Digital Inputs Configuration Object 0x2070 32
Digital Inputs Functionalities Object 0x2071 33
Digital Outputs Configuration Object 0x2078 34
Digital Outputs Functionalities Object 0x2079 35
Error Code Object 0x603F 36
Controlword Object 0x6040 36
Statusword Object 0x6041 37
Quick Stop Option Code Object 0x605A 38
Shutdown Option Code Object 0x605B 39
Disable Operation Option Code Object 0x605C 39
Modes of Operation Object 0x6060 40
Modes of Operation Display Object 0x6061 40
Position Demand Value Object 0x6062 41
Position Actual Internal Value Object 0x6063 41
Position Actual Value Object 0x6064 41
Velocity Demand Value Object 0x606B 42
Velocity Actual Value Object 0x606C 42
Velocity Window Object 0x606D 42
Velocity Window Time Object 0x606E 43
DC Link Circuit Voltage Object 0x6079 43
Target Position Object 0x607A 43
Home Offset Object 0x607C 44
Software Position Limit Object 0x607D 44
Polarity Object 0x607E 45
Max Profile Velocity Object 0x607F 46
Profile Velocity Object 0x6081 46
Profile Acceleration Object 0x6083 46
Gear Ratio Object 0x6091 47
Feed Constant Object 0x6092 48
Homing Method Object 0x6098 49
Homing Speeds Object 0x6099 49
Homing Acceleration Object 0x609A 50
Touch Probe Function Object 0x60B8 50
Touch Probe Status Object 0x60B9 51
Touch Probe Position 1 Positive Value Object 0x60BA 51
HT7 Ethercat User Guide iii
