#x000116c7 HCFA Co.,Ltd 424dd8020000000000003600000028000000100000000e00000001001800000000000000000000000000000000000000000000000000fffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffefeffe1efdef2f7f0f2f8f1eaf3e9fafcf9cee5c9d6e8d2d8ead5f9fbf8fffffffbfcfbdaebd5c3ddbcecf6ecfffffffffeff8fc2878fc388b8dab07bbe7275b86790c386b5d7ac56a549b7d9b2eff6ed9bc99772b46761aa4e90c485ffffffffffffa5cf9e3b9a2b6daa5886a76b359622dff0ddffffff87be7c449c32aad1a1bddcba9fcd9893c58658a646f7faf6ffffffd6e8d05cac4dbbd6b5c3918c81a86685c37e89c17db8d9b14ba0387dba6fb6d8ada6d09d77b769489d35f3f9f3fffffffbfdfbd3e7ceeff9f0f0e5e3fff7fbc2e0bd9ac890dfeedbd2e7cea4ce9bc3dfbcbcdbb6aad2a1cce4c9ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff AC Servo Driver HCFA-Y7-DRIVER 424dd8020000000000003600000028000000100000000e00000001001800000000000000000000000000000000000000000000000000fffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffefeffe1efdef2f7f0f2f8f1eaf3e9fafcf9cee5c9d6e8d2d8ead5f9fbf8fffffffbfcfbdaebd5c3ddbcecf6ecfffffffffeff8fc2878fc388b8dab07bbe7275b86790c386b5d7ac56a549b7d9b2eff6ed9bc99772b46761aa4e90c485ffffffffffffa5cf9e3b9a2b6daa5886a76b359622dff0ddffffff87be7c449c32aad1a1bddcba9fcd9893c58658a646f7faf6ffffffd6e8d05cac4dbbd6b5c3918c81a86685c37e89c17db8d9b14ba0387dba6fb6d8ada6d09d77b769489d35f3f9f3fffffffbfdfbd3e7ceeff9f0f0e5e3fff7fbc2e0bd9ac890dfeedbd2e7cea4ce9bc3dfbcbcdbb6aad2a1cce4c9ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff HCFA Y7 Servo Driver HCFA Y7 Servo Driver 2000 9000 5000 200 100 4000 AC Servo Driver 402 BIT2 2 BOOL 1 DINT 32 INT 16 UDINT 32 UINT 16 SINT 8 USINT 8 ARRAY [0..3] OF BYTE USINT 32 0 4 STRING(7) 56 STRING(3) 24 DT1010 48 0 Number of Entries USINT 8 0 ro o 1 Store Parameters UDINT 32 16 rw o DT1018 144 0 Number of Entries USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 Number of Entries USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT10F1 64 0 Number of Entries USINT 8 0 ro o 1 Local Error Reaction UDINT 32 16 rw o 2 Sync Error Counter Limit UINT 16 48 rw o DT1C32 488 0 Number of Entries USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Exceeded Counter UINT 16 304 ro c 32 Sync Error BOOL 1 480 ro c DT1C33 488 0 Number of Entries USINT 8 0 ro m 1 Synchronization Type UINT 16 16 rw o 2 Cycle Time UDINT 32 32 ro o 4 Synchronization Types supported UINT 16 96 ro o 5 Minimum Cycle Time UDINT 32 112 ro o 6 Calc and Copy Time UDINT 32 144 ro o 8 Get Cycle Time UINT 16 208 rw c 9 Delay Time UDINT 32 224 ro c 10 Sync0 Cycle Time UDINT 32 256 rw o 11 SM-Event Missed UINT 16 288 ro c 12 Cycle Exceeded Counter UINT 16 304 ro c 32 Sync Error BOOL 1 480 ro c DT0800EN03 USINT 3 Signed presentation 0 Unsigned presentation 1 DT160x 304 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw DT1600 400 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw 12 Mapping Entry 12 UDINT 32 368 rw DT1A00 400 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw 12 Mapping Entry 12 UDINT 32 368 rw DT1802 24 0 Number of Entries USINT 8 0 ro 7 TxPDOState BOOL 1 16 ro T 9 TxPDO Toggle BOOL 1 17 ro T DT1A0x 368 0 Number of Entries USINT 8 0 rw 1 Mapping Entry 1 UDINT 32 16 rw 2 Mapping Entry 2 UDINT 32 48 rw 3 Mapping Entry 3 UDINT 32 80 rw 4 Mapping Entry 4 UDINT 32 112 rw 5 Mapping Entry 5 UDINT 32 144 rw 6 Mapping Entry 6 UDINT 32 176 rw 7 Mapping Entry 7 UDINT 32 208 rw 8 Mapping Entry 8 UDINT 32 240 rw 9 Mapping Entry 9 UDINT 32 272 rw 10 Mapping Entry 10 UDINT 32 304 rw 11 Mapping Entry 11 UDINT 32 336 rw DT1C12ARR UINT 16 1 1 DT1C12 32 0 Number of Entries USINT 8 0 rw Elements DT1C12ARR 16 16 rw DT1C13ARR UINT 16 1 1 DT1C13 32 0 Number of Entries USINT 8 0 rw Elements DT1C13ARR 16 16 rw DT607D 80 0 Number of Entries USINT 8 0 ro 1 Min position limit DINT 32 16 rw R 2 Max position limit DINT 32 48 rw R DT608F 80 0 Number of Entries USINT 8 0 ro 1 Encoder increments UDINT 32 16 ro T 2 Motor revolutions UDINT 32 48 ro T DT6091 80 0 Number of Entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw R 2 Denominator UDINT 32 48 rw R DT6092 80 0 Number of Entries USINT 8 0 ro 1 Numerator UDINT 32 16 rw R 2 Denominator UDINT 32 48 rw R DT6093 80 0 Number of Entries USINT 8 0 ro 1 Position factor Numerator UDINT 32 16 rw R 2 Position factor Feed constant UDINT 32 48 rw R DT6094 80 0 Number of Entries USINT 8 0 ro 1 Velocity encoder factor Numerator UDINT 32 16 rw R 2 Velocity encoder factor Divisor UDINT 32 48 rw R DT6095 80 0 Number of Entries USINT 8 0 ro 1 Velocity factor1 Numerator UDINT 32 16 rw R 2 Velocity factor1 Divisor UDINT 32 48 rw R DT6097 80 0 Number of Entries USINT 8 0 ro 1 Acceleration factor:Numerator UDINT 32 16 rw R 2 Acceleration factor:Divisor UDINT 32 48 rw R DT6099 80 0 Number of Entries USINT 8 0 ro 1 Speed during search for switch UDINT 32 16 rw R 2 Speed during search for zero UDINT 32 48 rw R DT60C1 48 0 Number of Entries USINT 8 0 ro 1 Interpolation data record:x1 UDINT 32 16 rw R DT60C2 32 0 Number of Entries USINT 8 0 ro 1 ip time units USINT 8 16 rw R 2 ip time index SINT 8 24 rw R DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Physical outputs UDINT 32 16 rw R 2 Bitmask UDINT 32 48 rw R DT60E3 512 0 SubIndex 000 USINT 8 0 ro 1 Support homing method 1 UINT 16 16 ro 2 Support homing method 2 UINT 16 32 ro 3 Support homing method 3 UINT 16 48 ro 4 Support homing method 4 UINT 16 64 ro 5 Support homing method 5 UINT 16 80 ro 6 Support homing method 6 UINT 16 96 ro 7 Support homing method 7 UINT 16 112 ro 8 Support homing method 8 UINT 16 128 ro 9 Support homing method 9 UINT 16 144 ro 10 Support homing method 10 UINT 16 160 ro 11 Support homing method 11 UINT 16 176 ro 12 Support homing method 12 UINT 16 192 ro 13 Support homing method 13 UINT 16 208 ro 14 Support homing method 14 UINT 16 224 ro 15 Support homing method 15 UINT 16 240 ro 16 Support homing method 16 UINT 16 256 ro 17 Support homing method 17 UINT 16 272 ro 18 Support homing method 18 UINT 16 288 ro 19 Support homing method 19 UINT 16 304 ro 20 Support homing method 20 UINT 16 320 ro 21 Support homing method 21 UINT 16 336 ro 22 Support homing method 22 UINT 16 352 ro 23 Support homing method 23 UINT 16 368 ro 24 Support homing method 24 UINT 16 384 ro 25 Support homing method 25 UINT 16 400 ro 26 Support homing method 26 UINT 16 416 ro 27 Support homing method 27 UINT 16 432 ro 28 Support homing method 28 UINT 16 448 ro 29 Support homing method 29 UINT 16 464 ro 30 Support homing method 30 UINT 16 480 ro 31 Support homing method 31 UINT 16 496 ro #x1000 Device type UDINT 32 00020192 ro m #x1001 Error register USINT 8 00 ro o #x1008 Device name STRING(7) 56 Y7-ECAT ro o #x1009 Hardware version STRING(3) 24 1.0 ro o #x100a Software version STRING(3) 24 1.0 ro o #x1c00 Sync manager type DT1C00 48 Number of Entries 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro o #x1018 Identity DT1018 144 Number of Entries 04 Vendor ID c7160100 Product code 007E0402 Revision 00000001 Serial number 00000001 ro o #x10F1 Error Settings DT10F1 64 Number of Entries 02 Local Error Reaction 01000000 Sync Error Counter Limit 0400 rw o #x1c12 RxPDO assign DT1C12 32 Number of Entries 02 SubIndex 001 0116 rw o #x1c13 TxPDO assign DT1C13 32 Number of Entries 02 SubIndex 001 001a rw o #x1c32 SM output parameter DT1C32 488 Number of Entries 20 Synchronization Type 0001 Cycle Time 00000000 Synchronization Types supported 8007 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Exceeded Counter 0000 Sync Error 00 ro o #x1c33 SM input parameter DT1C33 488 Number of Entries 20 Synchronization Type 2200 Cycle Time 00000000 Synchronization Types supported 0780 Minimum Cycle Time 00000000 Calc and Copy Time 00000000 Get Cycle Time 0000 Delay Time 00000000 Sync0 Cycle Time 00000000 SM-Event Missed 0000 Cycle Exceeded Counter 0000 Sync Error 00 ro o #x1600 1st RxPDO-Mapping DT1600 400 Number of Entries 4 Mapping Entry 1 10004060 Mapping Entry 2 08006060 Mapping Entry 3 20007A60 Mapping Entry 4 1000B860 rw o #x1601 2nd RxPDO-Mapping DT1600 400 Number of Entries 7 Mapping Entry 1 10004060 Mapping Entry 2 08006060 Mapping Entry 3 10007160 Mapping Entry 4 20007A60 Mapping Entry 5 20008060 Mapping Entry 6 2000FF60 rw o #x1602 3rd RxPDO-Mapping DT1600 400 Number of Entries 6 Mapping Entry 1 10004060 Mapping Entry 2 08006060 Mapping Entry 3 10007260 Mapping Entry 4 20007A60 Mapping Entry 5 1000B860 Mapping Entry 6 2000FF60 rw o #x1603 4th RxPDO-Mapping DT1600 400 Number of Entries 8 Mapping Entry 1 10004060 Mapping Entry 2 08006060 Mapping Entry 3 10007160 Mapping Entry 4 10007260 Mapping Entry 5 20007A60 Mapping Entry 6 20008060 Mapping Entry 7 1000B860 Mapping Entry 8 2000FF60 rw o #x1604 5th RxPDO-Mapping DT1600 400 Number of Entries 8 Mapping Entry 1 10004060 Mapping Entry 2 20007A60 Mapping Entry 3 2000FF60 Mapping Entry 4 10007160 Mapping Entry 5 08006060 Mapping Entry 6 1000B860 Mapping Entry 7 1000E060 Mapping Entry 8 1000E160 rw o #x1a00 1st TxPDO-Mapping DT1A00 400 Number of Entries 8 Mapping Entry 1 10003F60 Mapping Entry 2 10004160 Mapping Entry 3 20006460 Mapping Entry 4 08006160 Mapping Entry 5 1000B960 Mapping Entry 6 2000BA60 Mapping Entry 7 2000F460 Mapping Entry 8 2000FD60 rw o #x1a01 2nd TxPDO-Mapping DT1A00 400 Number of Entries 10 Mapping Entry 1 10003F60 Mapping Entry 2 10004160 Mapping Entry 3 08006160 Mapping Entry 4 20006460 Mapping Entry 5 20006C60 Mapping Entry 6 10007760 Mapping Entry 7 1000B960 Mapping Entry 8 2000BA60 Mapping Entry 9 2000BB60 Mapping Entry 10 2000FD60 rw o #x1a02 3rd TxPDO-Mapping DT1A00 400 Number of Entries 9 Mapping Entry 1 10003F60 Mapping Entry 2 10004160 Mapping Entry 3 08006160 Mapping Entry 4 20006460 Mapping Entry 5 20006C60 Mapping Entry 6 10007760 Mapping Entry 7 1000B960 Mapping Entry 8 2000BA60 Mapping Entry 9 2000FD60 rw o #x1a03 4th TxPDO-Mapping DT1A00 400 Number of Entries 9 Mapping Entry 1 10003F60 Mapping Entry 2 10004160 Mapping Entry 3 08006160 Mapping Entry 4 20006460 Mapping Entry 5 20006C60 Mapping Entry 6 10007760 Mapping Entry 7 1000B960 Mapping Entry 8 2000BA60 Mapping Entry 9 2000FD60 rw o #x1a04 5th TxPDO-Mapping DT1A00 400 Number of Entries 11 Mapping Entry 1 10003F60 Mapping Entry 2 10004160 Mapping Entry 3 08006160 Mapping Entry 4 20006460 Mapping Entry 5 20006C60 Mapping Entry 6 10007760 Mapping Entry 7 2000F460 Mapping Entry 8 1000B960 Mapping Entry 9 2000BA60 Mapping Entry 10 2000BC60 Mapping Entry 11 2000FD60 rw o #x2000 Basic Function Select Switch 0 UINT 16 0000 rw #x2001 Application Function Select Switch 1 UINT 16 0000 rw #x2002 Application Function Select Switch 2 UINT 16 rw #x2006 Application Function Select Switch 6 UINT 16 rw #x2007 Application Function Select Switch 7 UINT 16 rw #x2008 Application Function Select Switch 8 UINT 16 rw #x2009 Application Function Select Switch 9 UINT 16 rw #x200A Application Function Select Switch A UINT 16 rw #x200B Application Function Select Switch B UINT 16 rw #x200C Application Function Select Switch C UINT 16 rw #x200D Application Function Select Switch D UINT 16 rw #x200E Application Function Select Switch E UINT 16 rw #x200F Application Function Select Switch F UINT 16 rw #x2010 Axis address for USB communication UINT 16 rw #x2021 DC Bus Switch UINT 16 rw #x2022 Overtravel Release Method UINT 16 rw #x2040 Mode Switch UINT 16 rw #x2080 Application Function Select Switch 80 UINT 16 rw #x2081 Application Function Select Switch 81 UINT 16 rw #x2100 Speed Loop Gain UINT 16 rw #x2101 Speed Loop Integral Time Constant UINT 16 rw #x2102 Position Loop Gain UINT 16 rw #x2103 Moment of Inertia Ratio UINT 16 #x0000 #x4E20 #x0064 rw m R #x2104 2nd Speed Loop Gain UINT 16 rw #x2105 2nd Speed Loop Integral Time Constant UINT 16 rw #x2106 2nd Position Loop Gain UINT 16 rw #x2109 Feedforward Gain UINT 16 rw #x210A Feedforward Filter Time Constant UINT 16 rw #x210B Application Function for Gain Select Switch UINT 16 rw #x210C Mode Switch (torque reference) UINT 16 rw #x210D Mode Switch (speed reference) UINT 16 rw #x210E Mode Switch (acceleration) UINT 16 rw #x210F Mode Switch (position error pulse) UINT 16 rw #x211F Position Integral Time Constant UINT 16 rw #x2121 Friction Compensation Gain UINT 16 rw #x2122 2nd Gain for Friction Compensation UINT 16 rw #x2123 Friction Compensation Coefficient UINT 16 rw #x2124 Friction Compensation Frequency Correction INT 16 rw #x2125 Friction Compensation Gain Correction UINT 16 rw #x2131 Gain Switching Time 1 UINT 16 rw #x2132 Gain Switching Time 2 UINT 16 rw #x2135 Gain Switching Waiting Time 1 UINT 16 rw #x2136 Gain Switching Waiting Time 2 UINT 16 rw #x2139 Automatic Gain Changeover Related Switch 1 UINT 16 rw #x213D Current Gain Level UINT 16 rw #x2140 Model Following Control Related Switch UINT 16 rw #x2141 Model Following Control Gain UINT 16 rw #x2142 Model Following Control Gain Compensation UINT 16 rw #x2143 Model Following Control Bias(Forward Direction) UINT 16 rw #x2144 Model Following Control Bias(Reverse Direction) UINT 16 rw #x2145 Vibration Suppression 1 Frequency A UINT 16 rw #x2146 Vibration Suppression 1 Frequency B UINT 16 rw #x2147 Model Following Control Speed Feedforward Compensation UINT 16 rw #x2148 2nd Model Following Control Gain UINT 16 rw #x2149 2nd Model Following Control Gain Compensation UINT 16 rw #x214A Vibration Suppression 2 Frequency UINT 16 rw #x214B Vibration Suppression 2 Compensation UINT 16 rw #x214F Selection related to control UINT 16 rw #x2160 Anti-Resonance Control Related Switch UINT 16 rw #x2161 Anti-Resonance Frequency UINT 16 rw #x2162 Anti-Resonance Gain Compensation UINT 16 rw #x2163 Anti-Resonance Damping Gain UINT 16 rw #x2164 Anti-Resonance Filter Time Constant 1 Compensation INT 16 rw #x2165 Anti-Resonance Filter Time Constant 2 Compensation INT 16 rw #x2166 A type vibration control dumping gain 2 UINT 16 rw #x2170 Tuning-less Function Related Switch UINT 16 rw #x2181 Mode Switch (speed reference for Linear type) UINT 16 rw #x2182 Mode Switch (acceleration for Linear type) UINT 16 rw #x2190 PN190 UINT 16 rw #x2200 PN200 UINT 16 rw #x2205 Multi-turn Limit Setting UINT 16 rw #x2207 Position Control Function Switch UINT 16 rw #x220A Number of External Scale Pitch UDINT 32 rw #x220E Electronic Gear Ratio (Numerator) UDINT 32 ro #x2210 Electronic Gear Ratio (Denominator) UDINT 32 ro #x2212 Encoder Output Pulses UDINT 32 rw #x2216 Pcmd Exp Filter UINT 16 rw #x2217 Pcmd Move Averge Filter UINT 16 rw #x2218 Command Pulse Input Multiplier UINT 16 rw #x222A Fully-closed Control Selection Switch UINT 16 rw #x2230 Backlash Compensation Direction UINT 16 rw #x2231 Backlash Compensation Value DINT 32 rw #x2240 PN240 UINT 16 rw #x2233 Backlash Compensation Time Constant UINT 16 rw #x2281 Encoder Output Resolution UINT 16 rw #x2282 Linear Scale pitch UDINT 32 rw #x2284 Scale Pluse UINT 16 rw #x22D0 PN2D0 UDINT 32 rw #x2300 Speed Command Input Gain UINT 16 rw #x2304 JOG Speed UINT 16 rw #x2305 Soft Start Acceleration Time UINT 16 rw #x2306 Soft Start Deceleration Time UINT 16 rw #x2307 Speed Command Filter Time Constante UINT 16 rw #x2308 Speed F/B filter time constant UINT 16 rw #x230A Deceleration time when off servo and compulsion stops UINT 16 rw #x230B Zero Keep Time UINT 16 rw #x230C Speed feedforward moving average time UINT 16 rw #x2310 Vibration Detection Switch UINT 16 rw #x2311 Vibration Detection Sensibility UINT 16 rw #x2312 Vibration Detection Level UINT 16 rw #x2316 The motor is maximum speed. UINT 16 rw #x231A Deceleration ramp time UINT 16 rw #x2324 Moment of Inertia Calculating Start Level UINT 16 rw #x2383 JOG Speed for Linear type (Linear type) UINT 16 rw #x2384 Vibration Detection Level (Linear type) UINT 16 rw #x2385 Motor max speed (Linear type) UINT 16 rw #x2400 Torque Command Input Gain UINT 16 rw #x2401 Torque Reference Filter Time Constant UINT 16 rw #x2402 Forward Torque Limit UINT 16 rw #x2403 Reverse Torque Limit UINT 16 rw #x2404 Forward External Torque Limit UINT 16 rw #x2405 Reverse External Torque Limit UINT 16 rw #x2406 Emergency Stop Torque UINT 16 rw #x2407 Speed Limit during Torque Control UINT 16 rw #x2408 Torque Related Function Switch UINT 16 rw #x2409 1st Notch Filter Frequency UINT 16 rw #x240A 1st Notch Filter Q Value UINT 16 rw #x240B 1st Notch Filter Depth UINT 16 rw #x240C 2nd Notch Filter Frequency UINT 16 rw #x240D 2nd Notch Filter Q Value UINT 16 rw #x240E 2nd Notch Filter Depth UINT 16 rw #x240F 2nd Torque Reference Filter Frequency UINT 16 rw #x2410 2nd Torque Reference Filter Q Value UINT 16 rw #x2412 1st Step 2nd Torque Reference Filter Time Constant UINT 16 rw #x2415 Torque Filter Time Constant UINT 16 rw #x2416 Switch 2 of function related to torque UINT 16 rw #x2417 Frequency of the third step notch filter UINT 16 rw #x2418 The third step notch filter Q value UINT 16 rw #x2419 Depth of the third step notch filter UINT 16 rw #x241A Frequency of the fourth step notch filter UINT 16 rw #x241B The fourth step notch filter Q value UINT 16 rw #x241C Depth of the fourth step notch filter UINT 16 rw #x241D Frequency of the fifth step notch filter UINT 16 rw #x241E The fifth step notch filter Q value UINT 16 rw #x241F Depth of the fifth step notch filter UINT 16 rw #x2423 Speed ripple amends switch UINT 16 rw #x2424 Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2425 Release Time for Torque Limit at Main Circuit Voltage Drop UINT 16 rw #x2426 Torque feedforward moving average time UINT 16 rw #x2427 Speed Ripple Compensation Enable Speed UINT 16 rw #x2456 Sweep Torque Reference Amplitude UINT 16 rw #x2460 Notch Filter Adjustment Switch UINT 16 rw #x2476 Grivate Torque INT 16 rw #x2480 Speed Limit during Force Control (Linear type) UINT 16 rw #x2481 Polarity Detection Speed loop Gain UINT 16 rw #x2482 Polarity Detection Speed loop Integral time UINT 16 rw #x2483 Forward Force Limit(Linear type) UINT 16 rw #x2484 Reverse Force Limit(Linear type) UINT 16 rw #x2485 Polarity Detection Reference speed(Linear type) UINT 16 rw #x2486 Polarity Detection Acceleration UINT 16 rw #x2487 Polarity Detection Constant Speed time UINT 16 rw #x2488 Polarity Detection Reference waiting time UINT 16 rw #x248E Polarity Detection travel range(Linear type) UINT 16 rw #x2490 Polarity Detection Load level UINT 16 rw #x2493 Polarity Detection Command Speed UINT 16 rw #x2494 Polarity Detection Moving Range UINT 16 rw #x2495 Polarity Detection Confirmation Force Reference UINT 16 rw #x2498 Polarity Detection Allowable Error range UINT 16 rw #x249F Speed Ripple Compensation Enable Speed UINT 16 rw #x2501 Zero Clamp Speed Level UINT 16 rw #x2502 Rotation Detection Level UINT 16 rw #x2503 Speed Coincidence Signal Output Width UINT 16 rw #x2506 Brake Reference - Servo OFF Delay Time UINT 16 rw #x2507 Brake Reference Output Speed Level UINT 16 rw #x2508 Waiting Time for Brake Signal When Motor Running UINT 16 rw #x2509 Instantaneous Power Cut Hold time UINT 16 rw #x250A Input Signal Selection 1 UINT 16 rw #x250B Input Signal Selection 2 UINT 16 rw #x250C Input Signal Selection 3 UINT 16 rw #x250D Input Signal Selection 4 UINT 16 rw #x250E Output Signal Selection 1 UINT 16 rw #x250F Output Signal Selection 2 UINT 16 rw #x2510 Output Signal Selection 3 UINT 16 rw #x2511 Input Signal Selection 5 UINT 16 rw #x2512 Output Signal Reversal Selling UINT 16 rw #x2513 Output signal selection 4 UINT 16 rw #x2515 Input signal selection 6 UINT 16 rw #x2517 ECAT Force Do Output UINT 16 rw #x2518 Safety Module-Related Parameters UINT 16 rw #x251B Excessive Error Level Between Servomotor and Load Positions UDINT 32 rw #x251E Excessive Position Error Warning Level UINT 16 rw #x2520 Excessive Position Error Alarm Level UDINT 32 rw #x2522 Positioning Completed Width UDINT 32 rw #x2524 NEAR Signal Width UDINT 32 rw #x2526 When it is on, it is a positional deflection excessive alarm level of the servo. UDINT 32 rw #x2528 When it is on, it is a positional deflection excessive warning level of the servo. UINT 16 rw #x2529 Speed Limit Level at Servo ON UINT 16 rw #x252A Multiplier per One Fully-closed Rotation UINT 16 rw #x252B Overload Warning Level UINT 16 rw #x252C Derating of Base Current at Detecting Overload of Motor UINT 16 rw #x252D Single Phase Default Power UINT 16 rw #x252F PN52F UINT 16 rw #x2530 Program JOG Operation Related Switch UINT 16 rw #x2531 Program JOG Movement Distance UDINT 32 rw #x2533 Program JOG Movement Speed UINT 16 rw #x2534 Program JOG Acceleration Time UINT 16 rw #x2535 Program JOG Waiting Time UINT 16 rw #x2536 Number of Times of Program JOG Movement UINT 16 rw #x2548 Specified Alarm Number for Tracing UINT 16 rw #x2550 Analog Monitor 1 Offset Voltage INT 16 rw #x2551 Analog Monitor 2 Offset Voltage INT 16 rw #x2552 Analog Monitor Magnification (xl) INT 16 rw #x2553 Analog Monitor Magnification (x2) INT 16 rw #x255A Power consumption monitor unit time UINT 16 rw #x2560 Remained Vibration Detection Width UINT 16 rw #x2561 Overshoot Detection Level UINT 16 rw #x2581 Zero Speed Level (Linear type) UINT 16 rw #x2582 Speed Coincidence Signal Output Width (Linear type) UINT 16 rw #x2583 Brake Reference Output Speed Level (Linear type) UINT 16 rw #x2584 Speed Limit Level at Servo ON (Linear type) UINT 16 rw #x2585 Program JOG Movement Speed (Linear type) UINT 16 rw #x2586 Motor Running Air-cooling Ratio(Linear type) UINT 16 rw #x2587 Polarity Detection Execution Selection for Absolute Linear Encoder UINT 16 rw #x2600 Regenerative Resistor Capacity UINT 16 rw #x2601 DB resistance capacity UINT 16 rw #x2602 Enc Type UINT 16 rw #x2603 The resurrection resistance UINT 16 rw #x2604 DB resistance UINT 16 rw #x2605 Enc Value UINT 16 rw #x2606 Enc com length UINT 16 rw #x2607 Enc type second UINT 16 rw #x2608 Enc ratio second UINT 16 rw #x2609 BK Select UINT 16 rw #x260A PG Out Select UINT 16 rw #x260B Sencond Enc Resolution Type UINT 16 rw #x260C Enc Over Flow UINT 16 rw #x260D PN60D UINT 16 rw #x260E PN60E UINT 16 rw #x260F PN60F UINT 16 rw #x2610 Position Compare Switch UINT 16 rw #x2611 Position Compare First UDINT 32 rw #x2613 Position Compare Sencond UDINT 32 rw #x2615 Position Compare Third UDINT 32 rw #x2617 Position Compare Fourth UDINT 32 rw #x2619 Position Compare Time First UINT 16 rw #x261A Position Compare Time Second UINT 16 rw #x261B Position Compare Time Third UINT 16 rw #x261C Position Compare Time Fourth UINT 16 rw #x261D PN61D UDINT 32 rw #x261F PN61F UINT 16 rw #x2620 bb on diff0 UINT 16 rw #x2621 Safety function application selection switch UINT 16 rw #x2622 Internal deceleration of active mode constant A UINT 16 rw #x2623 Internal deceleration of active mode constant B UINT 16 rw #x2624 Internal deceleration of active mode stop speed UINT 16 rw #x2625 Active mode stop continuance time UINT 16 rw #x2626 Active mode release position deflection level UDINT 32 rw #x2628 Active mode release speed instruction level UINT 16 rw #x2629 PN629 UDINT 32 rw #x262D PN62D UDINT 32 rw #x262F PN62F UINT 16 rw #x2630 PN630 UINT 16 rw #x2631 PN631 UINT 16 rw #x2632 PN632 UINT 16 rw #x2633 PN633 UINT 16 rw #x2634 PN634 UINT 16 rw #x2635 PN635 UDINT 32 rw #x2637 PN637 UDINT 32 rw #x2639 PN639 UDINT 32 rw #x263B PN63B UDINT 32 rw #x263D PN63D UDINT 32 rw #x2770 Un003MotorAngle UDINT 32 ro m T #x2772 Reservation parameters UDINT 32 rw #x2774 Reservation parameters UDINT 32 rw #x2776 Reservation parameters UDINT 32 rw #x2778 Reservation parameters UDINT 32 rw #x2779 Reservation parameters UDINT 32 rw #x277B Reservation parameters UDINT 32 rw #x277C Reservation parameters UDINT 32 rw #x277E Reservation parameters UDINT 32 rw #x277F Reservation parameters UINT 16 rw #x2780 Reservation parameters UINT 16 rw #x2781 Function Switch0 UINT 16 rw #x2782 SyncLostWindow UINT 16 rw #x2786 SiteAddressAlias UINT 16 rw #x2787 Function Switch1 UINT 16 rw #x2788 SencondEncPosActualSingleValue UINT 16 rw #x2789 EncodeRatio UDINT 32 ro #x278a ModuleFunctionPosLimit UDINT 32 rw #x2790 EcatDemandSwitch0 UINT 16 rw #x2791 EcatDemandSwitch1 UINT 16 rw #x2792 EcatDemandSwitch2 UINT 16 rw #x2793 EcatDemandSwitch3 UINT 16 rw #x2794 SecEncPosActualValue DINT 32 ro o T #x2795 Un009MotorLoad UINT 16 ro o T #x2796 Un00ARegenePerLoad UINT 16 ro o T #x2797 Un00BDbrxPerPower UINT 16 ro o T #x2798 First Enc Single Value UDINT 32 ro o T #x2799 Ecat Function 0 UDINT 32 ro o T #x279a Ecat Function 1 DINT 32 ro o T #x279b Ecat Function 2 UINT 16 ro o T #x279c Ecat Function 3 INT 16 ro o T #x279d Ecat Function 4 UDINT 32 ro o T #x279e Ecat Function 5 DINT 32 ro o T #x279f Ecat Function 6 UINT 16 ro o T #x27a0 Encoder Temperature Alarm Value UINT 16 rw #x27a1 EcatDemandSwitch5 UINT 16 rw #x27a2 EcatDemandSwitch6 UINT 16 rw #x27a3 EcatDemandSwitch7 UINT 16 rw #x27a4 EcatDemandSwitch8 UINT 16 rw #x27a5 Ecat Analog1 INT 16 ro o T #x27a6 Ecat Analog2 INT 16 ro o T #x603F Error Code UINT 16 #x0000 #xFFFF #x0000 ro o T #x6040 Control Word UINT 16 #x0000 #xFFFF #x0000 rw m R #x6041 Status Word UINT 16 #x0000 #xFFFF #x0000 ro m T #x605A Quick stop option code INT 16 #x0000 #x0007 #x0001 rw m R #x605D Halt option code INT 16 #x8000 #x7FFF #x0001 rw m R #x6060 Modes of operation SINT 8 #x00 #x0A #x00 rw m R #x6061 Modes of operation display SINT 8 #x00 #x0A #x00 ro m T #x6062 Position demand value DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro o T #x6063 Position actual internal value DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro o T #x6064 Position actual value DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro o T #x6065 Following error window UDINT 32 #x80000000 #x7FFFFFFF #x000186A0 rw o R #x6067 Position window UDINT 32 #x00000000 #x7FFFFFFF #x000002DE rw o R #x6068 Position window time UINT 16 #x0000 #xFFFF #x0010 rw o R #x606C Velocity actual value DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro m T #x606D Velocity window UINT 16 #x0000 #xFFFF #x000A rw o R #x606E Velocity window time UINT 16 #x0000 #xFFFF #x0000 rw o R #x6071 Target torque INT 16 #x0000 #x0FA0 #x000A rw m R #x6072 Max torque UINT 16 #x0000 #x0FA0 #x056C rw o R #x6074 Torque demand value INT 16 #xF060 #x0FA0 #x0000 ro o T #x6076 Motor rated torque UDINT 32 #x00000000 #x0000FFFF #x0000FFFF ro o T #x6077 Torque actual value INT 16 #xF060 #x0FA0 #x0000 ro o T #x607A Target position DINT 32 #x80000000 #x7FFFFFFF #x00000000 rw m R #x607C Home offset DINT 32 #x80000000 #x7FFFFFFF #x00000000 rw o R #x607D Software position limit DT607D 80 Number of Entries #x02 Min position limit #x80000000 #x7FFFFFFF #x80000001 Max position limit #x80000000 #x7FFFFFFF #x7FFFFFFF ro o #x607E Polarity USINT 8 #x00 #x01 #x00 rw o R #x607F Max profile velocity UDINT 32 #x00000000 #xFFFFFFFF #x00000BB8 rw o R #x6080 Max motor speed UDINT 32 #x00000000 #xFFFFFFFF #x00001194 rw o R #x6081 Profile velocity UDINT 32 #x00000000 #xFFFFFFFF #x00000064 rw o R #x6083 Profile acceleration UDINT 32 #x00000000 #xFFFFFFFF #x00000064 rw m R #x6084 Profile deceleration UDINT 32 #x00000000 #xFFFFFFFF #x00000064 rw m R #x6085 Quick stop deceleration UDINT 32 #x00000000 #xFFFFFFFF #x00000005 rw m R #x6086 Motion profile type INT 16 #x8000 #x7FFF #x0000 rw m R #x6087 Torque slope UDINT 32 #x00000000 #xFFFFFFFF #xFFFFFFFF rw m R #x6091 Gear Ratio DT6091 80 Number of Entries #x02 Numerator #x00000000 #xFFFFFFFF #x00000001 Denominator #x00000000 #xFFFFFFFF #x00000001 ro o #x6098 Homing method SINT 8 #x00 #x23 #x01 rw o R #x6099 Homing speeds DT6099 80 Number of Entries #x02 Speed during search for switch #x00000000 #xFFFFFFFF #x00000064 Speed during search for zero #x00000000 #xFFFFFFFF #x0000000A ro o #x609A Homing acceleration UDINT 32 #x00000000 #xFFFFFFFF #x00000000 rw o R #x60B0 Postion Offset DINT 32 #x80000000 #x7FFFFFFF #x00000000 rw o R #x60B1 Velocity Offset DINT 32 #x80000000 #x7FFFFFFF #x00000000 rw o R #x60B2 Torque Offset INT 16 #x8000 #x7FFF #x0000 rw o R #x60B8 Touch Probe Function UINT 16 #x0000 #xFFFF #x0000 rw o R #x60B9 Touch Probe Status UINT 16 #x0000 #xFFFF #x0000 ro o T #x60BA Touch Probe1 Pos Value DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro o T #x60BB Touch Probe1 Neg Value DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro o T #x60BC Touch Probe2 Pos Value DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro o T #x60BD Touch Probe2 Neg Value DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro o T #x60C2 Interpolation time period DT60C2 32 Number of Entries #x02 ip time units #x00 #xFF #x01 ip time index #x80 #x7F #xFD ro o #x60D5 Touch Probe1 Pos1 Pos Count UINT 16 #x0000 #xFFFF #x0000 ro o T #x60D6 Touch Probe1 Neg1 Pos Count UINT 16 #x0000 #xFFFF #x0000 ro o T #x60D7 Touch Probe2 Pos1 Pos Count UINT 16 #x0000 #xFFFF #x0000 ro o T #x60D8 Touch Probe2 Neg1 Pos Count UINT 16 #x0000 #xFFFF #x0000 ro o T #x60E0 Positive torque limit UINT 16 #x0000 #x0FA0 #x0000 rw o R #x60E1 Negative torque limit UINT 16 #x0000 #x0FA0 #x0000 rw o R #x60E3 Support homing method DT60E3 512 SubIndex 000 #x00 #x1F Support homing method 1 0301 Support homing method 2 0302 Support homing method 3 0303 Support homing method 4 0304 Support homing method 5 0305 Support homing method 6 0306 Support homing method 7 0307 Support homing method 8 0308 Support homing method 9 0309 Support homing method 10 030A Support homing method 11 030B Support homing method 12 030C Support homing method 13 030D Support homing method 14 030E Support homing method 15 030F Support homing method 16 0310 Support homing method 17 0311 Support homing method 18 0312 Support homing method 19 0313 Support homing method 20 0314 Support homing method 21 0315 Support homing method 22 0316 Support homing method 23 0317 Support homing method 24 0318 Support homing method 25 0319 Support homing method 26 031A Support homing method 27 031B Support homing method 28 031C Support homing method 29 031D Support homing method 30 031E Support homing method 31 031F ro #x60F4 Following error actual value DINT 32 #x80000000 #x7FFFFFFF #x00000000 ro o T #x60FC Position demand internal value DINT 32 #x00000000 #xFFFFFFFF #x00000000 ro o T #x60FD Digital inputs UDINT 32 #x00000000 #xFFFFFFFF #x00000000 ro o T #x60FE Digital outputs DT60FE 80 Number of Entries #x02 Physical outputs #x00000000 #xFFFFFFFF #x00000000 Bitmask #x00000000 #xFFFFFFFF #x00000000 ro o #x60FF Target velocity DINT 32 #x00000000 #xFFFFFFFF #x00000000 rw o R #x6502 Supported drive modes UDINT 32 #x00000000 #xFFFFFFFF #x00000000 ro o T #x213F Servo Error Code UINT 16 #x0000 #xFFFF #x0000 ro o T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 1st RxPdo mapping #x1601 #x1602 #x1603 #x1604 #x6040 0 16 Control Word UINT #x6060 0 8 Modes of operation SINT #x607A 0 32 Target position DINT #x60B8 0 16 Touch Probe Function UINT #x1601 2nd RxPdo mapping #x1600 #x1602 #x1603 #x1604 #x6040 0 16 Control Word UINT #x6060 0 8 Modes of operation SINT #x6071 0 16 Target torque INT #x607A 0 32 Target position DINT #x6080 0 32 Max motor speed UDINT #x60B8 0 16 Touch Probe Function UINT #x60FF 0 32 Target velocity DINT #x1602 3rd RxPdo mapping #x1600 #x1601 #x1603 #x1604 #x6040 0 16 Control Word UINT #x6060 0 8 Modes of operation SINT #x6072 0 16 Max Torque UINT #x607A 0 32 Target position DINT #x60B8 0 16 Touch Probe Function UINT #x60FF 0 32 Target velocity DINT #x1603 4th RxPdo mapping #x1600 #x1601 #x1602 #x1604 #x6040 0 16 Control Word UINT #x6060 0 8 Modes of operation SINT #x6071 0 16 Target torque INT #x6072 0 16 Max torque UINT #x607A 0 32 Target position DINT #x6080 0 32 Max motor speed UDINT #x60B8 0 16 Touch Probe Function UINT #x60FF 0 32 Target velocity DINT #x1604 5th RxPdo mapping #x1600 #x1601 #x1602 #x1603 #x6040 0 16 Control Word UINT #x607A 0 32 Target position DINT #x60FF 0 32 Target velocity DINT #x6071 0 16 Target torque INT #x6060 0 8 Modes of operation SINT #x60B8 0 16 Touch Probe Function UINT #x60E0 0 16 Positive torque limit UINT #x60E1 0 16 Negative torque limit UINT #x1a00 1st TxPdo mapping #x1A01 #x1A02 #x1A03 #x1A04 #x603F 0 16 Error Code UINT #x6041 0 16 Status Word UINT #x6064 0 32 Position actual value DINT #x6061 0 8 Modes of operation display SINT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60F4 0 32 Following error actual value DINT #x60FD 0 32 Digital inputs UDINT #x1a01 2nd TxPdo mapping #x1A00 #x1A02 #x1A03 #x1A04 #x603F 0 16 Error code UINT #x6041 0 16 Statusword UINT #x6061 0 8 Modes of operation display SINT #x6064 0 32 Position actual value DINT #x606C 0 32 Velocity actual value DINT #x6077 0 16 Torque actual value INT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60BB 0 32 Touch probe pos1 neg value DINT #x60FD 0 32 Digital inputs UDINT #x1a02 3rd TxPdo mapping #x1A00 #x1A01 #x1A03 #x1A04 #x603F 0 16 Error code UINT #x6041 0 16 Statusword UINT #x6061 0 8 Modes of operation display SINT #x6064 0 32 Position actual value DINT #x606C 0 32 Velocity actual value DINT #x6077 0 16 Torque actual value INT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60FD 0 32 Digital inputs UDINT #x1a03 4th TxPdo mapping #x1A00 #x1A01 #x1A02 #x1A03 #x603F 0 16 Error code UINT #x6041 0 16 Statusword UINT #x6061 0 8 Modes of operation display SINT #x6064 0 32 Position actual value DINT #x606C 0 32 Velocity actual value DINT #x6077 0 16 Torque actual value INT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60FD 0 32 Digital inputs UDINT #x1a04 5th TxPdo mapping #x1A00 #x1A01 #x1A02 #x1A03 #x603F 0 16 Error Code UINT #x6041 0 16 Status Word UINT #x6061 0 8 Modes of operation display SINT #x6064 0 32 Position actual value DINT #x606C 0 32 Velocity actual value DINT #x6077 0 16 Torque actual value INT #x60F4 0 32 Following error actual value DINT #x60B9 0 16 Touch probe status UINT #x60BA 0 32 Touch probe pos1 pos value DINT #x60BC 0 32 Touch Probe2 Pos1 Pos Value DINT #x60FD 0 32 Digital inputs UDINT PS #x6060 0 08 DC DC-Synchron #x300 0 0 0 FreeRun Free-Run #x0 0 0 0 8192 080E00CC88130000000000800000 424dd8020000000000003600000028000000100000000e00000001001800000000000000000000000000000000000000000000000000fffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffefeffe1efdef2f7f0f2f8f1eaf3e9fafcf9cee5c9d6e8d2d8ead5f9fbf8fffffffbfcfbdaebd5c3ddbcecf6ecfffffffffeff8fc2878fc388b8dab07bbe7275b86790c386b5d7ac56a549b7d9b2eff6ed9bc99772b46761aa4e90c485ffffffffffffa5cf9e3b9a2b6daa5886a76b359622dff0ddffffff87be7c449c32aad1a1bddcba9fcd9893c58658a646f7faf6ffffffd6e8d05cac4dbbd6b5c3918c81a86685c37e89c17db8d9b14ba0387dba6fb6d8ada6d09d77b769489d35f3f9f3fffffffbfdfbd3e7ceeff9f0f0e5e3fff7fbc2e0bd9ac890dfeedbd2e7cea4ce9bc3dfbcbcdbb6aad2a1cce4c9ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff