Page History
...
The Cool Muscle EtherCAT slave uses dynamic switching between modes and as such there is a single fixed PDO configuration.has a few static PDO mapping options. It does not use dynamic mapping.
- The RxPDO is the PDO received by the motor/slave device
- The TxPDO is the PDO transmitted by the motor/slave device
Position units are in encoder counts (pulses)All position, speed and acceleration data reference units. Units are defined as encoder counts. There are 50,000 encoder counts per revolution of the motor.
RxPDO
...
.
The following mappings are available.
Dynamic Switching of mode
This mapping is useful as a generic mapping. The master can run in any of the available modes as well as switch dynamically between them. The PDO also offers a lot of feedback information for diagnostics.
RxPDO - 0x1600
| Scroll Table Layout | ||
|---|---|---|
|
| Object | Name | Units | Data Type | Applicable Modes of Operation | Description |
|---|---|---|---|---|---|
| 0x6040 | Controlword | - | UINT16 | All | The Controlword is used to control the state of the mode of operation. |
| 0x60FE | Digital outputs | - | UINT16 | All | Set the state of the digital outputs |
| 0x607A | Target position | units | INT32 | CSP, PP | Set the target position of the motor |
| 0x60FF | Target speed | units/ms units/s | INT32 | CSV PV | Set the target speed of the motor. Note PV mode and CSV mode have different units. |
| 0x6060 | Modes of operation | - | INT8 | All | Set the required mode of operation |
TxPDO
...
- 0x1A00
| Scroll Table Layout | ||
|---|---|---|
|
| Object | Name | Units | Data Type | Applicable Modes of Operation | Description |
|---|---|---|---|---|---|
| 0x6041 | Statusword | - | UINT16 | All | The Statusword describes the current state of the mode of operation. |
| 0x603F | Error Code | - | UINT16 | All | The actual error code currently active. |
| 0x6064 | Position Actual Value | units | INT32 | All | The value of the motor's actual position |
| 0x606C | Speed Actual Value | units/ms | INT32 | All | The value of the motor's actual speed |
| 0x6077 | Torque Actual Value | 0.1% rated torque | INT16 | All | The value of the motor's actual peak torque |
| 0x60FD | Digital Inputs | - | UINT16 | All | Digital inputs status |
| 0x2301 | Temperature | °c | INT16 | All | The actual motor temperature in °c. |
| 0x6079 | DC Voltage | 0.1VDC | INT16 | All | The actual DC 24V DC bus voltage |
| 0x6061 | Modes of operation display | - | INT8 | All | The mode of operation currently running. |
CSP Mode
This mapping is useful when a minimum amount of data wants to be transferred using CSP mode.
RxPDO - 0x1601
| Scroll Table Layout | ||
|---|---|---|
|
| Object | Name | Units | Data Type | Applicable Modes of Operation | Description |
|---|---|---|---|---|---|
| 0x6040 | Controlword | - | UINT16 | All | The Controlword is used to control the state of the mode of operation. |
| 0x60FE | Digital outputs | - | UINT16 | All | Set the state of the digital outputs |
| 0x607A | Target position | units | INT32 | CSP, PP | Set the target position of the motor |
TxPDO - 0x1A01
| Scroll Table Layout | ||
|---|---|---|
|
| Object | Name | Units | Data Type | Applicable Modes of Operation | Description |
|---|---|---|---|---|---|
| 0x6041 | Statusword | - | UINT16 | All | The Statusword describes the current state of the mode of operation. |
| 0x603F | Error Code | - | UINT16 | All | The actual error code currently active. |
| 0x6064 | Position Actual Value | units | INT32 | All | The value of the motor's actual position |
| 0x6077 | Torque Actual Value | 0.1% rated torque | INT16 | All | The value of the motor's actual peak torque |
| 0x606C | Speed Actual Value | units/ms | INT32 | All | The value of the motor's actual speed |
| 0x60FD | Digital Inputs | - | UINT16 | All | Digital inputs status |
CSV Mode
This mapping is useful when a minimum amount of data wants to be transferred using CSP mode.
RxPDO - 0x1602
| Scroll Table Layout | ||
|---|---|---|
|
| Object | Name | Units | Data Type | Applicable Modes of Operation | Description |
|---|---|---|---|---|---|
| 0x6040 | Controlword | - | UINT16 | All | The Controlword is used to control the state of the mode of operation. |
| 0x60FE | Digital outputs | - | UINT16 | All | Set the state of the digital outputs |
| 0x60FF | Target speed | units/ms | INT32 | CSV | Set the target speed of the motor. Note PV mode and CSV mode have different units. |
TxPDO - 0x1A02
| Scroll Table Layout | ||
|---|---|---|
|
| Object | Name | Units | Data Type | Applicable Modes of Operation | Description |
|---|---|---|---|---|---|
| 0x6041 | Statusword | - | UINT16 | All | The Statusword describes the current state of the mode of operation. |
| 0x603F | Error Code | - | UINT16 | All | The actual error code currently active. |
| 0x6064 | Position Actual Value | units | INT32 | All | The value of the motor's actual position |
| 0x6077 | Torque Actual Value | 0.1% rated torque | INT16 | All | The value of the motor's actual peak torque |
| 0x606C | Speed Actual Value | units/ms | INT32 | All | The value of the motor's actual speed |
| 0x60FD | Digital Inputs | - | UINT16 | All | Digital inputs status |
Profile Mode
This mapping is useful when profile position or profile velocity mode is used.
RxPDO - 0x1603
| Scroll Table Layout | ||
|---|---|---|
|
| Object | Name | Units | Data Type | Applicable Modes of Operation | Description |
|---|---|---|---|---|---|
| 0x6040 | Controlword | - | UINT16 | All | The Controlword is used to control the state of the mode of operation. |
| 0x60FE | Digital outputs | - | UINT16 | All | Set the state of the digital outputs |
| 0x607A | Target position | units | INT32 | CSP, PP | Set the target position of the motor |
| 0x60FF | Target speed | units/ms units/s | INT32 | CSV PV | Set the target speed of the motor. Note PV mode and CSV mode have different units. |
| 0x6081 | Profile velocity | - | UINT32 | PP | Set the required mode of operation |
| 0x6083 | Profile acceleration | UINT32 | PP, PV |
TxPDO - 0x1A03
| Scroll Table Layout | ||
|---|---|---|
|
| Object | Name | Units | Data Type | Applicable Modes of Operation | Description |
|---|---|---|---|---|---|
| 0x6041 | Statusword | - | UINT16 | All | The Statusword describes the current state of the mode of operation. |
| 0x603F | Error Code | - | UINT16 | All | The actual error code currently active. |
| 0x6064 | Position Actual Value | units | INT32 | All | The value of the motor's actual position |
| 0x606C | Speed Actual Value | units/ms | INT32 | All | The value of the motor's actual speed |
| 0x6077 | Torque Actual Value | 0.1% rated torque | INT16 | All | The value of the motor's actual peak torque |
| 0x60FD | Digital Inputs | - | UINT16 | All | Digital inputs status |
| 0x2301 | Temperature | °c | INT16 | All | The actual motor temperature in °c. |
| 0x6079 | DC Voltage | 0.1VDC | INT16 | All | The actual DC 24V DC bus voltage |
Overview
Content Tools