The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 2 revision(s) of this hardware. Here are the known revisions and their differences.
This also includes the send and receive PDOs defined for each revision, and a link to other known devices with identical PDOs.
| Revision | r17 |
r18 |
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| Name | AMI8000-0100 Servo motor 48 V DC, TwinSAFE |
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| PID | 0x368ecc09 |
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| Revision Code | 0x00110064 |
0x00120064 |
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| Equivalant Devices | AMI8000-0000 r17 |
AMI8000-0000 r18 |
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| TX PDOs | 0x1a00: FB Position |
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0x6000:11 Position UDINT (32 bits) |
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0x1a01: DRV Statusword |
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0x6010:01 Statusword UINT (16 bits) |
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0x1a02: DRV Velocity actual value |
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0x6010:07 Velocity actual value DINT (32 bits) |
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0x1a03: DRV Torque actual value |
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0x6010:08 Torque actual value INT (16 bits) |
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0x1a04: DRV Info data 1 |
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0x6010:12 Info data 1 UINT (16 bits) |
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0x1a05: DRV Info data 2 |
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0x6010:13 Info data 2 UINT (16 bits) |
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0x1a06: DRV Following error actual value |
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0x6010:06 Following error actual value DINT (32 bits) |
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0x1a07: FB Touch probe status |
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0x6001:01 Touch probe status__TP1 Enable BOOL |
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0x6001:02 Touch probe status__TP1 Pos value stored BOOL |
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0x6001:03 Touch probe status__TP1 Neg value stored BOOL |
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0x6001:08 Touch probe status__TP1 Input BOOL |
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0x6001:09 Touch probe status__TP2 Enable BOOL |
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0x6001:0a Touch probe status__TP2 Pos value stored BOOL |
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0x6001:0b Touch probe status__TP2 Neg value stored BOOL |
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0x6001:10 Touch probe status__TP2 Input BOOL |
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0x1a08: FB Touch probe 1 pos position |
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0x6001:11 TP1 Pos position UDINT (32 bits) |
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0x1a09: FB Touch probe 1 neg position |
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0x6001:12 TP1 Neg position UDINT (32 bits) |
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0x1a0a: FB Touch probe 2 pos position |
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0x6001:13 TP2 Pos position UDINT (32 bits) |
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0x1a0b: FB Touch probe 2 neg position |
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0x6001:14 TP2 Neg position UDINT (32 bits) |
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0x1a0d: DRV Info data 3 |
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0x6010:14 Info data 3 UINT (16 bits) |
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0x1a0e: DRV Modes of operation display |
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0x6010:03 Modes of operation display USINT (8 bits) |
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0x1a0f: DRV Torque limitation status |
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0x6010:15 Torque limitation status USINT (8 bits) |
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0x1a10: DI Inputs |
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0x6020:01 Input 1 BOOL |
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0x6020:02 Input 2 BOOL |
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0x1a11: FB Touch probe 1 pos timestamp |
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0x6001:15 TP1 Pos timestamp UDINT (32 bits) |
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0x1a12: FB Touch probe 1 neg timestamp |
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0x6001:16 TP1 Neg timestamp UDINT (32 bits) |
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0x1a13: FB Touch probe 2 pos timestamp |
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0x6001:17 TP2 Pos timestamp UDINT (32 bits) |
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0x1a14: FB Touch probe 2 neg timestamp |
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0x6001:18 TP2 Neg timestamp UDINT (32 bits) |
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0x1a60: DMC Inputs |
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0x6060:02 DMC__FeedbackStatus__Latch extern valid BOOL |
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0x6060:03 DMC__FeedbackStatus__Set counter done BOOL |
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0x6060:0d DMC__FeedbackStatus__Status of extern latch BOOL |
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0x6060:11 DMC__DriveStatus__Ready to enable BOOL |
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0x6060:12 DMC__DriveStatus__Ready BOOL |
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0x6060:13 DMC__DriveStatus__Warning BOOL |
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0x6060:14 DMC__DriveStatus__Error BOOL |
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0x6060:15 DMC__DriveStatus__Moving positive BOOL |
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0x6060:16 DMC__DriveStatus__Moving negative BOOL |
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0x6060:1c DMC__DriveStatus__Digital input 1 BOOL |
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0x6060:1d DMC__DriveStatus__Digital input 2 BOOL |
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0x6060:21 DMC__PositioningStatus__Busy BOOL |
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0x6060:22 DMC__PositioningStatus__In-Target BOOL |
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0x6060:23 DMC__PositioningStatus__Warning BOOL |
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0x6060:24 DMC__PositioningStatus__Error BOOL |
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0x6060:25 DMC__PositioningStatus__Calibrated BOOL |
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0x6060:26 DMC__PositioningStatus__Accelerate BOOL |
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0x6060:27 DMC__PositioningStatus__Decelerate BOOL |
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0x6060:28 DMC__PositioningStatus__Ready to execute BOOL |
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0x6060:31 DMC__Set position LINT (64 bits) |
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0x6060:32 DMC__Set velocity INT (16 bits) |
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0x6060:33 DMC__Actual drive time UDINT (32 bits) |
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0x6060:34 DMC__Actual position lag LINT (64 bits) |
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0x6060:35 DMC__Actual velocity INT (16 bits) |
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0x6060:36 DMC__Actual position LINT (64 bits) |
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0x6060:37 DMC__Error id UDINT (32 bits) |
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0x6060:38 DMC__Input cycle counter USINT (8 bits) |
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0x6060:39 DMC__Channel id USINT (8 bits) |
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0x6060:3a DMC__Latch value LINT (64 bits) |
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0x6060:3b DMC__Cyclic info data 1 INT (16 bits) |
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0x6060:3c DMC__Cyclic info data 2 INT (16 bits) |
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0x1a61: DMC Inputs 32 Bit |
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0x6060:02 DMC__FeedbackStatus__Latch extern valid BOOL |
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0x6060:03 DMC__FeedbackStatus__Set counter done BOOL |
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0x6060:0d DMC__FeedbackStatus__Status of extern latch BOOL |
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0x6060:11 DMC__DriveStatus__Ready to enable BOOL |
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0x6060:12 DMC__DriveStatus__Ready BOOL |
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0x6060:13 DMC__DriveStatus__Warning BOOL |
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0x6060:14 DMC__DriveStatus__Error BOOL |
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0x6060:15 DMC__DriveStatus__Moving positive BOOL |
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0x6060:16 DMC__DriveStatus__Moving negative BOOL |
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0x6060:1c DMC__DriveStatus__Digital input 1 BOOL |
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0x6060:1d DMC__DriveStatus__Digital input 2 BOOL |
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0x6060:21 DMC__PositioningStatus__Busy BOOL |
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0x6060:22 DMC__PositioningStatus__In-Target BOOL |
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0x6060:23 DMC__PositioningStatus__Warning BOOL |
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0x6060:24 DMC__PositioningStatus__Error BOOL |
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0x6060:25 DMC__PositioningStatus__Calibrated BOOL |
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0x6060:26 DMC__PositioningStatus__Accelerate BOOL |
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0x6060:27 DMC__PositioningStatus__Decelerate BOOL |
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0x6060:28 DMC__PositioningStatus__Ready to execute BOOL |
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0x6060:31 DMC__Set position DINT (32 bits) |
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0x6060:32 DMC__Set velocity INT (16 bits) |
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0x6060:33 DMC__Actual drive time UDINT (32 bits) |
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0x6060:34 DMC__Actual position lag DINT (32 bits) |
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0x6060:35 DMC__Actual velocity INT (16 bits) |
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0x6060:36 DMC__Actual position DINT (32 bits) |
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0x6060:37 DMC__Error id UDINT (32 bits) |
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0x6060:38 DMC__Input cycle counter USINT (8 bits) |
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0x6060:39 DMC__Channel id USINT (8 bits) |
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0x6060:3a DMC__Latch value DINT (32 bits) |
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0x6060:3b DMC__Cyclic info data 1 INT (16 bits) |
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0x6060:3c DMC__Cyclic info data 2 INT (16 bits) |
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| RX PDOs | 0x1600: DRV Controlword |
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0x7010:01 Controlword UINT (16 bits) |
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0x1601: DRV Target velocity |
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0x7010:06 Target velocity DINT (32 bits) |
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0x1602: DRV Target torque |
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0x7010:09 Target torque INT (16 bits) |
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0x1603: DRV Commutation angle |
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0x7010:0e Commutation angle UINT (16 bits) |
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0x1604: DRV Torque limitation |
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0x7010:0b Torque limitation UINT (16 bits) |
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0x1605: DRV Torque offset |
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0x7010:0a Torque offset INT (16 bits) |
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0x1606: DRV Target position |
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0x7010:05 Target position UDINT (32 bits) |
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0x1607: FB Touch probe control |
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0x7001:01 Touch probe function__TP1 Enable BOOL |
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0x7001:02 Touch probe function__TP1 Continous BOOL |
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0x7001:03 Touch probe function__TP1 Trigger mode BIT2 (2 bits) |
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0x7001:05 Touch probe function__TP1 Enable pos edge BOOL |
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0x7001:06 Touch probe function__TP1 Enable neg edge BOOL |
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0x7001:09 Touch probe function__TP2 Enable BOOL |
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0x7001:0a Touch probe function__TP2 Continous BOOL |
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0x7001:0b Touch probe function__TP2 Trigger mode BIT2 (2 bits) |
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0x7001:0d Touch probe function__TP2 Enable pos edge BOOL |
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0x7001:0e Touch probe function__TP2 Enable neg edge BOOL |
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0x1608: DRV Modes of operation |
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0x7010:03 Modes of operation USINT (8 bits) |
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0x1609: DRV Velocity offset |
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0x7010:0f Velocity offset DINT (32 bits) |
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0x160a: DRV Positive torque limit value |
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0x7010:10 Positive torque limit value UINT (16 bits) |
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0x160b: DRV Negative torque limit value |
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0x7010:11 Negative torque limit value UINT (16 bits) |
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0x160c: DRV Low velocity limit value |
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0x7010:12 Low velocity limit value DINT (32 bits) |
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0x160d: DRV High velocity limit value |
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0x7010:13 High velocity limit value DINT (32 bits) |
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0x1610: DO Outputs |
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0x7030:01 Output 1 BOOL |
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0x7030:02 Output 2 BOOL |
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0x1660: DMC Outputs |
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0x7060:02 DMC__FeedbackControl__Enable latch extern on positive edge BOOL |
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0x7060:03 DMC__FeedbackControl__Set counter BOOL |
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0x7060:04 DMC__FeedbackControl__Enable latch extern on negative edge BOOL |
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0x7060:11 DMC__DriveControl__Enable BOOL |
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0x7060:12 DMC__DriveControl__Reset BOOL |
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0x7060:21 DMC__PositioningControl__Execute BOOL |
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0x7060:22 DMC__PositioningControl__Emergency stop BOOL |
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0x7060:31 DMC__Set counter value LINT (64 bits) |
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0x7060:32 DMC__Target position LINT (64 bits) |
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0x7060:33 DMC__Target velocity INT (16 bits) |
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0x7060:34 DMC__Start type UINT (16 bits) |
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0x7060:35 DMC__Target acceleration UINT (16 bits) |
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0x7060:36 DMC__Target deceleration UINT (16 bits) |
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0x1661: DMC Outputs 32 Bit |
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0x7060:02 DMC__FeedbackControl__Enable latch extern on positive edge BOOL |
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0x7060:03 DMC__FeedbackControl__Set counter BOOL |
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0x7060:04 DMC__FeedbackControl__Enable latch extern on negative edge BOOL |
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0x7060:11 DMC__DriveControl__Enable BOOL |
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0x7060:12 DMC__DriveControl__Reset BOOL |
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0x7060:21 DMC__PositioningControl__Execute BOOL |
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0x7060:22 DMC__PositioningControl__Emergency stop BOOL |
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0x7060:31 DMC__Set counter value DINT (32 bits) |
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0x7060:32 DMC__Target position DINT (32 bits) |
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0x7060:33 DMC__Target velocity INT (16 bits) |
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0x7060:34 DMC__Start type UINT (16 bits) |
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0x7060:35 DMC__Target acceleration UINT (16 bits) |
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0x7060:36 DMC__Target deceleration UINT (16 bits) |
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