FormatVersion=3.1 // Do not edit! MuxChar=* DecimalSeparator=. {SEND} [NMT_Comand] ID=000h // NMT-operational Picture=******** aaaaaaaa *=Start_RemoteNode 1 -m // NMT operational a=NodeID unsigned -h -m // operational [NMT_Comand] Picture=******** aaaaaaaa *=Set_Preoperational 80h -m // NMT-preoperational a=NodeID unsigned -h -m // NodeID [NMT_Comand] Picture=******** aaaaaaaa *=Stop_RemoteNode 2 -m // NMT Stop Remote Node a=NodeID unsigned -h -m // NodeID [NMT_Comand] Picture=******** aaaaaaaa *=Reset_Node 81h -m // Reset Node a=NodeID unsigned -m // Node-ID [NMT_Comand] Picture=******** aaaaaaaa *=Reset_Communication 82h -m // Reset Communication a=Variable1 unsigned -h -m // Node ID [SDO_Tx] ID=620h // Transmit SDO mit 2-Byte Nutzdaten Picture=******** ******** ******** ******** aaaaaaaa aaaaaaaa *=Write_ControlWord 2B002000h -m // write Control Word a=Daten unsigned -h [SDO_Tx] Picture=******** ******** ******** ******** *=Read_StatusWord 40012000h -m // read Status Word [SDO_Tx] Picture=******** ******** ******** ******** *=Read_User_ErrorID 40042000h -m // read ErrorID [manufakturer code] [SDO_Tx] Picture=******** ******** ******** ******** *=Read_ErrorRegister 40011000h -m // read ErrorRegister [Index 1001] [Send_Device_Command] ID=320h // Send Device Commands [PDO2] Picture=aaaaaaaa aaaaaaaa ******** bbbbbbbb bbbbbbbb bbbbbbbb bbbbbbbb *=Move_absolut 1 // Start_Motion a=ControlWord unsigned -h // ControlWord b=Argument signed // Argument [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** bbbbbbbb bbbbbbbb bbbbbbbb bbbbbbbb *=Move_relativ 2 // relative Fahrt a=ControlWord unsigned -h // Control Word b=Argument signed // Argument [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** bbbbbbbb bbbbbbbb bbbbbbbb bbbbbbbb *=Stop_Motion 3 // Stop Motion a=ControlWord unsigned -h // ControlWord b=Argument signed // Argument [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** bbbbbbbb bbbbbbbb bbbbbbbb bbbbbbbb *=Continue_Motion 4 a=ControlWord unsigned -h // ControlWord b=Argument signed // Argument [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** bbbbbbbb bbbbbbbb bbbbbbbb bbbbbbbb *=Do_Referenz 5 // Reference Motion a=ControlWord unsigned -h // ControlWord b=Argument signed // Argument [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** bbbbbbbb bbbbbbbb bbbbbbbb bbbbbbbb *=Set_Zero_Position 7 // Set Position as null a=ControlWord unsigned -h // ControlWord b=Argument signed // Argument [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** bbbbbbbb bbbbbbbb bbbbbbbb bbbbbbbb *=Velocity_Profile 8 // Velocity Profile a=ControlWord unsigned -h // ControlWord b=Argument signed // Argument [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** bbbbbbbb bbbbbbbb bbbbbbbb bbbbbbbb *=Set_Acceleration 9 // Acceleration a=ControlWord unsigned -h // ControlWord b=Argument signed /d:500 // Argument [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** bbbbbbbb bbbbbbbb bbbbbbbb bbbbbbbb *=Set_Start_Velocity 0Ah // Start Velocity a=ControlWord unsigned -h // ControlWord b=Argument signed /d:1 // Argument [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** bbbbbbbb bbbbbbbb bbbbbbbb bbbbbbbb *=Set_End_Velocity 0Bh // End Velocity a=ControlWord unsigned -h // ControlWord b=Argument signed /d:5000 // Argument [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** bbbbbbbb bbbbbbbb bbbbbbbb bbbbbbbb *="Set_Steps/Revolution" 0Ch // Steps per Revolution a=ControlWord unsigned -h // ControlWord b=Argument signed /d:4000 // Argument [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** bbbbbbbb bbbbbbbb bbbbbbbb bbbbbbbb *=Set_Phase_Current 0Dh // Motor Current a=ControlWord unsigned -h // ControlWord b=Argument signed /d:3500 // Argument [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** bbbbbbbb bbbbbbbb bbbbbbbb bbbbbbbb *=Set_Current_Reduction 0Eh // Current Reduction a=ControlWord unsigned -h // ControlWord b=Argument signed /d:60 // Argument [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** bbbbbbbb bbbbbbbb bbbbbbbb bbbbbbbb *=Set_Current_Limit 0Fh // Current limit a=ControlWord unsigned -h // ControlWord b=Argument signed /d:5000 // Argument [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** bbbbbbbb bbbbbbbb bbbbbbbb bbbbbbbb *=Gear_Numerator 11h // gear numerator a=ControlWord unsigned -h // ControlWord b=Argument signed /d:1 // Argument [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** bbbbbbbb bbbbbbbb bbbbbbbb bbbbbbbb *=Gear_Denominater 12h // Gear Denominator a=ControlWord unsigned -h // ControlWord b=Argument signed /d:1 // Argument [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** bbbbbbbb bbbbbbbb bbbbbbbb bbbbbbbb *="Set_mm/Revolution" 13h // distance [mm] per motor revolution a=ControlWord unsigned -h // ControlWord b=Argument signed // Argument [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** bbbbbbbb bbbbbbbb bbbbbbbb bbbbbbbb *=Set_Units 14h // units 1, 1/10, 1/100, 1/1000 ! input reziprok a=ControlWord unsigned -h // ControlWord b=Argument signed /d:1 // Argument [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** -------- -------- -------- -------- *=Send_Status 15h // send Status a=ControlWord unsigned -h // ControlWord [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** -------- -------- -------- -------- *=Clear_Error 16h // clear Error a=ControlWord unsigned -h // ControlWord [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** -------- -------- -------- -------- *=Send_Position 17h // Send Position a=ControlWord unsigned -h // ControlWord [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** -------- -------- -------- -------- *=Send_Inputs 18h // Send Inputs a=ControlWord unsigned -h // ControlWord [Send_Device_Command] Picture=aaaaaaaa aaaaaaaa ******** bbbbbbbb bbbbbbbb bbbbbbbb bbbbbbbb *=Set_Outputs 19h a=ControlWord unsigned -h // ControlWord b=Argument unsigned // Argument [Send_ControlWord] ID=220h // Send Control Word [PDO1] Period=250 Picture=aaaaaaaa aaaaaaaa a=ControlWord unsigned -h // ControlWord {RECEIVE} [NMT_Respons_HBEAT/ERROR] ID=720h // NMT/ERROR control Picture=******** *=NMT_BootUp 0 -m // NMT Bootup [NMT_Respons_HBEAT/ERROR] Picture=******** *=NMT_stopped 4 -m // NMT stopped [NMT_Respons_HBEAT/ERROR] Picture=******** *=NMT_operational 5 -m // NMT operational [NMT_Respons_HBEAT/ERROR] Picture=******** *=NMT_preoperational 7Fh -m // NMT pre-operational [SDO_Rx_Response] ID=5A0h // SDO Response mit 2Byte Nutzdaten Picture=******** ******** ******** ******** aaaaaaaa aaaaaaaa -------- -------- *=ErrorID 4B042000h -m // ErrorID [USER specific] a=Daten unsigned -h // Daten [SDO_Rx_Response] Picture=******** ******** ******** ******** aaaaaaaa -------- -------- -------- *=ErrorRegister 4F011000h -m // ErrorRegister [Index 1001] a=Daten unsigned -h // Daten [Receive_Device_Data] ID=2A0h // Receive Position [PDO2] Picture=aaaaaaaa aaaaaaaa bbbbbbbb cccccccc cccccccc cccccccc cccccccc a=StatusWord unsigned -h // Status_Word b=DataIdentifier unsigned // Data-Identifier c=DeviceData unsigned // DeviceData [Receive_Status] ID=1A0h // Receive_Status[PDO1] Picture=aaaaaaaa aaaaaaaa bbbbbbbb bbbbbbbb a=StatusWord unsigned -h // StatusWord b=UserExtensionIn unsigned -h // UserExtensionIn {SENDRECEIVE} {MESSAGEKEYS} {MACROKEYS}