#x10D9 YU-ZHAN MOTION TECHNOLOGY CO., LTD. 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFFFFFFFFFFFFFFF88888FF888888FFFF846FFF6488874FFFF74FFFF64FFFF7FFFF48FFFF44FFFFFFFF44FFFFF44FFFFFFF747FFFFF44FFFFFF8488FFFFF44FFFFF848F8FFFFF44FFFF848F88FFFF847FFF848FF8FF7FF87FFF847FFF78848FFFFF8888F8888888FFFFFFFFFFFFFFFFF Stepper Driver Stepper Driver 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFFFFFFFFFFFFFFF88888FF888888FFFF846FFF6488874FFFF74FFFF64FFFF7FFFF48FFFF44FFFFFFFF44FFFFF44FFFFFFF747FFFFF44FFFFFF8488FFFFF44FFFFF848F8FFFFF44FFFF848F88FFFF847FFF848FF8FF7FF87FFF847FFF78848FFFFF8888F8888888FFFFFFFFFFFFFFFFF YZ-2D-60ECT DC24~50V 6A Stepper Drive http://www.yu-zhan.com 2000 9000 5000 200 100 2000 Stepper Driver 402 STRING(3) 24 STRING(5) 40 SINT 8 USINT 8 INT 16 UINT 16 DINT 32 UDINT 32 BOOL 1 DT1010 32 0 Number of Entries USINT 8 0 ro o 1 Save all parameters UINT 16 16 rw o DT1011 32 0 Number of Entries USINT 16 0 ro o 1 Restore all default parameters UINT 16 16 rw o DT1018 144 0 SubIndex 000 USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product code UDINT 32 48 ro 3 Revision UDINT 32 80 ro 4 Serial number UDINT 32 112 ro DT10F1 64 0 SubIndex 000 USINT 8 0 ro 1 Local Error Reaction UDINT 32 16 rw 2 Sync Error Counter Limit UINT 16 48 rw DT1600 400 0 Number of Entries USINT 8 0 rw 1 RPDO 1 Mapping Information 1 UDINT 32 16 rw 2 RPDO 1 Mapping Information 2 UDINT 32 48 rw 3 RPDO 1 Mapping Information 3 UDINT 32 80 rw 4 RPDO 1 Mapping Information 4 UDINT 32 112 rw 5 RPDO 1 Mapping Information 5 UDINT 32 144 rw 6 RPDO 1 Mapping Information 6 UDINT 32 176 rw 7 RPDO 1 Mapping Information 7 UDINT 32 208 rw 8 RPDO 1 Mapping Information 8 UDINT 32 240 rw 9 RPDO 1 Mapping Information 9 UDINT 32 272 rw 10 RPDO 1 Mapping Information 10 UDINT 32 304 rw 11 RPDO 1 Mapping Information 11 UDINT 32 336 rw 12 RPDO 1 Mapping Information 12 UDINT 32 368 rw DT1601 400 0 Number of Entries USINT 8 0 rw 1 RPDO 2 Mapping Information 1 UDINT 32 16 rw 2 RPDO 2 Mapping Information 2 UDINT 32 48 rw 3 RPDO 2 Mapping Information 3 UDINT 32 80 rw 4 RPDO 2 Mapping Information 4 UDINT 32 112 rw 5 RPDO 2 Mapping Information 5 UDINT 32 144 rw 6 RPDO 2 Mapping Information 6 UDINT 32 176 rw 7 RPDO 2 Mapping Information 7 UDINT 32 208 rw 8 RPDO 2 Mapping Information 8 UDINT 32 240 rw 9 RPDO 2 Mapping Information 9 UDINT 32 272 rw 10 RPDO 2 Mapping Information 10 UDINT 32 304 rw 11 RPDO 2 Mapping Information 11 UDINT 32 336 rw 12 RPDO 2 Mapping Information 12 UDINT 32 368 rw DT1602 400 0 Number of Entries USINT 8 0 rw 1 RPDO 3 Mapping Information 1 UDINT 32 16 rw 2 RPDO 3 Mapping Information 2 UDINT 32 48 rw 3 RPDO 3 Mapping Information 3 UDINT 32 80 rw 4 RPDO 3 Mapping Information 4 UDINT 32 112 rw 5 RPDO 3 Mapping Information 5 UDINT 32 144 rw 6 RPDO 3 Mapping Information 6 UDINT 32 176 rw 7 RPDO 3 Mapping Information 7 UDINT 32 208 rw 8 RPDO 3 Mapping Information 8 UDINT 32 240 rw 9 RPDO 3 Mapping Information 9 UDINT 32 272 rw 10 RPDO 3 Mapping Information 10 UDINT 32 304 rw 11 RPDO 3 Mapping Information 11 UDINT 32 336 rw 12 RPDO 3 Mapping Information 12 UDINT 32 368 rw DT1A00 400 0 Number of Entries USINT 8 0 rw 1 TPDO 1 Mapping Information 1 UDINT 32 16 rw 2 TPDO 1 Mapping Information 2 UDINT 32 48 rw 3 TPDO 1 Mapping Information 3 UDINT 32 80 rw 4 TPDO 1 Mapping Information 4 UDINT 32 112 rw 5 TPDO 1 Mapping Information 5 UDINT 32 144 rw 6 TPDO 1 Mapping Information 6 UDINT 32 176 rw 7 TPDO 1 Mapping Information 7 UDINT 32 208 rw 8 TPDO 1 Mapping Information 8 UDINT 32 240 rw 9 TPDO 1 Mapping Information 9 UDINT 32 272 rw 10 TPDO 1 Mapping Information 10 UDINT 32 304 rw 11 TPDO 1 Mapping Information 11 UDINT 32 336 rw 12 TPDO 1 Mapping Information 12 UDINT 32 368 rw DT1A01 400 0 Number of Entries USINT 8 0 rw 1 TPDO 2 Mapping Information 1 UDINT 32 16 rw 2 TPDO 2 Mapping Information 2 UDINT 32 48 rw 3 TPDO 2 Mapping Information 3 UDINT 32 80 rw 4 TPDO 2 Mapping Information 4 UDINT 32 112 rw 5 TPDO 2 Mapping Information 5 UDINT 32 144 rw 6 TPDO 2 Mapping Information 6 UDINT 32 176 rw 7 TPDO 2 Mapping Information 7 UDINT 32 208 rw 8 TPDO 2 Mapping Information 8 UDINT 32 240 rw 9 TPDO 2 Mapping Information 9 UDINT 32 272 rw 10 TPDO 2 Mapping Information 10 UDINT 32 304 rw 11 TPDO 2 Mapping Information 11 UDINT 32 336 rw 12 TPDO 2 Mapping Information 12 UDINT 32 368 rw DT1A02 400 0 Number of Entries USINT 8 0 rw 1 TPDO 3 Mapping Information 1 UDINT 32 16 rw 2 TPDO 3 Mapping Information 2 UDINT 32 48 rw 3 TPDO 3 Mapping Information 3 UDINT 32 80 rw 4 TPDO 3 Mapping Information 4 UDINT 32 112 rw 5 TPDO 3 Mapping Information 5 UDINT 32 144 rw 6 TPDO 3 Mapping Information 6 UDINT 32 176 rw 7 TPDO 3 Mapping Information 7 UDINT 32 208 rw 8 TPDO 3 Mapping Information 8 UDINT 32 240 rw 9 TPDO 3 Mapping Information 9 UDINT 32 272 rw 10 TPDO 3 Mapping Information 10 UDINT 32 304 rw 11 TPDO 3 Mapping Information 11 UDINT 32 336 rw 12 TPDO 3 Mapping Information 12 UDINT 32 368 rw DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT1C12ARR UINT 48 1 3 DT1C12 64 0 SubIndex 000 USINT 8 0 rw Elements DT1C12ARR 48 16 rw DT1C13ARR UINT 48 1 3 DT1C13 64 0 SubIndex 000 USINT 8 0 rw Elements DT1C13ARR 48 16 rw DT1C32 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT1C33 488 0 SubIndex 000 USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 ro 4 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 8 Get Cycle Time UINT 16 208 rw 9 Delay Time UDINT 32 224 ro 10 Sync0 Cycle Time UDINT 32 256 rw 11 SM-Event Missed UINT 16 288 ro 12 Cycle Time Too Small UINT 16 304 ro 32 Sync Error BOOL 1 480 ro DT2005 48 0 Number of Entries USINT 8 0 ro 1 Output 1 Function UINT 16 16 rw TR 2 Output 2 Function UINT 16 32 rw TR DT2007 112 0 Number of Entries USINT 8 0 ro 1 Input 1 Function UINT 16 16 rw TR 2 Input 2 Function UINT 16 32 rw TR 3 Input 3 Function UINT 16 48 rw TR 4 Input 4 Function UINT 16 64 rw TR 5 Input 5 Function UINT 16 80 rw TR 6 Input 6 Function UINT 16 96 rw TR DT200B 80 0 Number of Entries USINT 8 0 ro 1 AutoPI enable UINT 16 16 rw TR 2 Iloop_Kp UINT 16 32 rw TR 3 Iloop_Ki UINT 16 48 rw TR 4 Iloop_Kc UINT 16 64 rw TR DT200C 112 0 Number of Entries USINT 8 0 ro 1 Motor type UINT 16 16 rw TR 2 Resistance Auto UINT 16 32 rw TR 3 Inductance Auto UINT 16 48 rw TR 4 Resistance Set UINT 16 64 rw TR 5 Inductance Set UINT 16 80 rw TR 6 BEMF coefficient UINT 16 96 rw TR DT2023 96 0 Number of Entries USINT 8 0 ro 1 PosLoop_Kp UINT 16 16 rw TR 2 PosLoop_Ki UINT 16 32 rw TR 3 PosLoop_Kd UINT 16 48 rw TR 4 PosLoop_Kvff UINT 16 64 rw TR 5 PosLoop_Kdi UINT 16 80 rw TR DT2024 64 0 Number of Entries USINT 8 0 ro 1 InPosMode UINT 16 16 rw TR 2 InPosCnt UINT 16 32 rw TR 3 InPosTime UINT 16 48 rw TR DT2025 64 0 Number of Entries USINT 8 0 ro 1 FV1_HZ UINT 16 16 rw TR 2 FV2_HZ UINT 16 32 rw TR 3 FPOUT_HZ UINT 16 48 rw TR DT2026 96 0 Number of Entries USINT 8 0 ro 1 PVIA_Kp UINT 16 16 rw TR 2 PVIA_Ki UINT 16 32 rw TR 3 PVIA_Kv1 UINT 16 48 rw TR 4 PVIA_Kv2 UINT 16 64 rw TR 5 PVIA_Kvff UINT 16 80 rw TR DT6099 80 0 Number of Entries USINT 8 0 ro 1 Homing Velocity (fast) UDINT 32 16 rw TR 2 Homing Velocity (slow) UDINT 32 48 rw TR DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Physical Outputs UDINT 32 16 rw TR 2 Bit Mask UDINT 32 48 rw TR DTF000 48 0 SubIndex 000 USINT 8 0 ro 1 Index distance UINT 16 16 ro 2 Maximum number of modules UINT 16 32 ro DTF010ARR UDINT 32 1 1 DTF010 48 0 SubIndex 000 USINT 8 0 ro Elements DTF010ARR 32 16 ro DTF050ARR UDINT 32 1 2 DTF050 48 0 SubIndex 000 USINT 8 0 ro Elements DTF050ARR 32 16 ro #x1000 Device type UDINT 32 92010400 ro #x1001 Error register USINT 8 00 ro #x1008 Device name STRING(5) 40 4543523630 ro #x1009 Hardware version STRING(3) 24 312E30 ro #x100A Software version STRING(3) 24 312E30 ro #x1010 Store Parameters DT1010 32 rw #x1011 Restore Parameters DT1011 32 rw #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 000010D9 Product code 00000000 Revision 00000000 Serial number 00000000 #x10F1 Error Settings DT10F1 64 SubIndex 000 02 Local Error Reaction 01000000 Sync Error Counter Limit 0400 #x1600 RXPDO 1 Mapping Parameter DT1600 400 rw #x1601 RXPDO 2 Mapping Parameter DT1601 400 rw #x1602 RXPDO 3 Mapping Parameter DT1602 400 rw #x1A00 TXPDO 1 Mapping Parameter DT1A00 400 rw #x1A01 TXPDO 2 Mapping Parameter DT1A01 400 rw #x1A02 TXPDO 3 Mapping Parameter DT1A01 400 rw #x1C00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 #x1C12 RxPDO assign DT1C12 64 SubIndex 000 00 SubIndex 001 0000 SubIndex 002 0000 SubIndex 003 0000 #x1C13 TxPDO assign DT1C13 64 SubIndex 000 00 SubIndex 001 0000 SubIndex 002 0000 SubIndex 003 0000 #x1C32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Synchronization Types supported 0780 Minimum Cycle Time 48E80100 #x1C33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Synchronization Types supported 0780 Minimum Cycle Time 48E80100 #x2000 Peak Current UINT 16 rw TR #x2001 Motor Resolution UINT 16 rw TR #x2002 Idle Time UINT 16 rw TR #x2003 Idle Current Percentage UINT 16 rw TR #x2005 Outputs Function DT2005 48 rw TR #x2006 Outputs Polarity UINT 16 rw TR #x2007 Inputs Function DT2007 112 rw TR #x2008 Inputs Polarity UINT 16 rw TR #x2009 Filter Time UINT 16 rw TR #x200A Soft lock Time UINT 16 rw TR #x200B Current loop parameters DT200B 80 rw TR #x200C Motor parameters DT200C 112 rw TR #x200D Invert motor direction UINT 16 rw TR #x200E Alarm Code UINT 16 ro T #x200F Status Code UINT 16 ro T #x2010 Zero Position UINT 16 rw TR #x2011 Control mode UINT 16 rw TR #x2020 Encoder Resolution UINT 16 rw TR #x2021 Encoder Counter in one rev UINT 16 ro T #x2022 Position Trae Error Limit UDINT 32 rw TR #x2023 Position loop parameters DT2023 96 rw TR #x2024 InPosition parameters DT2024 64 rw TR #x2025 Servo Filters DT2025 64 rw TR #x2026 Servo mode2 parameters DT2026 96 rw TR #x2043 Speed Reference INT 16 ro T #x2044 Speed Feedback INT 16 ro T #x2048 Bus Voltage UINT 16 ro T #x2049 Input Level UINT 16 ro T #x204A Output Level UINT 16 ro T #x2056 Error Detect enable UINT 16 ro TR #x2060 Amplitude of First Anti-Vibration UINT 16 rw TR #x2061 Phase A of First Anti-Vibration UINT 16 rw TR #x2062 Phase B of First Anti-Vibration UINT 16 rw TR #x2150 Slave Alias UINT 16 rw TR #x2151 Slave Alias Source UINT 16 rw TR #x603F Error Code UINT 16 ro TR #x6040 Control Word UINT 16 rw TR #x6041 Status Word UINT 16 ro T #x605A Quickstop Option Code INT 16 rw TR #x605B Shutdown Option Code INT 16 rw TR #x605C Diasble Operation Option Code INT 16 rw TR #x605E Fault Reaciton Code INT 16 rw TR #x6060 Modes of Operation SINT 8 rw TR #x6061 Modes of Operation Display SINT 8 ro T #x6064 Actual Position DINT 32 ro T #x606C Actual Velocity DINT 32 ro T #x607A Profile Target Position DINT 32 rw TR #x607C Homing Offset DINT 32 rw TR #x6081 Profile Velocity UDINT 32 rw TR #x6083 Profile Acceleration UDINT 32 rw TR #x6084 Profile Deceleration UDINT 32 rw TR #x6085 Quickstop Declaration UDINT 32 rw TR #x6098 Homing Method SINT 8 rw TR #x6099 Homing Velocity DT6099 80 rw TR #x609A Homing Acceleration UDINT 32 rw TR #x60B8 Touch Probe Function UINT 16 rw TR #x60B9 Touch Probe Status UINT 16 ro T #x60BA Touch Probe 1 Positive Value DINT 32 ro T #x60BB Touch Probe 1 Negative Value DINT 32 ro T #x60BC Touch Probe 2 Positive Value DINT 32 ro T #x60BD Touch Probe 2 Negative Value DINT 32 ro T #x60D5 Touch Probe 1 Positive Counter UINT 16 ro T #x60D6 Touch Probe 1 Negative Counter UINT 16 ro T #x60D7 Touch Probe 2 Positive Counter UINT 16 ro T #x60D8 Touch Probe 2 Negative Counter UINT 16 ro T #x60F4 Following error actual value DINT 32 rw TR #x60FD Digital Inputs UDINT 32 ro T #x60FE Digital Outputs DT60FE 80 rw TR #x60FF Target Velocity DINT 32 rw TR #x6502 Supported Drive Modes UDINT 32 ro T MBoxState Outputs Inputs MBoxOut MBoxIn Outputs Inputs #x1600 Receive PDO 1 #x6040 0 16 Control Word UINT #x6060 0 8 ModeOfOperation USINT #x607A 0 32 Profile Target Position DINT #x1601 Receive PDO 2 #x1602 #x6040 0 16 Control word UINT #x607A 0 32 Profile Target Position DINT #x6081 0 32 Profile Velocity UDINT #x6083 0 32 Profile Target Acceleration UDINT #x6084 0 32 Profile Target Deceleration UDINT #x6060 0 8 Modes of Operation USINT #x1602 Receive PDO 3 #x1601 #x6040 0 16 Control word UINT #x6083 0 32 Profile Target Acceleration UDINT #x6084 0 32 Profile Target Deceleration UDINT #x60FF 0 32 Target Velocity DINT #x6060 0 8 Modes of Operation USINT #x1a00 Transmit PDO 1 #x6041 #x00 16 Status Word UINT #x6061 #x00 8 Modes of Operation display SINT #x6064 #x00 32 Position Actual Value DINT #x60FD #x00 32 Digital Inputs UDINT #x1a01 Transmit PDO 2 #x6041 #x00 16 Status Word UINT #x6061 #x00 8 Modes of Operation display SINT #x606C #x00 32 Velocity Actual Value DINT #x60FD #x00 32 Digital Inputs UDINT #x1a02 Transmit PDO 3 PS #x6060 0 08 Modes of Operation DC DC-Synchron #x300 0 0 Synchron SM-Synchron #x0 2048 003C0000FF0100000000 0010800080108000 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFFFFFFFFFFFFFFF88888FF888888FFFF846FFF6488874FFFF74FFFF64FFFF7FFFF48FFFF44FFFFFFFF44FFFFF44FFFFFFF747FFFFF44FFFFFF8488FFFFF44FFFFF848F8FFFFF44FFFF848F88FFFF847FFF848FF8FF7FF87FFF847FFF78848FFFFF8888F8888888FFFFFFFFFFFFFFFFF