#x000022D2 Synapticon GmbH SomanetC22 Somanet C22 Device Somanet C22 Device CiA402 Motor Control Device CiA402 Drive CiA402 Antrieb (Modules/Slots) 100 6000 SomanetC22 402 BOOL 1 DINT 32 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 STRING(2) 16 STRING(6) 48 DT1018 144 0 Identity 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 Serialnumber UDINT 32 112 ro o DT1600 816 0 SubIndex 000 USINT 8 0 ro o 1 Controlword UDINT 32 16 ro o 2 Op Mode UDINT 32 48 ro o 3 Target Torque UDINT 32 80 ro o 4 Target Position UDINT 32 112 ro o 5 Target Velocity UDINT 32 144 ro o 6 Offset Torque UDINT 32 176 ro o 7 Tuning command UDINT 32 208 ro o 8 Digital Output 1 UDINT 32 240 ro o 9 padding entry (automatically added) 0 UDINT 32 272 ro o 10 Digital Output 2 UDINT 32 304 ro o 11 padding entry (automatically added) 1 UDINT 32 336 ro o 12 Digital Output 3 UDINT 32 368 ro o 13 padding entry (automatically added) 2 UDINT 32 400 ro o 14 Digital Output 4 UDINT 32 432 ro o 15 padding entry (automatically added) 3 UDINT 32 464 ro o 16 User MOSI UDINT 32 496 ro o 17 Pole Pairs UDINT 32 528 ro o 18 Torque Constant UDINT 32 560 ro o 19 Phase Resistance UDINT 32 592 ro o 20 Phase Inductance UDINT 32 624 ro o 21 Motor phases inverted UDINT 32 656 ro o 22 padding entry (automatically added) 4 UDINT 32 688 ro o 23 Controller Kp UDINT 32 720 ro o 24 Controller Ki UDINT 32 752 ro o 25 Controller Kd UDINT 32 784 ro o DT1A00 976 0 SubIndex 000 USINT 8 0 ro o 1 Statusword UDINT 32 16 ro o 2 Op Mode Display UDINT 32 48 ro o 3 Position Value UDINT 32 80 ro o 4 Velocity Value UDINT 32 112 ro o 5 Torque Value UDINT 32 144 ro o 6 Secondary position value UDINT 32 176 ro o 7 Secondary velocity value UDINT 32 208 ro o 8 Analog input 1 UDINT 32 240 ro o 9 Analog input 2 UDINT 32 272 ro o 10 Analog input 3 UDINT 32 304 ro o 11 Analog input 4 UDINT 32 336 ro o 12 Tuning status UDINT 32 368 ro o 13 Digital Input 1 UDINT 32 400 ro o 14 padding entry (automatically added) 0 UDINT 32 432 ro o 15 Digital Input 2 UDINT 32 464 ro o 16 padding entry (automatically added) 1 UDINT 32 496 ro o 17 Digital Input 3 UDINT 32 528 ro o 18 padding entry (automatically added) 2 UDINT 32 560 ro o 19 Digital Input 4 UDINT 32 592 ro o 20 padding entry (automatically added) 3 UDINT 32 624 ro o 21 User MISO UDINT 32 656 ro o 22 Pole Pairs UDINT 32 688 ro o 23 Torque Constant UDINT 32 720 ro o 24 Phase Resistance UDINT 32 752 ro o 25 Phase Inductance UDINT 32 784 ro o 26 Motor phases inverted UDINT 32 816 ro o 27 padding entry (automatically added) 4 UDINT 32 848 ro o 28 Controller Kp UDINT 32 880 ro o 29 Controller Ki UDINT 32 912 ro o 30 Controller Kd UDINT 32 944 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C10ARR UINT 0 1 0 DT1C10 16 0 SubIndex 000 USINT 8 0 ro o Elements DT1C10ARR 0 16 ro o DT1C11ARR UINT 0 1 0 DT1C11 16 0 SubIndex 000 USINT 8 0 ro o Elements DT1C11ARR 0 16 ro o DT1C12ARR UINT 16 1 1 DT1C12 32 0 SubIndex 000 USINT 8 0 ro o Elements DT1C12ARR 16 16 ro o DT1C13ARR UINT 16 1 1 DT1C13 32 0 SubIndex 000 USINT 8 0 ro o Elements DT1C13ARR 16 16 ro o DT607XARR DINT 64 1 2 DT607X 80 0 SubIndex 000 USINT 8 0 ro o Element DT607XARR 64 16 rw o DT2003 121 0 Number of entries USINT 8 0 ro m 1 Pole Pairs USINT 8 16 rw m tr 2 Torque Constant DINT 32 24 rw o tr 3 Phase Resistance DINT 32 56 rw o tr 4 Phase Inductance DINT 32 88 rw o tr 5 Motor phases inverted BOOL 1 120 ro o tr DT2004 120 0 Number of entries USINT 8 0 ro m 1 Pull brake voltage UDINT 32 16 ro o 2 Hold brake voltage UDINT 32 48 ro o 3 Pull brake time UINT 16 80 ro o 4 Brake release strategy USINT 8 96 ro o 5 Brake release delay UINT 16 104 ro o DT2100ARR UINT 48 1 3 DT2100 64 0 Number of entries USINT 8 0 ro m Elements DT2100ARR 48 16 ro m DT2005 113 0 Number of entries USINT 8 0 ro m 1 Recuperation enabled BOOL 1 16 rw m 2 Min battery energy UINT 16 17 rw m 3 Max battery energy UINT 16 33 rw m 4 Min recuperation power UINT 16 49 rw m 5 Max recuperation power UINT 16 65 rw m 6 Minimum recuperation speed UINT 16 81 rw m 7 Maximum recuperation speed UINT 16 97 rw m DT2006 80 0 Number of entries USINT 8 0 ro m 1 Min DC Voltage DINT 32 16 rw m 2 Max DC Voltage DINT 32 48 ro m DT2007 80 0 Number of entries USINT 8 0 ro m 1 Position filter coefficient DINT 32 16 rw o 2 Velocity filter coefficient DINT 32 48 rw o REAL 32 DT2010ARR REAL 96 1 3 DT2010 112 0 Number of entries USINT 8 0 ro m Elements DT2010ARR 96 16 ro m tr DT2011 144 0 Velocity Controller USINT 8 0 ro m 1 Controller Kp REAL 32 16 ro o 2 Controller Ki REAL 32 48 ro o 3 Controller Kd REAL 32 80 ro o 4 Controller integral limit UDINT 32 112 ro o DT2012 144 0 Position Controller USINT 8 0 ro m 1 Controller Kp REAL 32 16 ro o 2 Controller Ki REAL 32 48 ro o 3 Controller Kd REAL 32 80 ro o 4 Position integral limit UDINT 32 112 ro o DT2202 216 0 BISS Encoder 2 USINT 8 0 ro m 1 Type USINT 8 16 rw m 2 Function USINT 8 24 rw m 3 Resolution UDINT 32 32 rw m 4 Velocity calculation period UINT 16 64 rw m 5 Multiturn resolution UDINT 32 80 rw m 6 Clock frequency UDINT 32 112 rw m 7 Timeout UDINT 32 144 rw m 8 CRC polynom USINT 8 176 rw m 9 Clock port config USINT 8 184 rw m 10 Data port config USINT 8 192 rw m 11 Number of filling bits USINT 8 200 rw m 12 Number of bits to read while busy USINT 8 208 rw m DT2203 88 0 REM 16MT Encoder USINT 8 0 ro m 1 Type USINT 8 16 ro o 2 Function USINT 8 24 ro o 3 Resolution UDINT 32 32 ro o 4 Velocity calculation period UINT 16 64 ro o 5 Filter USINT 8 80 ro o DT2204 112 0 REM 14 Encoder USINT 8 0 ro m 1 Type USINT 8 16 ro o 2 Function USINT 8 24 ro o 3 Resolution UDINT 32 32 ro o 4 Velocity calculation period UINT 16 64 ro o 5 Hysteresis USINT 8 80 ro o 6 Noise settings USINT 8 88 ro o 7 Dynamic angle error compensation USINT 8 96 ro o 8 Resolution settings USINT 8 104 ro o DT2205 96 0 Incremental Encoder 1 USINT 8 0 ro m 1 Type USINT 8 16 rw m 2 Function USINT 8 24 rw m 3 Resolution UDINT 32 32 rw m 4 Velocity calculation period UINT 16 64 rw m 5 Number of channels USINT 8 80 rw m 6 Access signal type USINT 8 88 rw m DT2206 96 0 Incremental Encoder 2 USINT 8 0 ro m 1 Type USINT 8 16 rw m 2 Function USINT 8 24 rw m 3 Resolution UDINT 32 32 rw m 4 Velocity calculation period UINT 16 64 rw m 5 Number of channels USINT 8 80 rw m 6 Access signal type USINT 8 88 rw m DT2207 176 0 HALL Sensor 1 USINT 8 0 ro m 1 Type USINT 8 16 rw m 2 Function USINT 8 24 rw m 3 Resolution UDINT 32 32 rw m 4 Velocity calculation period UINT 16 64 rw m 5 State angle 0 UINT 16 80 rw m 6 State angle 1 UINT 16 96 rw m 7 State angle 2 UINT 16 112 rw m 8 State angle 3 UINT 16 128 rw m 9 State angle 4 UINT 16 144 rw m 10 State angle 5 UINT 16 160 rw m DT2208 176 0 HALL Sensor 2 USINT 8 0 ro m 1 Type USINT 8 16 rw m 2 Function USINT 8 24 rw m 3 Resolution UDINT 32 32 rw m 4 Velocity calculation period UINT 16 64 rw m 5 State angle 0 UINT 16 80 rw m 6 State angle 1 UINT 16 96 rw m 7 State angle 2 UINT 16 112 rw m 8 State angle 3 UINT 16 128 rw m 9 State angle 4 UINT 16 144 rw m 10 State angle 5 UINT 16 160 rw m DT2210 48 0 GPIO USINT 8 0 ro m 1 Pin 1 USINT 8 16 ro o 2 Pin 2 USINT 8 24 ro o 3 Pin 3 USINT 8 32 ro o 4 Pin 4 USINT 8 40 ro o DT2201 216 0 BISS Encoder 1 USINT 8 0 ro m 1 Type USINT 8 16 rw m 2 Function USINT 8 24 rw m 3 Resolution UDINT 32 32 rw m 4 Velocity calculation period UINT 16 64 rw m 5 Multiturn resolution UDINT 32 80 rw m 6 Clock frequency UDINT 32 112 rw m 7 Timeout UDINT 32 144 rw m 8 CRC polynom USINT 8 176 rw m 9 Clock port config USINT 8 184 rw m 10 Data port config USINT 8 192 rw m 11 Number of filling bits USINT 8 200 rw m 12 Number of bits to read while busy USINT 8 208 rw m #x1000 Device Type UDINT 32 92010200 ro m #x1001 Error Register USINT 8 00 ro o #x1018 Identity DT1018 144 Identity 04 Vendor ID D2220000 Product Code 01020000 Revision 0200000A Serialnumber 00000000 ro m #x1600 Rx PDO Mapping DT1600 816 SubIndex 000 19 Controlword 10004060 Op Mode 08006060 Target Torque 10007160 Target Position 20007A60 Target Velocity 2000FF60 Offset Torque 20000023 Tuning command 2000012A Digital Output 1 01000126 padding entry (automatically added) 0 07000000 Digital Output 2 01000226 padding entry (automatically added) 1 07000000 Digital Output 3 01000326 padding entry (automatically added) 2 07000000 Digital Output 4 01000426 padding entry (automatically added) 3 07000000 User MOSI 2000FE2F Pole Pairs 08010320 Torque Constant 20020320 Phase Resistance 20030320 Phase Inductance 20040320 Motor phases inverted 01050320 padding entry (automatically added) 4 07000000 Controller Kp 20011020 Controller Ki 20021020 Controller Kd 20031020 ro o #x1A00 Tx PDO Mapping DT1A00 976 SubIndex 000 1E Statusword 10004160 Op Mode Display 08006160 Position Value 20006460 Velocity Value 20006C60 Torque Value 10007760 Secondary position value 20000A23 Secondary velocity value 20000B23 Analog input 1 10000124 Analog input 2 10000224 Analog input 3 10000324 Analog input 4 10000424 Tuning status 2000032A Digital Input 1 01000125 padding entry (automatically added) 0 07000000 Digital Input 2 01000225 padding entry (automatically added) 1 07000000 Digital Input 3 01000325 padding entry (automatically added) 2 07000000 Digital Input 4 01000425 padding entry (automatically added) 3 07000000 User MISO 2000FF2F Pole Pairs 08010320 Torque Constant 20020320 Phase Resistance 20030320 Phase Inductance 20040320 Motor phases inverted 01050320 padding entry (automatically added) 4 07000000 Controller Kp 20011020 Controller Ki 20021020 Controller Kd 20031020 ro o #x1c00 Sync Manager DT1C00 48 SubIndex 000 04 SyncMan 0 01 SyncMan 1 02 SyncMan 2 03 SyncMan 3 04 ro o #x1c10 SM 0 Assignment DT1C10 16 SubIndex 000 00 ro o #x1c11 SM 1 Assignment DT1C11 16 SubIndex 000 00 ro o #x1c12 SM 2 Assignment DT1C12 32 SubIndex 000 01 SubIndex 001 0016 ro o #x1c13 SM 3 Assignment DT1C13 32 SubIndex 000 01 SubIndex 001 001A ro o #x2001 Commutation angle offset INT 16 00 FF0F 0000 00 rw m #x6040 Controlword UINT 16 0000 rw m r #x6041 Statusword UINT 16 0000 ro m t #x6060 Op Mode SINT 8 00 rw m r #x6061 Op Mode Display SINT 8 00 ro m t #x6064 Position Value DINT 32 00000000 ro c t #x606C Velocity Value DINT 32 00000000 00470000 ro c t #x6071 Target Torque INT 16 0000 rw c r #x6075 Motor Rated Current DINT 32 01 01000000 22040000 rw c #x6076 Motor Rated Torque DINT 32 01 01000000 22560000 rw c #x6077 Torque Value INT 16 0000 ro c t #x607A Target Position DINT 32 00000000 rw c r #x607D Max Software Postition Range Limit DT607X 80 SubIndex 000 02 Min position limit 00000080 Max position limit FFFFFF7F rw c #x607B Postition Range Limits DT607X 80 SubIndex 000 02 Min position range limit 00000080 Max position range limit FFFFFF7F rw c #x60FF Target Velocity DINT 32 00000000 00470000 rw c r #x6502 Supported Drive Modes UDINT 32 80030000 ro o #x6085 Quick stop deceleration Imported from profile. See Profile Documentation for more details. UDINT 32 00 00 00005700 rw o tr #x6080 Max motor speed Imported from profile. See Profile Documentation for more details. UDINT 32 00 00 00b44700 rw o tr #x6079 DC link circuit voltage Imported from profile. See Profile Documentation for more details. UDINT 32 00 22260000 ro o tr #x607E Polarity Imported from profile. See Profile Documentation for more details. USINT 8 00 rw o #x6083 Profile acceleration Imported from profile. See Profile Documentation for more details. UDINT 32 00 00 00005700 rw c tr #x6084 Profile deceleration Imported from profile. See Profile Documentation for more details. UDINT 32 00 00 00005700 rw o tr #x607F Max profile velocity Imported from profile. See Profile Documentation for more details. UDINT 32 00 00 00b44700 rw o tr #x607C Home offset Imported from profile. See Profile Documentation for more details. DINT 32 00 rw o tr #x2003 Motor Specific Settings DT2003 121 Number of entries 05 Pole Pairs 01 Torque Constant 01 Phase Resistance 01 Phase Inductance 01 Motor phases inverted 00 rw m #x2004 Brake Release DT2004 120 Number of entries 05 Pull brake voltage 00 Hold brake voltage 00 Pull brake time 00 Brake release strategy 00 Brake release delay 00 rw m #x2300 Offset Torque DINT 32 00 rw m r #x2100 Feedback sensor ports DT2100 64 Number of entries 03 Sensor port 1 00 Sensor port 2 00 Sensor port 3 00 rw m #x2005 Recuperation DT2005 113 Number of entries 07 Recuperation enabled 01 Min battery energy 00 Max battery energy 00 Min recuperation power 00 Max recuperation power 00 Minimum recuperation speed 00 Maximum recuperation speed 00 rw m #x2006 Protection DT2006 80 Number of entries 02 Min DC Voltage 00 Max DC Voltage 01 rw o #x2007 Filter coefficients DT2007 80 Number of entries 02 Position filter coefficient 64 Velocity filter coefficient 5A rw m #x2A00 Applied tuning torque percent INT 16 00 64 3C 00 rw m #x2002 Position control strategy UINT 16 01 03 01 rw m #x6072 Max torque Imported from profile. See Profile Documentation for more details. UINT 16 00 00 rw o tr #x6073 Max current Imported from profile. See Profile Documentation for more details. UINT 16 00 00 rw o tr #x6086 Motion profile type Imported from profile. See Profile Documentation for more details. INT 16 80 00 80 rw o tr #x2010 Torque Controller DT2010 112 Number of entries 03 Controller Kp 00 Controller Ki 00 Controller Kd 00 rw m #x2011 Velocity Controller DT2011 144 Velocity Controller 04 Controller Kp 00 Controller Ki 00 Controller Kd 00 Controller integral limit 00 rw m #x2012 Position Controller DT2012 144 Position Controller 04 Controller Kp 00 Controller Ki 00 Controller Kd 00 Position integral limit 00 rw m #x2A01 Tuning command UDINT 32 00 rw m r #x2A03 Tuning status UDINT 32 00 rw m t #x2401 Analog input 1 UINT 16 00 ro o t #x2402 Analog input 2 UINT 16 00 ro o t #x2403 Analog input 3 UINT 16 00 ro o t #x2404 Analog input 4 UINT 16 00 ro o t #x230A Secondary position value DINT 32 00 ro o t #x230B Secondary velocity value DINT 32 00 00b44700 ro o t #x200A Moment of inertia UDINT 32 00 00 rw m #x2202 BISS Encoder 2 DT2202 216 BISS Encoder 2 0C Type 04 Function 00 Resolution 00 Velocity calculation period E803 Multiturn resolution 00 Clock frequency E803 Timeout 24 CRC polynom 30 Clock port config 00 Data port config 00 Number of filling bits 00 Number of bits to read while busy 04 rw c #x2203 REM 16MT Encoder DT2203 88 REM 16MT Encoder 05 Type 06 Function 00 Resolution 00 Velocity calculation period E803 Filter 02 rw c #x2204 REM 14 Encoder DT2204 112 REM 14 Encoder 08 Type 05 Function 00 Resolution 00 Velocity calculation period E803 Hysteresis 01 Noise settings 00 Dynamic angle error compensation 00 Resolution settings 00 rw c #x2205 Incremental Encoder 1 DT2205 96 Incremental Encoder 1 06 Type 02 Function 00 Resolution 00 Velocity calculation period E803 Number of channels 02 Access signal type 00 rw c #x2206 Incremental Encoder 2 DT2206 96 Incremental Encoder 2 06 Type 02 Function 00 Resolution 00 Velocity calculation period E803 Number of channels 02 Access signal type 00 rw c #x2207 HALL Sensor 1 DT2207 176 HALL Sensor 1 0A Type 01 Function 00 Resolution 00 Velocity calculation period E803 State angle 0 00 State angle 1 00 State angle 2 00 State angle 3 00 State angle 4 00 State angle 5 00 rw c #x2208 HALL Sensor 2 DT2208 176 HALL Sensor 2 0A Type 01 Function 00 Resolution 00 Velocity calculation period E803 State angle 0 00 State angle 1 00 State angle 2 00 State angle 3 00 State angle 4 00 State angle 5 00 rw c #x2210 GPIO DT2210 48 GPIO 04 Pin 1 00 Pin 2 00 Pin 3 00 Pin 4 00 rw c #x2501 Digital Input 1 BOOL 1 00 01 00 ro o t #x2502 Digital Input 2 BOOL 1 00 01 00 ro o t #x2503 Digital Input 3 BOOL 1 00 01 00 ro o t #x2504 Digital Input 4 BOOL 1 00 ro o t #x2601 Digital Output 1 BOOL 1 00 01 00 rw o r #x2602 Digital Output 2 BOOL 1 00 01 00 rw o r #x2603 Digital Output 3 BOOL 1 00 01 00 rw o r #x2604 Digital Output 4 BOOL 1 00 01 00 rw o r #x2FFF User MISO UDINT 32 00 rw o t #x2FFE User MOSI UDINT 32 00 rw o r #x60C5 Max acceleration Imported from profile. See Profile Documentation for more details. UDINT 32 00 00005700 rw o tr #x6081 Profile velocity Imported from profile. See Profile Documentation for more details. UDINT 32 00 00b44700 rw c tr division]]> #x2201 BISS Encoder 1 DT2201 216 BISS Encoder 1 0C Type 04 Function 00 Resolution 00 Velocity calculation period E803 Multiturn resolution 00 Clock frequency E803 Timeout 24 CRC polynom 30 Clock port config 00 Data port config 00 Number of filling bits 00 Number of bits to read while busy 04 rw c #x603F Error code Imported from profile. See Profile Documentation for more details. UINT 16 00 ro o tr Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1600 Outputs #x6040 0 16 Controlword UINT #x6060 0 8 Op Mode SINT #x6071 0 16 Target Torque INT #x607A 0 32 Target Position DINT #x60FF 0 32 Target Velocity DINT #x2300 0 32 Offset Torque DINT #x2A01 0 32 Tuning command UDINT #x2601 0 1 Digital Output 1 BOOL 0 7 padding entry (automatically added) 0 #x2602 0 1 Digital Output 2 BOOL 0 7 padding entry (automatically added) 1 #x2603 0 1 Digital Output 3 BOOL 0 7 padding entry (automatically added) 2 #x2604 0 1 Digital Output 4 BOOL 0 7 padding entry (automatically added) 3 #x2FFE 0 32 User MOSI UDINT #x2003 1 8 Pole Pairs USINT #x2003 2 32 Torque Constant DINT #x2003 3 32 Phase Resistance DINT #x2003 4 32 Phase Inductance DINT #x2003 5 1 Motor phases inverted BOOL 0 7 padding entry (automatically added) 4 #x2010 1 32 Controller Kp REAL #x2010 2 32 Controller Ki REAL #x2010 3 32 Controller Kd REAL #x1a00 Inputs #x6041 0 16 Statusword UINT #x6061 0 8 Op Mode Display SINT #x6064 0 32 Position Value DINT #x606C 0 32 Velocity Value DINT #x6077 0 16 Torque Value INT #x230A 0 32 Secondary position value DINT #x230B 0 32 Secondary velocity value DINT #x2401 0 16 Analog input 1 UINT #x2402 0 16 Analog input 2 UINT #x2403 0 16 Analog input 3 UINT #x2404 0 16 Analog input 4 UINT #x2A03 0 32 Tuning status UDINT #x2501 0 1 Digital Input 1 BOOL 0 7 padding entry (automatically added) 0 #x2502 0 1 Digital Input 2 BOOL 0 7 padding entry (automatically added) 1 #x2503 0 1 Digital Input 3 BOOL 0 7 padding entry (automatically added) 2 #x2504 0 1 Digital Input 4 BOOL 0 7 padding entry (automatically added) 3 #x2FFF 0 32 User MISO UDINT #x2003 1 8 Pole Pairs USINT #x2003 2 32 Torque Constant DINT #x2003 3 32 Phase Resistance DINT #x2003 4 32 Phase Inductance DINT #x2003 5 1 Motor phases inverted BOOL 0 7 padding entry (automatically added) 4 #x2010 1 32 Controller Kp REAL #x2010 2 32 Controller Ki REAL #x2010 3 32 Controller Kd REAL Synchron SM-Synchron #x0 0 0 0 0 DC DC-Synchron #x300 0 0 0 0 15360 080E028800000000000000000000 0010000400140004