2400h NanoJ Inputs......................................................................................................................................162

2410h NanoJ Init Parameters....................................................................................................................... 163

2500h NanoJ Outputs................................................................................................................................... 164

2600h NanoJ Debug Output......................................................................................................................... 165

2700h User Storage Area............................................................................................................................. 166

2800h Bootloader And Reboot Settings....................................................................................................... 168

3202h Motor Drive Submode Select.............................................................................................................169

320Ah Motor Drive Sensor Display Open Loop........................................................................................... 171

320Bh Motor Drive Sensor Display Closed Loop.........................................................................................172

3210h Motor Drive Parameter Set................................................................................................................174

3212h Motor Drive Flags.............................................................................................................................. 178

3220h Analog Inputs..................................................................................................................................... 180

3221h Analogue Inputs Control.................................................................................................................... 181

3225h Analogue Inputs Switches................................................................................................................. 181

3240h Digital Inputs Control......................................................................................................................... 182

3241h Digital Input Capture.......................................................................................................................... 185

3242h Digital Input Routing.......................................................................................................................... 187

3250h Digital Outputs Control.......................................................................................................................189

3252h Digital Output Routing........................................................................................................................192

3320h Read Analogue Input......................................................................................................................... 193

3321h Analogue Input Offset........................................................................................................................ 195

3322h Analogue Input Pre-scaling................................................................................................................196

3502h MODBUS Rx PDO Mapping..............................................................................................................197

3602h MODBUS Tx PDO Mapping.............................................................................................................. 200

3700h Following Error Option Code............................................................................................................. 204

4012h HW Information.................................................................................................................................. 205

4013h HW Configuration...............................................................................................................................206

4014h Operating Conditions......................................................................................................................... 207

4040h Drive Serial Number.......................................................................................................................... 208

4041h Device Id............................................................................................................................................ 209

603Fh Error Code......................................................................................................................................... 209

6040h Controlword........................................................................................................................................ 210

6041h Statusword......................................................................................................................................... 211

6042h Vl Target Velocity.............................................................................................................................. 212

6043h Vl Velocity Demand........................................................................................................................... 213

6044h Vl Velocity Actual Value.................................................................................................................... 213

6046h Vl Velocity Min Max Amount............................................................................................................. 214

6048h Vl Velocity Acceleration..................................................................................................................... 215

6049h Vl Velocity Deceleration.....................................................................................................................216

604Ah Vl Velocity Quick Stop.......................................................................................................................217

604Ch Vl Dimension Factor..........................................................................................................................218

605Ah Quick Stop Option Code................................................................................................................... 219

605Bh Shutdown Option Code..................................................................................................................... 220

605Ch Disable Option Code......................................................................................................................... 220

605Dh Halt Option Code.............................................................................................................................. 221

605Eh Fault Option Code............................................................................................................................. 222

6060h Modes Of Operation.......................................................................................................................... 222

6061h Modes Of Operation Display............................................................................................................. 223

6062h Position Demand Value..................................................................................................................... 223

6063h Position Actual Internal Value............................................................................................................224

6064h Position Actual Value.........................................................................................................................224

6065h Following Error Window.....................................................................................................................225

6066h Following Error Time Out.................................................................................................................. 226

6067h Position Window................................................................................................................................ 226

6068h Position Window Time....................................................................................................................... 227

606Bh Velocity Demand Value..................................................................................................................... 227

606Ch Velocity Actual Value........................................................................................................................ 228

606Dh Velocity Window................................................................................................................................ 228