#x588 IAI Corporation 424DE6000000000000007600000028000000100000000E000000010004000000000070000000130B0000130B000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF858F58FF858F758F815F8188518F817FF15FF718118F815FF518FF1811FFF51FF718FF8115FFF518F717FFF717FFF718FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF RC Gateway(DriveProfile) RC Gateway(DriveProfile) 424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFF2000000000000FF77777770070000118888887007000031888888700700003387888870027770FF78778880222000FFF2220000227770FF77777772270000118888887027000031888888722700003387888870270000FF78778882227777FFF2222222222222FFFFFFFFFFFFFFFF RCON-GW-ECM RCON Series EtherCAT Slave Unit http://www.iai-robot.co.jp/ 100 6000 false RC Gateway(DriveProfile) 402 SINT 8 INT 16 DINT 32 USINT 8 UINT 16 UDINT 32 STRING(1) 8 STRING(7) 56 STRING(10) 80 DT1003ARR UDINT 160 1 5 DT1003 176 0 Number of entries USINT 8 0 rw Elements DT1003ARR 160 16 ro DT1011ARR UDINT 32 1 1 DT1011 48 0 Number of entries USINT 8 0 ro Elements DT1011ARR 32 16 rw 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 DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of entries USINT 8 0 ro Elements DT1C00ARR 32 16 ro DT1C12ARR UINT 1024 1 64 DT1C12 1040 0 Number of entries USINT 8 0 rw Elements DT1C12ARR 1024 16 rw DT1C13ARR UINT 1024 1 64 DT1C13 1040 0 Number of entries USINT 8 0 rw Elements DT1C13ARR 1024 16 rw DT1C32 224 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 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 9 Delay Time UDINT 32 176 ro 12 Cycle Time Too Small UINT 16 208 ro DT1C33 192 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 Synchronization Types supported UINT 16 96 ro 5 Minimum Cycle Time UDINT 32 112 ro 6 Calc and Copy Time UDINT 32 144 ro 12 Cycle Time Too Small UINT 16 176 ro DT4FFEARR UDINT 96 1 3 DT4FFE 112 0 Number of entries USINT 8 0 ro Elements DT4FFEARR 96 16 rw #x1000 Device Type UDINT 32 ro #x1001 Error Register USINT 8 ro #x1003 Pre-defined error field DT1003 176 Number of entries SubIndex 001 SubIndex 002 SubIndex 003 SubIndex 004 SubIndex 005 #x1008 Manufacturer Device Name STRING(10) 80 ro #x1009 Manufacturer Hardware Version STRING(1) 8 ro #x100A Manufacturer Software Version STRING(7) 56 ro #x1011 Restore default parameters DT1011 48 Number of entries SubIndex 001 #x1018 Identity Object DT1018 144 Number of entries Vendor ID Product Code Revision Number Serial Number #x1C00 Sync Manager Communication Type DT1C00 48 Number of entries SubIndex 001 SubIndex 002 SubIndex 003 SubIndex 004 #x1C12 Sync Manager Rx PDO assign DT1C12 1040 Number of entries SubIndex 001 SubIndex 002 SubIndex 003 SubIndex 004 SubIndex 005 SubIndex 006 SubIndex 007 SubIndex 008 SubIndex 009 SubIndex 010 SubIndex 011 SubIndex 012 SubIndex 013 SubIndex 014 SubIndex 015 SubIndex 016 SubIndex 017 SubIndex 018 SubIndex 019 SubIndex 020 SubIndex 021 SubIndex 022 SubIndex 023 SubIndex 024 SubIndex 025 SubIndex 026 SubIndex 027 SubIndex 028 SubIndex 029 SubIndex 030 SubIndex 031 SubIndex 032 SubIndex 033 SubIndex 034 SubIndex 035 SubIndex 036 SubIndex 037 SubIndex 038 SubIndex 039 SubIndex 040 SubIndex 041 SubIndex 042 SubIndex 043 SubIndex 044 SubIndex 045 SubIndex 046 SubIndex 047 SubIndex 048 SubIndex 049 SubIndex 050 SubIndex 051 SubIndex 052 SubIndex 053 SubIndex 054 SubIndex 055 SubIndex 056 SubIndex 057 SubIndex 058 SubIndex 059 SubIndex 060 SubIndex 061 SubIndex 062 SubIndex 063 SubIndex 064 #x1C13 Sync Manager Tx PDO assign DT1C13 1040 Number of entries SubIndex 001 SubIndex 002 SubIndex 003 SubIndex 004 SubIndex 005 SubIndex 006 SubIndex 007 SubIndex 008 SubIndex 009 SubIndex 010 SubIndex 011 SubIndex 012 SubIndex 013 SubIndex 014 SubIndex 015 SubIndex 016 SubIndex 017 SubIndex 018 SubIndex 019 SubIndex 020 SubIndex 021 SubIndex 022 SubIndex 023 SubIndex 024 SubIndex 025 SubIndex 026 SubIndex 027 SubIndex 028 SubIndex 029 SubIndex 030 SubIndex 031 SubIndex 032 SubIndex 033 SubIndex 034 SubIndex 035 SubIndex 036 SubIndex 037 SubIndex 038 SubIndex 039 SubIndex 040 SubIndex 041 SubIndex 042 SubIndex 043 SubIndex 044 SubIndex 045 SubIndex 046 SubIndex 047 SubIndex 048 SubIndex 049 SubIndex 050 SubIndex 051 SubIndex 052 SubIndex 053 SubIndex 054 SubIndex 055 SubIndex 056 SubIndex 057 SubIndex 058 SubIndex 059 SubIndex 060 SubIndex 061 SubIndex 062 SubIndex 063 SubIndex 064 #x1C32 Output Sync Manager Parameter DT1C32 224 Number of entries Synchronization Type Cycle Time Shift Time Synchronization Types supported Minimum Cycle Time Calc and Copy Time Delay Time Cycle Time Too Small #x1C33 Input Sync Manager Parameter DT1C33 192 Number of entries Synchronization Type Cycle Time Shift Time Synchronization Types supported Minimum Cycle Time Calc and Copy Time Cycle Time Too Small #x4FFE LoopBackTest DT4FFE 112 Number of entries SubIndex 001 SubIndex 002 SubIndex 003 Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs FreeRun Free Run #x0000 DcSync DC for synchronization #x0300 0 0 Ax #x03A40001 2498 1000 384 80360046F4010000000000000000 0040000400480004 424DB6030000000000003600000028000000100000000E00000001002000000000008003000000000000000000000000000000000000632C31FF632C31FF000000FF000000FF000000FF000000FF000000FF000000FF000000FF000000FF000000FF000000FF632C31FF632C31FF632C31FF000000FFFFCFCEFF632C31FF000000FFFFCFCEFFFFCFCEFFFFCFCEFFFFCFCEFFFFCFCEFFFFCFCEFFFFCFCEFFFFCFCEFF000000FFFFCFCEFF632C31FF632C31FF000000FFFFCFCEFFFFCFCEFF000000FF000000FF000000FF000000FF000000FF000000FF000000FF000000FF000000FF000000FFFFCFCEFFFFCFCEFFFFCFCEFF000000FF000000FF000000FF000000FFFFFFFFFFFFFFFFFFFFFFFFFF00FF00FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF000000FF000000FF000000FF000000FF632C31FF000000FFFFFFFFFFFFFFFFFFFFFFFFFF00FF00FF008000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF000000FFFFCFCEFF000000FFFFFFFFFFFFCFCEFF000000FFFFFFFFFFFFFFFFFF00FF00FF008000FF008000FF008000FF008000FF008000FF008000FF008000FF008000FF008000FF000000FFFFFFFFFFFFCFCEFF000000FFFFFFFFFF00FF00FF008000FF008000FF008000FF008000FF008000FF008000FF008000FF008000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFCFCEFF000000FFFFFFFFFFC0C0C0FFC0C0C0FFC0C0C0FF008000FFC0C0C0FFC0C0C0FFC0C0C0FFC0C0C0FFC0C0C0FF008000FF008000FF008000FFC0C0C0FFFFCFCEFFAD7D52FF945921FF8C4D10FFAD794AFFAD8252FF945921FF945518FFA57142FF008000FF008000FF008000FF008000FF008000FFC0C0C0FFFFFFFFFF8C5110FF843C00FF843C00FFBD9E7BFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF008000FFC0C0C0FFFFFFFFFFFFFFFFFFBD926BFFA56D39FF8C4908FF8C4910FFB58A63FFBD926BFF945518FF843C00FF945118FFBD9E7BFFFFFFFFFFFFFFFFFFC0C0C0FFFFFFFFFFFFFFFFFFFFFFFFFF844100FF8C5118FFA57142FFFFFFFFFFFFFFFFFFBD926BFFA5754AFFA57142FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF844100FF843C00FF843C00FFB5926BFFB58663FF844508FF844100FFA5754AFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF844100FF843C00FF843C00FFB58A63FFB58663FF8C4D10FF8C4908FF9C6531FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF RCON MotionDriver #x1600 Receive PDO Mapping #x6040 0 16 ControlWord UINT #x607A 0 32 Target Position DINT #x6060 0 8 Mode of operation SINT #x1601 Receive PDO Mapping #x6081 0 32 Profile velocity UDINT #x1602 Receive PDO Mapping #x6083 0 32 Profile acceleration UDINT #x1603 Receive PDO Mapping #x6084 0 32 Profile deceleration UDINT #x1604 Receive PDO Mapping #x6072 0 16 Max Torque UINT #x1605 Receive PDO Mapping #x60FE 1 32 Physical outputs UDINT #x1606 Receive PDO Mapping #x60FE 2 32 Bit mask UDINT #x1607 Receive PDO Mapping #x1A00 Transmit PDO Mapping #x6041 0 16 StatusWord UINT #x6064 0 32 Position actual value DINT #x6061 0 8 Mode of operation display SINT #x1A01 Transmit PDO Mapping #x6062 0 32 Position demand value DINT #x1A02 Transmit PDO Mapping #x60F4 0 32 Following error actual value DINT #x1A03 Transmit PDO Mapping #x606C 0 32 Velocity actual value DINT #x1A04 Transmit PDO Mapping #x6077 0 16 Torque actual value INT #x1A05 Transmit PDO Mapping #x60FD 0 32 Digital inputs UDINT #x1A06 Transmit PDO Mapping #x603F 0 16 Error code UINT #x1A07 Transmit PDO Mapping 402 SINT 8 INT 16 DINT 32 USINT 8 UINT 16 UDINT 32 DT607BARR DINT 64 1 2 DT607B 80 0 Number of entries USINT 8 0 ro Elements DT607BARR 64 16 ro DT607DARR DINT 64 1 2 DT607D 80 0 Number of entries USINT 8 0 ro Elements DT607DARR 64 16 ro DT608FARR UDINT 64 1 2 DT608F 80 0 Number of entries USINT 8 0 ro Elements DT608FARR 64 16 ro DT6091ARR UDINT 64 1 2 DT6091 80 0 Number of entries USINT 8 0 ro Elements DT6091ARR 64 16 ro DT60E3ARR SINT 16 1 2 DT60E3 32 0 Number of entries USINT 8 0 ro Elements DT60E3ARR 16 16 ro DT60FEARR UDINT 64 1 2 DT60FE 80 0 Number of entries USINT 8 0 ro Elements DT60FEARR 64 16 rw r #x603F Error code UINT 16 ro t #x6040 ControlWord UINT 16 rw r #x6041 StatusWord UINT 16 ro t #x605A Quick stop option code INT 16 ro #x6060 Mode of operation SINT 8 rw r #x6061 Mode of operation display SINT 8 ro t #x6062 Position demand value DINT 32 ro t #x6064 Position actual value DINT 32 ro t #x6065 Following error window UDINT 32 ro #x6066 Following error timeout UINT 16 ro #x6067 Position window UDINT 32 ro #x6068 Position window time UINT 16 ro #x606C Velocity actual value DINT 32 ro t #x6072 Max Torque UINT 16 rw r #x6077 Torque actual value INT 16 ro t #x607A Target Position DINT 32 rw r #x607B Position range limit DT607B 80 Number of entries SubIndex 001 SubIndex 002 #x607D Software position limit DT607D 80 Number of entries SubIndex 001 SubIndex 002 #x607E Polarity USINT 8 ro #x607F Max Profile velocity UDINT 32 ro #x6080 Max Motor Speed UDINT 32 ro #x6081 Profile velocity UDINT 32 rw r #x6083 Profile acceleration UDINT 32 rw r #x6084 Profile deceleration UDINT 32 rw r #x608F Position encoder resolution DT608F 80 Number of entries SubIndex 001 SubIndex 002 #x6091 Gear ratio DT6091 80 Number of entries SubIndex 001 SubIndex 002 #x6098 Homing method SINT 8 ro #x60C5 Max acceleration UDINT 32 ro #x60C6 Max deceleration UDINT 32 ro #x60E0 Positive Torque Limit UINT 16 rw r #x60E1 Negative Torque Limit UINT 16 rw r #x60E3 Supported Homing method DT60E3 32 Number of entries SubIndex 001 SubIndex 002 #x60F4 Following error actual value DINT 32 ro t #x60FC Position demand internal value DINT 32 ro t #x60FD Digital inputs UDINT 32 ro t #x60FE Digital outputs DT60FE 80 Number of entries Physical outputs Bit mask #x60FF Target velocity DINT 32 ro #x6502 Supported drive modes UDINT 32 ro