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Object Ref.
(0x)
(Number of last sub-index)
6099
(Speed during switch search)
(Speed during zero point search)
609A
Homing acceleration
Profile jerk (Number of last sub index)
60A4
60B1
60B2
60B8
Touch probe function
60B9
Touch probe status
60BA
Touch Probe 1 positive edge
60BB
Touch Probe 1 negative edge
60C0
Interpolation sub-mode select
Interpolation data record
(Number of last sub-index)
60C1
Interpolation data record (Target position)
Interpolation time period
(Number of last sub-index)
Interpolation time period
60C2
(Number of time periods)
Interpolation time period
(Time period exponent)
60C5
60C6
Touch probe source
(Number of last sub-index)
60DO
Touch probe 1 source (Target position)
60F2
Positioning option code
60F4
Following error actual value
60FA
Position control parameter set
(Number of last sub-index)
Position control parameter set
60FB
Position control parameter set
(Speed feed forward gain)
60FF
6502
Supported drive modes
Please refer to the SI-EtherCAT Parameter Guide integrated in Connect which contains an EtherCAT
Object Reference Guide with detailed information of all the supported objects.
WARNING
28
Description
Homing speeds
Homing speeds
Homing speeds
Profile jerk
Velocity offset
Torque offset
Max Acceleration
Max Deceleration
Control effect
(Proportional gain)
Target velocity
Data Type
Sub-
Type
index
0
USINT
RO
1
UDINT
RW
2
UDINT
RW
0
UDINT
RW
0
USINT
RO
1
DINT
RW
0
DINT
RW
0
INT
RW
0
UINT
RW
0
UINT
RO
0
DINT
RO
0
DINT
RO
0
INT
RW
0
USINT
RO
1
UDINT
RW
0
USINT
RO
1
USINT
RW
2
SINT
RW
0
DINT
RW
0
DINT
RW
0
USINT
RO
1
UINT
RW
0
UINT
RW
0
DINT
RO
0
DINT
RW
0
USINT
RO
1
DINT
RO
2
DINT
RO
0
DINT
RW
0
UDINT
RO
Profile
N
N
Y
N
N
N
N
N
Y
N
N
N
N
N
Y
N
N
N
N
N
Y
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
Y
N
N
N
N
N
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
N
Y
N
Y
Y
Y
N
Y
N
N
N
N
N
Y
N
N
N
N
N
Y
N
Y
Y
Y
N
Y
N
Y
Y
Y
N
Y
N
Y
Y
Y
N
N
N
N
N
N
N
N
N
N
N
N
Y
Y
N
Y
Y
Y
Y
N
Y
Y
Y
Y
N
N
N
N
N
N
N
Y
N
N
N
Y
N
N
N
N
N
N
N
Y
N
Y
Y
Y
N
Y
N
Y
Y
Y
N
Y
N
Y
Y
Y
N
N
N
Y
N
N
Y
Y
Y
Y
Y
Y
SI-EtherCAT User Guide
N
N
N
N
Y
Y
N
Y
Y
Y
Y
Y
Y
N
N
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
N
Y
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