#x000002E1
Power Automation GmbH
424D16050000000000003604000028000000100000000E0000000100080000000000E0000000120B0000120B0000000000000000000000000000000080000080000000808000800000008000800080800000C0C0C000C0DCC000F0CAA6000020400000206000002080000020A0000020C0000020E00000400000004020000040400000406000004080000040A0000040C0000040E00000600000006020000060400000606000006080000060A0000060C0000060E00000800000008020000080400000806000008080000080A0000080C0000080E00000A0000000A0200000A0400000A0600000A0800000A0A00000A0C00000A0E00000C0000000C0200000C0400000C0600000C0800000C0A00000C0C00000C0E00000E0000000E0200000E0400000E0600000E0800000E0A00000E0C00000E0E00040000000400020004000400040006000400080004000A0004000C0004000E00040200000402020004020400040206000402080004020A0004020C0004020E00040400000404020004040400040406000404080004040A0004040C0004040E00040600000406020004060400040606000406080004060A0004060C0004060E00040800000408020004080400040806000408080004080A0004080C0004080E00040A0000040A0200040A0400040A0600040A0800040A0A00040A0C00040A0E00040C0000040C0200040C0400040C0600040C0800040C0A00040C0C00040C0E00040E0000040E0200040E0400040E0600040E0800040E0A00040E0C00040E0E00080000000800020008000400080006000800080008000A0008000C0008000E00080200000802020008020400080206000802080008020A0008020C0008020E00080400000804020008040400080406000804080008040A0008040C0008040E00080600000806020008060400080606000806080008060A0008060C0008060E00080800000808020008080400080806000808080008080A0008080C0008080E00080A0000080A0200080A0400080A0600080A0800080A0A00080A0C00080A0E00080C0000080C0200080C0400080C0600080C0800080C0A00080C0C00080C0E00080E0000080E0200080E0400080E0600080E0800080E0A00080E0C00080E0E000C0000000C0002000C0004000C0006000C0008000C000A000C000C000C000E000C0200000C0202000C0204000C0206000C0208000C020A000C020C000C020E000C0400000C0402000C0404000C0406000C0408000C040A000C040C000C040E000C0600000C0602000C0604000C0606000C0608000C060A000C060C000C060E000C0800000C0802000C0804000C0806000C0808000C080A000C080C000C080E000C0A00000C0A02000C0A04000C0A06000C0A08000C0A0A000C0A0C000C0A0E000C0C00000C0C02000C0C04000C0C06000C0C08000C0C0A000F0FBFF00A4A0A000808080000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDEF47EFFDFDFDEF47FDFDFDFD4F9FFDFDEF47EFFDFDFDA74F9FEFEFA747EFFDFDEF47A7EFFDFDFD47474747474FFDFDFDEF4747474FEFFDA747A7FD4F9FFDFDFDEF47EFFD974FFDA747A7EF47A7FDFDFDEF47EFFDA747FDFD474F9F47FDFDFDFDEF47474747A7FDFDA74747A7FDFDFDFDFDA7A7A7EFFDFDFDFDA7A7FDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFD
EtherCAT_Drive
EtherCAT Drives
424D16050000000000003604000028000000100000000E0000000100080000000000E0000000120B0000120B0000000000000000000000000000000080000080000000808000800000008000800080800000C0C0C000C0DCC000F0CAA6000020400000206000002080000020A0000020C0000020E00000400000004020000040400000406000004080000040A0000040C0000040E00000600000006020000060400000606000006080000060A0000060C0000060E00000800000008020000080400000806000008080000080A0000080C0000080E00000A0000000A0200000A0400000A0600000A0800000A0A00000A0C00000A0E00000C0000000C0200000C0400000C0600000C0800000C0A00000C0C00000C0E00000E0000000E0200000E0400000E0600000E0800000E0A00000E0C00000E0E00040000000400020004000400040006000400080004000A0004000C0004000E00040200000402020004020400040206000402080004020A0004020C0004020E00040400000404020004040400040406000404080004040A0004040C0004040E00040600000406020004060400040606000406080004060A0004060C0004060E00040800000408020004080400040806000408080004080A0004080C0004080E00040A0000040A0200040A0400040A0600040A0800040A0A00040A0C00040A0E00040C0000040C0200040C0400040C0600040C0800040C0A00040C0C00040C0E00040E0000040E0200040E0400040E0600040E0800040E0A00040E0C00040E0E00080000000800020008000400080006000800080008000A0008000C0008000E00080200000802020008020400080206000802080008020A0008020C0008020E00080400000804020008040400080406000804080008040A0008040C0008040E00080600000806020008060400080606000806080008060A0008060C0008060E00080800000808020008080400080806000808080008080A0008080C0008080E00080A0000080A0200080A0400080A0600080A0800080A0A00080A0C00080A0E00080C0000080C0200080C0400080C0600080C0800080C0A00080C0C00080C0E00080E0000080E0200080E0400080E0600080E0800080E0A00080E0C00080E0E000C0000000C0002000C0004000C0006000C0008000C000A000C000C000C000E000C0200000C0202000C0204000C0206000C0208000C020A000C020C000C020E000C0400000C0402000C0404000C0406000C0408000C040A000C040C000C040E000C0600000C0602000C0604000C0606000C0608000C060A000C060C000C060E000C0800000C0802000C0804000C0806000C0808000C080A000C080C000C080E000C0A00000C0A02000C0A04000C0A06000C0A08000C0A0A000C0A0C000C0A0E000C0C00000C0C02000C0C04000C0C06000C0C08000C0C0A000F0FBFF00A4A0A000808080000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDEF47EFFDFDFDEF47FDFDFDFD4F9FFDFDEF47EFFDFDFDA74F9FEFEFA747EFFDFDEF47A7EFFDFDFD47474747474FFDFDFDEF4747474FEFFDA747A7FD4F9FFDFDFDEF47EFFD974FFDA747A7EF47A7FDFDFDEF47EFFDA747FDFD474F9F47FDFDFDFDEF47474747A7FDFDA74747A7FDFDFDFDFDA7A7A7EFFDFDFDFDA7A7FDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFDFD
PA ETC Drive
10000
10000
10000
1000
2000
2000
EtherCAT_Drive
402
BOOL
1
BYTE
8
WORD
16
DWORD
32
USINT
8
UINT
16
UDINT
32
SINT
8
INT
16
DINT
32
REAL
32
DT1010ARR
UDINT
64
1
2
DT1010
72
0
Number of Entries
USINT
8
0
ro
Elements
DT1010ARR
64
8
DT1018
136
0
number of entries
USINT
8
0
ro
1
Vendor Id
UDINT
32
8
ro
2
Product Code
UDINT
32
40
ro
3
Revision number
UDINT
32
72
ro
4
Serial number
UDINT
32
104
ro
DT1600
200
0
Number of Entries
USINT
8
0
rw
1
Mapping Entry 1
UDINT
32
8
rw
2
Mapping Entry 2
UDINT
32
40
rw
3
Mapping Entry 3
UDINT
32
72
rw
4
Mapping Entry 4
UDINT
32
104
rw
5
Mapping Entry 5
UDINT
32
136
rw
6
Mapping Entry 6
UDINT
32
168
rw
DT1601
200
0
Number of Entries
USINT
8
0
rw
1
Mapping Entry 1
UDINT
32
8
rw
2
Mapping Entry 2
UDINT
32
40
rw
3
Mapping Entry 3
UDINT
32
72
rw
4
Mapping Entry 4
UDINT
32
104
rw
5
Mapping Entry 5
UDINT
32
136
rw
6
Mapping Entry 6
UDINT
32
168
rw
DT1602
200
0
Number of Entries
USINT
8
0
rw
1
Mapping Entry 1
UDINT
32
8
rw
2
Mapping Entry 2
UDINT
32
40
rw
3
Mapping Entry 3
UDINT
32
72
rw
4
Mapping Entry 4
UDINT
32
104
rw
5
Mapping Entry 5
UDINT
32
136
rw
6
Mapping Entry 6
UDINT
32
168
rw
DT1603
200
0
Number of Entries
USINT
8
0
rw
1
Mapping Entry 1
UDINT
32
8
rw
2
Mapping Entry 2
UDINT
32
40
rw
3
Mapping Entry 3
UDINT
32
72
rw
4
Mapping Entry 4
UDINT
32
104
rw
5
Mapping Entry 5
UDINT
32
136
rw
6
Mapping Entry 6
UDINT
32
168
rw
DT1A00
200
0
Number of Entries
USINT
8
0
rw
1
Mapping Entry 1
UDINT
32
8
rw
2
Mapping Entry 2
UDINT
32
40
rw
3
Mapping Entry 3
UDINT
32
72
rw
4
Mapping Entry 4
UDINT
32
104
rw
5
Mapping Entry 5
UDINT
32
136
rw
6
Mapping Entry 6
UDINT
32
168
rw
DT1A01
200
0
Number of Entries
USINT
8
0
rw
1
Mapping Entry 1
UDINT
32
8
rw
2
Mapping Entry 2
UDINT
32
40
rw
3
Mapping Entry 3
UDINT
32
72
rw
4
Mapping Entry 4
UDINT
32
104
rw
5
Mapping Entry 5
UDINT
32
136
rw
6
Mapping Entry 6
UDINT
32
168
rw
DT1A02
200
0
Number of Entries
USINT
8
0
rw
1
Mapping Entry 1
UDINT
32
8
rw
2
Mapping Entry 2
UDINT
32
40
rw
3
Mapping Entry 3
UDINT
32
72
rw
4
Mapping Entry 4
UDINT
32
104
rw
5
Mapping Entry 5
UDINT
32
136
rw
6
Mapping Entry 6
UDINT
32
168
rw
DT1A03
200
0
Number of Entries
USINT
8
0
rw
1
Mapping Entry 1
UDINT
32
8
rw
2
Mapping Entry 2
UDINT
32
40
rw
3
Mapping Entry 3
UDINT
32
72
rw
4
Mapping Entry 4
UDINT
32
104
rw
5
Mapping Entry 5
UDINT
32
136
rw
6
Mapping Entry 6
UDINT
32
168
rw
DT1C00ARR
USINT
32
1
4
DT1C00
40
0
Number of Entries
USINT
8
0
ro
Elements
DT1C00ARR
32
8
DT1C10
8
0
Number of assigned PDOs
USINT
8
0
ro
DT1C11
8
0
Number of assigned PDOs
USINT
8
0
ro
DT1C12ARR
UINT
64
1
4
DT1C12
72
0
Number of assigned RxPDO
USINT
8
0
rw
Elements
DT1C12ARR
64
8
DT1C13ARR
UINT
64
1
4
DT1C13
72
0
Number of assigned TxPDOs
USINT
8
0
rw
Elements
DT1C13ARR
64
8
DT2011ARR
UDINT
64
1
2
DT2011
72
0
Number of Entries
USINT
8
0
ro
Elements
DT2011ARR
64
8
DT2044ARR
INT
32
1
2
DT2044
40
0
Number of Entries
USINT
8
0
ro
Elements
DT2044ARR
32
8
DT2056ARR
USINT
24
1
3
DT2056
32
0
Highest sub-index supported
USINT
8
0
ro
Elements
DT2056ARR
24
8
DT2057ARR
USINT
24
1
3
DT2057
32
0
Highest sub-index supported
USINT
8
0
ro
Elements
DT2057ARR
24
8
DT205AARR
UDINT
128
1
4
DT205A
136
0
NumOfEntries
USINT
8
0
ro
Elements
DT205AARR
128
8
DT205BARR
UDINT
128
1
4
DT205B
136
0
NumOfEntries
USINT
8
0
ro
Elements
DT205BARR
128
8
DT205D
80
0
numOfEntries
USINT
8
0
ro
1
Config
USINT
8
8
rw
2
Argument_1
UINT
16
16
rw
3
Argument_2
UINT
16
32
rw
4
Argument_3
REAL
32
48
rw
DT205E
80
0
numOfEntries
USINT
8
0
ro
1
Config
USINT
8
8
rw
2
Argument_1
UINT
16
16
rw
3
Argument_2
UINT
16
32
rw
4
Argument_3
REAL
32
48
rw
DT2070ARR
UINT
32
1
2
DT2070
40
0
NumOfEntries
UINT
8
0
ro
Elements
DT2070ARR
32
8
DT209BARR
UINT
32
1
2
DT209B
40
0
Number of Entries
USINT
8
0
ro
Elements
DT209BARR
32
8
DT209CARR
UINT
32
1
2
DT209C
40
0
Number of Entries
UINT
8
0
ro
Elements
DT209CARR
32
8
DT20AF
120
0
numOfEntries
USINT
8
0
ro
1
Signal Type
UINT
16
8
rw
2
Current Amplitude
DINT
32
24
rw
3
Velocity Amplitude
DINT
32
56
rw
4
Counter Period
UINT
16
88
rw
5
Config
UINT
16
104
rw
DT20D8ARR
UINT
128
1
8
DT20D8
136
0
Number of Entries
UINT
8
0
ro
Elements
DT20D8ARR
128
8
DT20D9ARR
UINT
128
1
8
DT20D9
136
0
Number of Entries
UINT
8
0
ro
Elements
DT20D9ARR
128
8
DT20DAARR
UINT
208
1
13
DT20DA
216
0
Number of Entries
UINT
8
0
ro
Elements
DT20DAARR
208
8
DT20DBARR
UINT
176
1
11
DT20DB
184
0
Number of Entries
UINT
8
0
ro
Elements
DT20DBARR
176
8
DT20E0ARR
UINT
32
1
2
DT20E0
40
0
Number of Entries
UINT
8
0
ro
Elements
DT20E0ARR
32
8
DT2115
120
0
NumOfEntries
USINT
8
0
ro
1
Duration1
UINT
16
8
rw
2
Velocity1
DINT
32
24
rw
3
Duration2
INT
16
56
rw
4
Velocity2
DINT
32
72
rw
5
Activate
USINT
8
104
rw
6
Select
USINT
8
112
rw
DT2147
88
0
numOfEntries
USINT
8
0
ro
1
PE_INTRP
DINT
32
8
ro
t
2
V_INTRP
DINT
32
40
ro
t
3
I_INTRP
INT
16
72
ro
t
DT2148
88
0
numOfEntries
USINT
8
0
ro
1
PE_INTRP
DINT
32
8
ro
t
2
V_INTRP
DINT
32
40
ro
t
3
I_INTRP
INT
16
72
ro
t
DT214FARR
DINT
64
1
2
DT214F
72
0
numOfEntries
UINT
8
0
ro
Elements
DT214FARR
64
8
DT2169ARR
DINT
352
1
11
DT2169
360
0
Highest index supported
DINT
8
0
ro
Elements
DT2169ARR
352
8
DT216AARR
DINT
352
1
11
DT216A
360
0
Highest index supported
DINT
8
0
ro
Elements
DT216AARR
352
8
DT216DARR
UDINT
64
1
2
DT216D
72
0
Highest index supported
DINT
8
0
ro
Elements
DT216DARR
64
8
DT2171ARR
DINT
128
1
4
DT2171
136
0
Highest index supported
DINT
8
0
ro
Elements
DT2171ARR
128
8
DT2172ARR
DINT
96
1
3
DT2172
104
0
Highest index supported
DINT
8
0
ro
Elements
DT2172ARR
96
8
DT2174ARR
UDINT
64
1
2
DT2174
72
0
Number of Entries
USINT
8
0
ro
Elements
DT2174ARR
64
8
DT2175ARR
UDINT
64
1
2
DT2175
72
0
Number of Entries
USINT
8
0
ro
Elements
DT2175ARR
64
8
DT2176ARR
UINT
64
1
4
DT2176
72
0
numOfEntries
UDINT
8
0
ro
Elements
DT2176ARR
64
8
DT2177ARR
UINT
32
1
2
DT2177
40
0
numOfEntries
UDINT
8
0
ro
Elements
DT2177ARR
32
8
DT2178ARR
UINT
32
1
2
DT2178
40
0
numOfEntries
UDINT
8
0
ro
Elements
DT2178ARR
32
8
DT217DARR
UINT
32
1
2
DT217D
40
0
Number of Entries
USINT
8
0
ro
Elements
DT217DARR
32
8
DT607DARR
DINT
64
1
2
DT607D
72
0
Number of Entries
USINT
8
0
ro
Elements
DT607DARR
64
8
DT608FARR
UDINT
64
1
2
DT608F
72
0
Number of Entries
USINT
8
0
ro
Elements
DT608FARR
64
8
DT6091ARR
UDINT
64
1
2
DT6091
72
0
Number of Entries
USINT
8
0
ro
Elements
DT6091ARR
64
8
DT6092ARR
UDINT
64
1
2
DT6092
72
0
Number of Entries
USINT
8
0
ro
Elements
DT6092ARR
64
8
DT6099ARR
UDINT
64
1
2
DT6099
72
0
Number of Entries
USINT
8
0
ro
Elements
DT6099ARR
64
8
DT60C1ARR
DINT
128
1
4
DT60C1
136
0
Highest sub-index supported
DINT
8
0
ro
Elements
DT60C1ARR
128
8
DT60C2
24
0
Highest index supported
USINT
8
0
ro
1
Interpolation time units
USINT
8
8
rw
2
Interpolation time index
SINT
8
16
rw
DT60C4
112
0
Highest sub-index supported
USINT
8
0
ro
1
Maximum buffer size
UDINT
32
8
ro
2
Actual buffer size
UDINT
32
40
rw
3
Buffer organization
USINT
8
72
rw
4
Buffer position
UINT
16
80
rw
5
Size of data record
USINT
8
96
rw
6
Buffer clear
USINT
8
104
rw
DT60FEARR
UDINT
64
1
2
DT60FE
72
0
Number of Entries
USINT
8
0
ro
Elements
DT60FEARR
64
8
Outputs
Inputs
MBoxOut
MBoxIn
Outputs
Inputs
#x1600
RxPDO 1
#x6040
#x0
16
ControlWord
UINT
#x6060
#x0
8
Modes of operation
SINT
#x1601
RxPDO 2
#x607a
#x0
32
Target position
DINT
#x6081
#x0
32
Profile velocity
UDINT
#x1602
RxPDO 3
#x60ff
#x0
32
Target Velocity
DINT
#x1603
RxPDO 4
#x6071
#x0
16
Target torque
INT
#x60fe
#x1
32
Digital Outpus
UDINT
#x60b2
#x0
16
Torque Offset
INT
#x1A00
TxPDO 1
#x6041
#x0
16
StatusWord
UINT
#x6061
#x0
8
Modes of operation display
SINT
#x6077
#x0
16
Torque Actual Value
INT
#x1A01
TxPDO 2
#x6064
#x0
32
Position actual value
DINT
#x1A02
TxPDO 3
#x6074
#x0
16
Torque Demand Value
INT
#x20f2
#x0
16
Analog Input 1
INT
#x1A03
TxPDO 4
#x60fd
#x0
32
Digital inputs
UDINT
#x20b6
#x0
32
manu_spec_Machine_HW_Position_External_command
DINT
#x60f4
#x0
32
Following Error Actual Value
DINT
PS
#x6060
0
08
Opmode
PS
#x60c2
1
02
Cycle-time
PS
#x60c2
2
fd
Cycle-exponent
DC-Synchronous
DC-Synchronous
#x300
0
0
0
0
Free Run
Free Run
#x0
0
0
0
0
2048
800C406650c30000000000000000
0010FD011012FD01
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