10 | Appendix STOBER
80
02/2020 | ID 443025.06
Index Subindex TxPDO RxPDO Name Comment
60C4 hex 1 hex — — Maximum buffer size A603[0]; no function
60C4 hex 2 hex — — Actual buffer size A603[1]; no function
60C4 hex 3 hex — — Buffer organisation A603[2]; no function
60C4 hex 4 hex — — Buffer position A603[3]; no function
60C4 hex 5 hex — — Size of data record A603[4]; no function
60C4 hex 6 hex — — Buffer clear A603[5]; no function
60C5 hex 0 hex ✓ ✓ Max acceleration A604
60C6 hex 0 hex ✓ ✓ Max deceleration A605
60E3 hex Supported homing methods
60E3 hex 0 hex — — Highest subindex supported Constant value of 19
60E3 hex 1 hex – 14
hex
— — 1st - 19th supported homing
method
A619[0] – A619[19]
60E4 hex Additional position actual
value / 1st value
60E4 hex 0 hex — — Highest subindex supported Constant value of 1
60E4 hex 1 hex ✓ — 1st additional position actual
value
A620
60F2 hex 0 hex — ✓ Positioning option code A621
60F4 hex 0 hex ✓ — Following error actual value A632
60FD hex 0 hex ✓ — Digital inputs A636
60FF hex 0 hex ✓ ✓ Target velocity A638
6502 hex 0 hex — — Supported drive modes
Tab. 10: CiA 402-2 communication objects: 6000 hex – 65FF hex
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