Position window time INT 16 rw o #x6069 Velocity Sensor Actual Value DINT 32 ro o #x606c Velocity actual value DINT 32 ro o RT #x606d Velocity Window UINT 16 rw o RT #x606e Velocity Window Time UINT 16 rw o RT #x6071 Target torque INT 16 rw o RT #x6072 Max torque UINT 16 rw o #x6073 Max current UINT 16 rw o #x6075 Motor rated current UDINT 32 rw o #x6077 Torque actual value INT 16 ro o RT #x6078 Current actual value INT 16 ro o RT #x6079 DC link circuit voltage UDINT 32 ro o #x607a Target position DINT 32 rw o RT #x607c Home offset DINT 32 rw o #x607d Software position limit DT607d 96 ro o #x607f Max Profile Velocity UDINT 32 rw o #x6080 Max Motor Speed UDINT 32 rw o #x6081 Profile Velocity in pp-mode UDINT 32 rw o #x6083 Profile Acceleration UDINT 32 rw o #x6084 Profile Deceleration UDINT 32 rw o #x6085 Quick Stop Deceleration UDINT 32 rw o #x6086 Motion Profile Type INT 16 rw o #x6087 Torque slope UDINT 32 rw o RT #x608f Position encoder resolution DT608f 96 ro o #x6090 Velocity encoder resolution DT608f 96 ro o #x6091 Gear ratio DT6091 96 ro o #x6092 Feed Constant DT6091 96 ro o #x6098 Homing method SINT 8 rw o #x6099 Homing speeds DT6099 96 ro o #x609a Homing acceleration UDINT 32 rw o #x60c1 Interpolation data record DT60c1 64 ro o RT #x60c2 Interpolation time period DT60c2 24 Number of entries 02 ro o #x60c4 Interpolation data configuration DT60c4 120 Number of entries 06 ro o #x60c5 Max Acceleration UDINT 32 rw o #x60c6 Max Deceleration UDINT 32 rw o #x60fd Digital inputs UDINT 32 ro o RT #x60fe Digital outputs DT60fe 96 ro o RT #x60ff Target velocity DINT 32 rw m RT #x6402 Motor type UINT 16 rw o #x6502 Supported drive modes UDINT 32 ro o Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 IO Outputs #x1601 #x1602 #x1603 #x1604 #x6040 0 16 Controlword UINT #x60C1 1 32 Target Position UDINT #x1601 CiA 402 Outputs #x1600 #x1602 #x1603 #x1604 #x6040 0 16 Controlword UINT #x6060 0 8 Modes of Operation SINT #x60FE 1 32 Physical Outputs UDINT #x60C1 1 32 Interpolation Data Record DINT #x1A00 IO Inputs #x1A01 #x1A02 #x1A03 #x1A04 #x6041 0 16 Statusword UINT #x6063 0 32 Position Actual Value DINT #x1A01 CiA 402 Inputs #x1A00 #x1A02 #x1A03 #x1A04 #x6041 0 16 Statusword UINT #x6061 0 8 Modes Of Operations Display SINT #x60FD 0 32 Digital Inputs DINT #x6063 0 32 Position Actual Value DINT #x2036 0 32 ANIN0 DINT #x2031 1 16 Drive Temperature INT #x6077 0 16 Torque Actual Value INT #x2068 0 32 Following Error Ist DINT DcOff DC unused #x0000 DcSync DC for synchronization #x0300 0 0 65536 050c030eff1f0000000000000000