#x5a65726f ZEERO 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ZeroErr Driver ZeroErr Driver 424DD6020000000000003600000028000000100000000E000000010018000000000000000000C30E0000C30E00000000000000000000FFFFFFFFE4DFFC6045FE9F90FEA091FC5B43FC5C3CFC5337FD7B65FEBBAEFC5542FECCC3FFEBE7FC5C43FE9D8CFFFFFFFFFFFFFFDDD5FB1F00FD7C65FD7C65FB1900FB421DFB3E22FC6C55FDA593FB0D00FEBBAFFFE6E2FB1A00FD785EFFFFFFFFFFFFFFDED7FB2A01FD826CFD7D66FB2D05FFDED7FFFAF8FFFBF9FDAF9EFB1500FEBEB2FFE7E3FB2500FD7E65FFFFFFFFFFFFFFDED7FB2A01FD826CFD7D66FB2C04FFE5DFFFFFFFFFFFFFFDB09FFB1500FEBEB2FFE7E3FB2500FD7E65FFFFFFFFFFFFFFDED7FB2A01FD826CFD7D66FB2C04FFEAE4FFFFFFFFFFFFFDB09FFB1500FEBEB2FFE5E1FB1700FD765EFFFFFFFFFFFFFFDED7FB2A01FD826CFD7E66FB2D04FEC5B9FED9D2FEE2DDFDAD9CFB1600FEB9ADFFF3F1FD8B78FEB7AAFFFEFEFFFFFFFFDED7FB2A01FD836DFD7A64FB1700FB2F07FB2405FC5A42FDAE9CFB1800FEC0B5FFF7F6FD6B57FEA89AFFFFFFFFFFFFFFDED7FB2A01FD7D66FDB3A7FC6951FC5F40FC5B3FFD7D67FD9B86FB1C00FDAA9AFFD2CAFC5035FD8B78FFFBF9FFFFFFFFDED7FB2900FC765EFFFFFFFEAEA1FB280EFB3912FB3F1AFB380CFB2A00FB2800FB2D04FB310FFB4323FFE9E3FFFFFFFFDED7FB2900FC775FFFFFFFFEBFB5FC6A55FD7E67FC4923FB1E00FB360FFC735AFC735AFC6F57FC7E68FFEFEBFFFFFFFFDED7FB2800FC7C65FFFFFFFFFFFFFFFFFFFEC2B7FB3213FB290AFEB8ACFFFFFFFFFFFFFFFFFFFFFFFFFFFFFEFFFFFFFFDED7FB2E04FC5A3CFDAE9FFDAD9EFD9B88FB2C07FB2707FEBAACFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDDD7FB2F09FB1C00FB1800FB1800FB1600FB2000FEB1A2FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFEEEBFEB7ABFEB6A8FEB7AAFEB7AAFEB6A8FEBAADFFF8F7FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF ZeroErr Driver ZeroErr Driver 2000 9000 5000 200 1000 20000 ZeroErr Driver 402 BIT2 2 BOOL 1 DINT 32 INT 16 UDINT 32 UINT 16 USINT 8 SINT 8 ARRAY [0..3] OF BYTE USINT 32 0 4 STRING(34) 272 STRING(4) 32 DT1010 48 0 Number of Entries USINT 8 0 ro m 1 Save All Parameters UDINT 32 16 rw o DT1018 144 0 Number of Entries 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 Serial number UDINT 32 112 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12ARR UINT 496 1 31 DT1C12 512 0 number of PDOs USINT 8 0 rw o Elements DT1C12ARR 496 16 rw o DT1C13ARR UINT 496 1 31 DT1C13 512 0 number of PDOs USINT 8 0 rw o Elements DT1C13ARR 496 16 rw o DT10F1 64 0 SubIndex 000 USINT 8 0 ro o 1 Local Error Reaction UDINT 32 16 rw o 2 Sync Error Counter Limit UINT 16 48 rw o DT1C32 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 32 Sync Error BOOL 1 480 ro c DT1C33 488 0 SubIndex 000 USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Time Too Small UINT 16 304 ro c 32 Sync Error BOOL 1 480 ro c DT2380 48 0 SubIndex 000 USINT 8 0 ro o 1 Current Loop Proportional Gain UINT 16 16 rw o 2 Current Loop integral Gain UINT 16 32 rw o DT2381 48 0 SubIndex 000 USINT 8 0 ro o 1 Velocity Loop Proportional Gain UINT 16 16 rw o 2 Velocity Loop integral Gain UINT 16 32 rw o DT2382 48 0 SubIndex 000 USINT 8 0 ro o 1 Position Loop Proportional Gain INT 16 16 rw o 2 Position Loop integral Gain INT 16 32 rw o DT200A 112 0 SubIndex 000 USINT 8 0 ro o 1 Motor locked-rotor current UDINT 32 16 rw o 2 Motor locked-rotor time UDINT 32 48 rw o 3 Motor locked-rotor velocity UDINT 32 80 rw o DT3B67 112 0 SubIndex 000 USINT 8 0 ro o 1 Soft motor locked-rotor current UDINT 32 16 rw o 2 Soft motor locked-rotor time UDINT 32 48 rw o 3 Soft motor locked-rotor velocity UDINT 32 80 rw o DT607B 80 0 SubIndex 000 USINT 8 0 ro o 1 Min position range limit DINT 32 16 rw 2 Max position range limit DINT 32 48 rw DT607D 80 0 SubIndex 000 USINT 8 0 ro o 1 Min position limit DINT 32 16 rw 2 Max position limit DINT 32 48 rw DT6093 80 0 SubIndex 000 USINT 8 0 ro o 1 Numerator UDINT 32 16 rw o 2 Feedconstant UDINT 32 48 rw o DT6094 80 0 SubIndex 000 USINT 8 0 ro o 1 Numerator UDINT 32 16 rw o 2 Divisor UDINT 32 48 rw o DT6095 80 0 SubIndex 000 USINT 8 0 ro o 1 Numerator UDINT 32 16 rw o 2 Divisor UDINT 32 48 rw o DT6097 80 0 SubIndex 000 USINT 8 0 ro o 1 Numerator UDINT 32 16 rw o 2 Divisor UDINT 32 48 rw o DT6099 80 0 SubIndex 000 USINT 8 0 ro o 1 Speedduringsearchforswitch UDINT 32 16 rw 2 Speedduringsearchforzero UDINT 32 48 rw DT60C1 80 0 SubIndex 000 USINT 8 0 ro o 1 Interpolation position index DINT 32 16 rw o 2 Interpolation position Time DINT 32 48 rw o DT60C2 32 0 SubIndex 000 USINT 8 0 ro o 1 Interpolation peroid USINT 8 16 rw o 2 Interpolation index USINT 8 24 rw o DTF000 48 0 SubIndex 000 USINT 8 0 ro o 1 Module index distance UINT 16 16 ro o 2 Maximum number of modules UINT 16 32 ro o DTF010ARR UDINT 64 1 2 #x1000 Device type UDINT 32 92010200 ro m #x1001 Error register USINT 8 00 ro o #x1008 Device name STRING(34) 272 454C39383030207C203241786973204369413430322053616D706C655F5635693131 ro o #x1009 Hardware version STRING(4) 32 6E2E612E ro o #x100a Software version STRING(4) 32 352E3131 ro o #x100B Node ID USINT 8 rw o #x1010 Store Parameters DT1010 48 Number of Entries 01 Save All Parameters 00000000 rw o #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro o #x1018 Identity DT1018 144 Number of Entries 04 Vendor ID 020000E0 Product Code 52920200 Revision 11020200 Serial number 00000000 ro o #x10F1 Error Settings DT10F1 64 SubIndex 000 02 Local Error Reaction 01 Sync Error Counter Limit 04 ro o #x1C12 Sync Manager 2 Communication Type DT1C12 512 #x1C13 Sync Manager 3 Communication Type DT1C13 512 rw o #x1c32 SM output parameter DT1C32 488 SubIndex 000 20 Synchronization Type 0100 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 ro o #x1c33 SM input parameter DT1C33 488 SubIndex 000 20 Synchronization Type 2200 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Time Too Small 0000 Sync Error 00 ro o #x200A Motor Stuck Parameters DT200A 112 SubIndex 000 03 Motor locked-rotor current 0000 Motor locked-rotor time 0000 Motor locked-rotor velocity 0000 rw o #x20A0 Auxiliary position actual value DINT 32 ro T #x2205 Analog Input INT 16 ro T #x2240 Motor Encoder Position DINT 32 ro T #x2241 Dual encoder difference value DINT 32 ro T #x2242 Reset load side encoder UINT 16 rw o #x22A2 Drive Temperature UINT 16 ro o #x2380 Current Loop Gains DT2380 48 SubIndex 000 00 Current Loop Proportional Gain 0000 Current Loop integral Gain 0000 rw o #x2381 Velocity Loop Gains DT2381 48 SubIndex 000 00 Velocity Loop Proportional Gain 0000 Velocity Loop integral Gain 0000 rw o #x2382 Position Loop Gains DT2382 48 SubIndex 000 00 Position Loop Proportional Gain 0000 Position Loop integral Gain 0000 rw o #x2420 Prepare Download UDINT 32 rw o #x2422 Firmware Version Number DINT 32 ro o #x2423 Firmware Length UDINT 32 rw o #x3000 Max Intergral UDINT 32 rw o #x3B60 Velocity Error Window UDINT 32 rw o #x3B61 Soft Velocity Following Error Window UDINT 32 rw o #x3B62 Soft Position Following Error Window UDINT 32 rw o #x3B63 Clear the warning code UDINT 32 rw o #x3B67 Soft Motor locked-rotor protection setup DT3B67 112 SubIndex 000 03 Soft motor locked-rotor current 0000 Soft motor locked-rotor time 0000 Soft motor locked-rotor velocity 0000 rw o #x3B68 Warning Code UDINT 32 ro T #x3B69 Torque sensor DINT 32 ro T #x3B6A Torque sensor ratio INT 16 ro T #x4602 Release Brake UDINT 32 rw o #x603f Error code UINT 16 ro T #x6040 Control word UINT 16 rw R #x6041 Status word UINT 16 ro T #x605a Quick stop option code INT 16 rw 0 #x605b Shutdown option code INT 16 rw 0 #x605c Disable option code INT 16 rw 0 #x605e Fault reaction option code INT 16 rw #x6060 Modes of operation SINT 8 rw R #x6061 Modes of operation display SINT 8 ro T #x6062 Position demand value DINT 32 ro T #x6063 Position actual value* DINT 32 ro T #x6064 Position actual value DINT 32 ro T #x6065 Following error window UDINT 32 rw #x6066 Following error time out UINT 16 rw #x6067 Position window UDINT 32 rw #x6068 Position window time UINT 16 rw #x6069 Velocity sensor actual value DINT 32 ro T #x606A Sensor selection code INT 16 rw #x606B Velocity demand value DINT 32 ro T #x606c Actual velocity DINT 32 ro T #x606D Velocity window UINT 16 rw #x606E Velocity window time UINT 16 rw #x606F Velocity threshold UINT 16 rw #x6070 Velocity threshold time UINT 16 rw #x6071 Target Torque INT 16 rw R #x6072 Max torque INT 16 rw R #x6073 Max current UINT 16 rw R #x6074 Torque demand value INT 16 ro T #x6075 Motor rated current UDINT 32 rw o #x6076 Motor rated torque UDINT 32 rw o #x6077 Torque Actual Value INT 16 ro T #x6078 Current Actual Value INT 16 ro T #x6079 DC link circuit voltage UDINT 32 ro T #x607A Target position DINT 32 rw R 0 #x607B Position range limit DT607B 80 SubIndex 000 Min position range limit Max position range limit rw o #x607C Home offset DINT 32 rw #x607D Software position limit DT607D 80 SubIndex 000 Min position limit Max position limit rw o #x607E Polarity USINT 8 rw o #x607F Max profile velocity UDINT 32 rw #x6080 Max motor speed UDINT 32 rw #x6081 Profile velocity UDINT 32 rw R #x6082 End velocity UDINT 32 rw R #x6083 Profile acceleration UDINT 32 rw R #x6084 Profile deceleration UDINT 32 rw R #x6085 Quickstop Declaration UDINT 32 rw R #x6086 Motion profile type INT 16 rw #x6087 Torque slope UDINT 32 rw R #x6093 Position factor DT6093 80 SubIndex 000 Numerator Feedconstant rw o #x6094 Velocity encoder factor DT6094 80 SubIndex 000 Numerator Divisor rw o #x6095 Velocity factor 1 DT6095 80 SubIndex 000 Numerator Divisor rw o #x6097 Acceleration factor DT6097 80 SubIndex 000 Numerator Divisor rw o #x6098 Homing Method SINT 8 rw #x6099 Homing speeds DT6099 80 SubIndex 000 Speedduringsearchforswitch Speedduringsearchforzero rw o #x609A Homing Acceleration UDINT 32 rw #x60B0 Position Offset DINT 32 rw R #x60B1 velocity Offset DINT 32 rw R #x60B2 Torque Offset INT 16 rw R #x60C0 Interpolated sub mode select INT 16 rw o #x60C1 Interpolation data record DT60C1 80 SubIndex 000 Interpolation position index Interpolation position Time rw o #x60C2 Interpolation Time Period DT60C2 32 SubIndex 000 Interpolation peroid Interpolation index rw o #x60C5 Maximum acceleration UDINT 32 rw #x60C6 Maximum deceleration UDINT 32 rw #x60E0 Positive torque limit value UINT 16 rw R #x60E1 Negative torque limit value UINT 16 rw R #x60F2 Position Option Code UINT 16 rw #x60f4 Following error actual value DINT 32 ro T #x60FC Position demand value increments DINT 32 rw T #x60FD Digital inputs UDINT 32 ro T #x60FE Digital Outputs UDINT 32 rw R #x60FF Target Velocity DINT 32 rw R #x6502 Supported Drive Modes UDINT 32 ro o #xf000 Modular device profile DTF000 48 SubIndex 000 02 Module index distance 1000 Maximum number of modules 0300 ro o Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 Receive PDO mapping 0 #x1601 #x1602 #x1603 #x1604 #x1605 #x1606 #x607A 0 32 Target Position DINT #x60FE 0 32 Digital Outputs UDINT #x6040 0 16 Control word UINT #x1601 Receive PDO mapping 1 #x1600 #x1602 #x1603 #x1604 #x1605 #x1606 #x60FF 0 32 Target Velocity DINT #x6040 0 16 Control word UINT #x1602 Receive PDO mapping 2 #x1600 #x1601 #x1603 #x1604 #x1605 #x1606 #x6071 0 16 Target Torque INT #x6040 0 16 Control word UINT #x1603 Receive PDO mapping 3 #x1600 #x1601 #x1602 #x1604 #x1605 #x1606 #x607A 0 32 Target Position DINT #x60FE 0 32 Digital Outputs UDINT #x60B1 0 32 Velocity Offset DINT #x6040 0 16 Control word UINT #x1604 Receive PDO mapping 4 #x1600 #x1601 #x1602 #x1603 #x1605 #x1606 #x607A 0 32 Target Position DINT #x60FF 0 32 Target Velocity DINT #x6072 0 16 Max. Torque UINT #x6040 0 16 Control word UINT #x1605 Receive PDO mapping 5 #x1600 #x1601 #x1602 #x1603 #x1604 #x1606 #x607A 0 32 Target Position DINT #x60FF 0 32 Target Velocity DINT #x6071 0 16 Target Torque INT #x6072 0 16 Max. Torque UINT #x6040 0 16 Control word UINT #x6060 0 8 Mode of operation SINT #x0 8 #x1606 Receive PDO mapping 6 #x1600 #x1601 #x1602 #x1603 #x1604 #x1605 #x607A 0 32 Target Position DINT #x60FE 0 32 Digital Outputs UDINT #x60FF 0 32 Target Velocity DINT #x60B1 0 32 Velocity Offset DINT #x60B2 0 16 Torque Offset INT #x6040 0 16 Control word UINT #x1607 Receive PDO mapping 7 #x6040 0 16 Control word UINT #x607A 0 32 Target Position DINT #x6060 0 8 Mode of operation SINT #x0 0 8 Dummy SINT #x1608 Receive PDO mapping 8 #x6040 #x00 16 Controlword UINT #x6071 #x00 16 Target torque INT #x607A #x00 32 Target position DINT #x6080 #x00 32 Max motor speed UDINT #x60FF #x00 32 Target velocity DINT #x6060 #x00 8 Modes of operation SINT 0 0 8 Dummy byte USINT #x1609 Receive PDO mapping 9 #x6040 #x00 16 Controlword UINT #x6072 #x00 16 Max torque UINT #x607A #x00 32 Target position DINT #x60FF #x00 32 Target velocity DINT #x6060 #x00 8 Modes of operation SINT #x0 8 #x160A Receive PDO mapping 10 #x6040 0 16 Control word UINT #x160B Receive PDO mapping 11 #x6060 0 8 Mode of operation SINT #x0 8 #x160C Receive PDO mapping 12 #x6071 0 16 Target Torque INT #x160D Receive PDO mapping 13 #x6072 0 16 Max. Torque UINT #x160E Receive PDO mapping 14 #x6073 0 16 Max. Current UINT #x160F Receive PDO mapping 15 #x607A 0 32 Target Position DINT #x1611 Receive PDO mapping 17 #x6081 0 32 Profile Velocity UDINT #x1612 Receive PDO mapping 18 #x6082 0 32 End velocity UDINT #x1613 Receive PDO mapping 19 #x6083 0 32 Profile Acceleration UDINT #x1614 Receive PDO mapping 20 #x6084 0 32 Profile Deceleration UDINT #x1615 Receive PDO mapping 21 #x6087 0 32 Torque Slope UDINT #x1616 Receive PDO mapping 22 #x60B0 0 32 Position Offset DINT #x1617 Receive PDO mapping 23 #x60B1 0 32 Velocity Offset DINT #x1618 Receive PDO mapping 24 #x60B2 0 16 Torque Offset INT #x161C Receive PDO mapping 25 #x60FF 0 32 Target Velocity DINT #x161D Receive PDO mapping 26 #x60FE 0 32 Digital Outputs UDINT #x161F Receive PDO mapping 27 #x6085 0 32 Quick stop deceleration UDINT #x1A00 Transmit PDO mapping 0 #x1A01 #x1A02 #x1A03 #x1A04 #x6064 0 32 Position actual value DINT #x60FD 0 32 Digital Inputs DINT #x6041 0 16 Status word UINT #x1A01 Transmit PDO mapping 1 #x1A00 #x1A02 #x1A03 #x1A04 #x6064 0 32 Position actual value DINT #x606B 0 32 Velocity demand value DINT #x6074 0 16 Torque demand value INT #x6041 0 16 Status word UINT #x1A02 Transmit PDO mapping 2 #x1A00 #x1A01 #x1A03 #x1A04 #x6064 0 32 Position actual value DINT #x6077 0 16 Torque actual value INT #x6041 0 16 Status word UINT #x6061 0 8 Mode of operation display SINT 0 0 8 Dummy byte USINT #x1A03 Transmit PDO mapping 3 #x1A00 #x1A01 #x1A02 #x1A04 #x6064 0 32 Position actual value DINT #x60FD 0 32 Digital Inputs DINT #x606C 0 32 Velocity actual value DINT #x6041 0 16 Status word UINT #x1A04 Transmit PDO mapping 4 #x1A00 #x1A01 #x1A02 #x1A03 #x6064 0 32 Position actual value DINT #x60F4 0 32 Position Following error actual value DINT #x6077 0 16 Torque actual value INT #x6041 0 16 Status word UINT #x6061 0 8 Mode of operation display SINT 0 0 8 Dummy byte USINT #x1a05 Transmit PDO mapping 5 #x603F #x00 16 Error code UINT #x6041 #x00 16 Statusword UINT #x6064 #x00 32 Position actual value DINT #x60F4 #x00 32 Following error actual value DINT #x6061 #x00 8 Modes of operation display SINT 0 0 8 Dummy byte USINT #x1a06 Transmit PDO mapping 6 #x603F #x00 16 Error code UINT #x6041 #x00 16 Statusword UINT #x6064 #x00 32 Position actual value DINT #x606C #x00 32 Velocity actual value DINT #x6077 #x00 16 Torque actual value INT #x6061 #x00 8 Modes of operation display SINT 0 0 8 Dummy byte USINT #x1A07 Transmit PDO mapping 7 #x20A0 0 32 Auxiliary Position Actual Value DINT #x1A08 Transmit PDO mapping 8 #x3B68 #x00 32 Warning Code UDINT #x3B69 #x00 32 Actual Torque DINT #x3B6A #x00 16 Actual Torque Ratio INT #x1A0A Transmit PDO mapping 10 #x6041 0 16 Status word UINT #x1A0B Transmit PDO mapping 11 #x6061 0 8 Mode of operation display SINT #x0 8 #x1A0C Transmit PDO mapping 12 #x6062 0 32 Position Demand [UU] DINT #x1A0D Transmit PDO mapping 13 #x6063 0 32 Actual position [counts] DINT #x1A0E Transmit PDO mapping 14 #x6064 0 32 Position actual value DINT #x1A0F Transmit PDO mapping 15 #x6069 0 32 Velocity sensor actual value [counts/sec] DINT #x1A10 Transmit PDO mapping 16 #x606B 0 32 Velocity demand [cnt/sec] DINT #x1A11 Transmit PDO mapping 17 #x606C 0 32 Velocity actual value DINT #x1A12 Transmit PDO mapping 18 #x6074 0 16 Torque demand value INT #x1A13 Transmit PDO mapping 19 #x6077 0 16 Torque actual value INT #x1A18 Transmit PDO mapping 24 #x6079 0 32 DC link circuit voltage UDINT #x1A19 Transmit PDO mapping 25 #x60F4 0 32 Position Following error DINT #x1A1B Transmit PDO mapping 27 #x60FC 0 32 Position Demand Value [cnt] DINT #x1A1C Transmit PDO mapping 28 #x60FD 0 32 Digital Inputs DINT #x1A1F Transmit PDO mapping 31 #x6078 0 16 Current actual value INT DC DC-Synchron #x300 0 0 0 Synchron SM-Synchron #x0 0 0 0 2048 8D0E84CC88130000000000800000 00104C0080104C00 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