#x0000FFFF TQ Technology Co.,Ltd. Stepper Driver Stepper Driver E5 2000 9000 5000 200 100 5000 false Stepper Driver 402 SINT 8 USINT 8 INT 16 UINT 16 DINT 32 UDINT 32 LINT 64 ULINT 64 STRING(25) 200 STRING(7) 56 STRING(5) 40 STRING(20) 160 STRING(40) 320 STRING(136) 1088 ARRAY [0..4] OF UINT UINT 80 0 5 ARRAY [0..13] OF UINT UINT 224 0 14 ARRAY [0..15] OF UINT UINT 256 0 16 ARRAY [0..2] OF UINT UINT 48 0 3 ARRAY [0..23] OF UINT UINT 384 0 24 ARRAY [0..16383] OF UINT UINT 262144 0 16384 DT1010 136 0 Number of Entries USINT 8 0 ro o 1 Save all parameters UDINT 32 8 rw o 2 Save communication parameters UDINT 32 40 rw o 3 Save application parameters UDINT 32 72 rw o 4 Save manufacturer parameters UDINT 32 104 rw o DT1011 136 0 Number of Entries USINT 8 0 ro o 1 Restore all default parameters UDINT 32 8 rw o 2 Restore communication default parameters UDINT 32 40 rw o 3 Restore application default parameters UDINT 32 72 rw o 4 Restore manufacturer default parameters UDINT 32 104 rw o DT1018 144 0 Number of Entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision Number UDINT 32 80 ro 4 Serial Number UDINT 32 112 ro DT1600 272 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 DT1601 272 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 DT1602 272 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 DT1603 272 0 Number of Entries USINT 8 0 rw 1 RPDO 4 Mapping Information 1 UDINT 32 16 rw 2 RPDO 4 Mapping Information 2 UDINT 32 48 rw 3 RPDO 4 Mapping Information 3 UDINT 32 80 rw 4 RPDO 4 Mapping Information 4 UDINT 32 112 rw 5 RPDO 4 Mapping Information 5 UDINT 32 144 rw 6 RPDO 4 Mapping Information 6 UDINT 32 176 rw 7 RPDO 4 Mapping Information 7 UDINT 32 208 rw 8 RPDO 4 Mapping Information 8 UDINT 32 240 rw DT1A00 272 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 DT1A01 272 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 DT1C00 48 0 Number of Entries USINT 8 0 ro 1 Comm. Type, Sync Manager 0 USINT 8 16 rw 2 Comm. Type, Sync Manager 1 USINT 8 24 rw 3 Comm. Type, Sync Manager 2 USINT 8 32 rw 4 Comm. Type, Sync Manager 3 USINT 8 40 rw DT1C12 80 0 Number of Entries USINT 8 0 rw 1 Sync Manager 2, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 2, PDO Mapping 1 UINT 16 32 rw 3 Sync Manager 2, PDO Mapping 2 UINT 16 48 rw 4 Sync Manager 2, PDO Mapping 3 UINT 16 64 rw DT1C13 48 0 Number of Entries USINT 8 0 rw 1 Sync Manager 3, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 3, PDO Mapping 1 UINT 16 32 rw DT1C3X 288 0 Number of Entries USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 rw 3 Shift Time UDINT 32 64 rw 4 Sync Types Supported UINT 16 96 rw 5 Minimum Cycle Time UDINT 32 112 rw 6 Calc. and Copy Time UDINT 32 144 rw 7 Minimum Delay UDINT 32 176 rw 8 Get Cycle Time UINT 16 208 rw 9 Minimum Hardware Delay UDINT 32 224 rw 10 Sync0 Cycle Time UDINT 32 256 rw 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 DT2010 48 0 Number of Entries USINT 8 0 ro 1 FIR Filter Time UINT 16 16 rw TR 2 IIR Filter Time UINT 16 32 rw TR DT2152 96 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 DT2153 96 0 Number of Entries USINT 8 0 ro 1 Input 1 Filter Time UINT 16 16 rw TR 2 Input 2 Filter Time UINT 16 32 rw TR 3 Input 3 Filter Time UINT 16 48 rw TR 4 Input 4 Filter Time UINT 16 64 rw TR 5 Input 5 Filter Time UINT 16 80 rw TR DT3FFE 176 0 Number of Entries USINT 8 0 ro 1 Fault Record 0 UINT 16 16 rw TR 2 Fault Record 1 UINT 16 32 rw TR 3 Fault Record 2 UINT 16 48 rw TR 4 Fault Record 3 UINT 16 64 rw TR 5 Fault Record 4 UINT 16 80 rw TR 6 Fault Record 5 UINT 16 96 rw TR 7 Fault Record 6 UINT 16 112 rw TR 8 Fault Record 7 UINT 16 128 rw TR 9 Fault Record 8 UINT 16 144 rw TR 10 Fault Record 9 UINT 16 160 rw TR DT607D 80 0 Number of Entries USINT 8 0 ro 1 Negative software limit position DINT 32 16 rw TR 2 Positive software limit position DINT 32 48 rw TR DT608F 80 0 Number of Entries USINT 8 0 ro 1 Encoder increments UDINT 32 16 ro TR 2 Motor revolutions UDINT 32 48 ro TR DT6091 80 0 Number of Entries USINT 8 0 ro 1 Motor revolutions UDINT 32 16 rw TR 2 Shaft revolutions UDINT 32 48 rw TR DT6092 80 0 Number of Entries USINT 8 0 ro 1 Feed increments UDINT 32 16 ro TR 2 Shaft revolutions UDINT 32 48 ro 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 DT60A4 80 0 Number of Entries USINT 8 0 ro 1 Profile Jerk 1 UDINT 32 16 rw TR 2 Profile Jerk 2 UDINT 32 48 rw TR DT60C1 88 0 Number of Entries USINT 8 0 ro 1 Interpolated position value DINT 32 16 rw TR 2 Interpolated time value USINT 8 48 rw TR 3 Interpolated velocity value DINT 32 56 rw TR DT60C2 32 0 Number of Entries USINT 8 0 ro 1 Interpolation Time Value USINT 8 16 ro 2 Interpolation Time Units SINT 8 24 ro 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 #x1000 Device Type UDINT 32 ro #x1001 Error Register USINT 8 ro T #x1008 Device Name STRING(7) 56 ro #x1009 Hardware Version STRING(5) 40 ro #x100A Software Version STRING(5) 40 ro #x1010 Store Parameters DT1010 136 rw #x1011 Restore Parameters DT1011 136 rw #x1018 Identity Object DT1018 136 rw #x1600 RXPDO 1 Mapping Parameter DT1600 264 rw #x1601 RXPDO 2 Mapping Parameter DT1601 264 rw #x1602 RXPDO 3 Mapping Parameter DT1602 264 rw #x1603 RXPDO 4 Mapping Parameter DT1603 264 rw #x1A00 TXPDO 1 Mapping Parameter DT1A00 264 rw #x1A01 TXPDO 2 Mapping Parameter DT1A01 264 rw #x1C00 SM Communication Type DT1C00 40 ro #x1C12 SM2(Outputs) PDO Assignment DT1C12 112 rw #x1C13 SM3(Inputs) PDO Assignment DT1C13 112 rw #x2000 Peak Current UINT 16 rw TR #x2001 Motor Resolution UINT 16 rw TR #x2002 Standby Time UINT 16 rw TR #x2003 Standby Current Percentage UINT 16 rw TR #x2005 Outputs Function DT2005 48 rw TR #x2006 Enable Valid Level UINT 16 rw TR #x2007 Disable Mode UINT 16 rw TR #x2008 Outputs Polarity UINT 16 rw TR #x2009 Filter Enable UINT 16 rw TR #x2010 Filter Time DT2010 48 rw TR #x2012 Soft Start Time UINT 16 rw TR #x2013 Autotune Enable UINT 16 rw TR #x2015 Current Loop Kp UINT 16 rw TR #x2016 Current Loop Ki UINT 16 rw TR #x2017 Current Loop Kc UINT 16 rw TR #x2020 Motor Resistance UINT 16 rw TR #x2021 Motor Inductance UINT 16 rw TR #x2028 Anti-disturbance Time UINT 16 rw TR #x2039 Sum of Pluse Input_H UINT 16 rw TR #x2040 Sum of Pluse Input_L UINT 16 ro T #x2041 Sum of Pluse Feedback_H UINT 16 rw TR #x2042 Sum of Pluse Feedback_L UINT 16 ro T #x2043 Speed Reference UINT 16 ro T #x2044 Speed Feedback UINT 16 ro T #x2046 Advance Angle UINT 16 rw TR #x2047 Actual Set Current UINT 16 rw TR #x2048 Bus Voltage UINT 16 ro T #x2051 Polarity UINT 16 rw TR #x2053 Output Mode of Target Reached UINT 16 rw TR #x2054 Anti-vibration Coefficient UINT 16 rw TR #x2056 Fault Detect Configure UINT 16 rw TR #x2057 Clear Current Fault UINT 16 rw TR #x2058 Soft Start Enable UINT 16 rw 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 #x2063 Amplitude of Second Anti-vibration UINT 16 rw TR #x2064 Phase A of Second Anti-vibration UINT 16 rw TR #x2065 Phase B of Second Anti-vibration UINT 16 rw TR #x2066 Amplitude of Third Anti-vibration UINT 16 rw TR #x2067 Phase A of Third Anti-vibration UINT 16 rw TR #x2068 Phase B of Third Anti-vibration UINT 16 rw TR #x2069 Amplitude of Fourth Anti-vibration UINT 16 rw TR #x2070 Phase A of Fourth Anti-vibration UINT 16 rw TR #x2071 Phase B of Fourth Anti-vibration UINT 16 rw TR #x2072 Phase of Z Shaft Anti-vibration UINT 16 rw TR #x2073 Motor Return After Power On UINT 16 rw TR #x2074 Torque Feedforward UINT 16 rw TR #x2075 Gravity Compensation UINT 16 rw TR #x2076 Pulse of Target Reached UINT 16 rw TR #x2093 Clear Fault Record UINT 16 rw TR #x2150 Slave Alias UINT 16 rw TR #x2151 Slave Alias Source UINT 16 rw TR #x2152 Inputs Function DT2152 96 rw TR #x2153 Inputs Filter Time DT2153 96 rw TR #x2154 Inputs Polarity UINT 16 rw TR #x2155 Physical Inputs Level UINT 16 rw TR #x3FFE Fault Record DT3FFE 176 ro TR #x4000 Motor Type UINT 16 rw TR #x4001 Stall Detect Enable UINT 16 rw TR #x4002 Stall Process Configure UINT 16 rw TR #x5000 Motion State Machine UINT 16 ro T #x5001 Interior Enable USINT 8 ro T #x5002 ESC Register UINT 16 rw TR #x5003 Register Data UINT 16 ro T #x5004 DC Watch Dog Counter UINT 16 ro T #x5010 Valid Outputs/Inputs Watch Dog Time UINT 16 rw TR #x5013 Motor Not Work Code UINT 16 ro T #x5014 Over Speed Level UINT 16 rw RT #x603f Last Error Code UINT 16 ro T #x6040 Control Word UINT 16 rw TR #x6041 Status Word UINT 16 ro T #x605A Quick Stop Option Code INT 16 rw TR #x6060 Modes of Operation USINT 8 rw TR #x6061 Modes of Operation Display USINT 8 ro T #x6062 Commanded Position DINT 32 ro T #x6064 Actual Position DINT 32 ro T #x606B Commanded Velocity 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 #x6082 End Velocity UDINT 32 rw TR #x6083 Profile Acceleration UDINT 32 rw TR #x6084 Profile Deceleration UDINT 32 rw TR #x6085 Quick Stop Deceleration 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 #x60B0 Position Offset DINT 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 #x60C2 InterPolation Time Period DT60C2 32 ro #x60D5 Touch Probe 1 Positive Counter UINT 16 ro o T #x60D6 Touch Probe 1 Negative Counter UINT 16 ro o T #x60D7 Touch Probe 2 Positive Counter UINT 16 ro o T #x60D8 Touch Probe 2 Negative Counter UINT 16 ro o T #x60FD Digital Inputs UDINT 32 ro T #x60FE Digital Outputs DT60FE 72 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 #x607A 0 32 Profile Target Position DINT #x1601 Receive PDO 2 #x1602 #x1603 #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 #x1603 #x6040 0 16 Control Word UINT #x60FF 0 32 Target Velocity DINT #x6083 0 32 Profile Acceleration UDINT #x6084 0 32 Profile Deceleration UDINT #x6060 0 8 Modes of Operation USINT #x1603 Receive PDO 4 #x1601 #x1602 #x6040 0 16 Control Word UINT #x6098 0 8 Homing Method SINT #x6099 1 32 Homing Velocity (fast) UDINT #x6099 2 32 Homing Velocity (slow) UDINT #x609a 0 32 Homing Acceleration UDINT #x607C 0 32 Homing Offset DINT #x6060 0 8 Modes of Operation USINT #x1a00 Transmit PDO 1 #x603F #x00 16 Last Error Code UINT #x6041 #x00 16 Status Word UINT #x6061 #x00 8 Modes of Operation display SINT #x6064 #x00 32 Position Actual Value DINT #x60B9 #x00 16 Touch Probe Status UINT #x60BA #x00 32 Touch Probe 1 Positive Value DINT #x60FD #x00 32 Digital Inputs UDINT #x1a01 Transmit PDO 2 PS #x6060 0 08 Modes of Operation DC DC-Synchron #x0300 0 0 Free Run Free-Run #x0000 2048 003c0000640000000000