Page History
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Provides information on the device type.
Sub-index | Description | Range | Default | Type | Access | PDO Mapping |
|---|---|---|---|---|---|---|
| 0x00 | Device Type | 0x00-0xFFFFFFFFh | 0x00040192 | UDINT | ro | No |
Explanation of set value
Bits | Name | Description |
|---|---|---|
| 0-15 | Device Profile Number | 402 (0x192): Drive Profile |
| 16-23 | Type | 04: Step motor |
| 24-31 | Mode | 0: Manufacturer specific |
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Sub-index | Description | Type | Access | PDO Mapping |
|---|---|---|---|---|
| 0x00 | Set the offset after a home switch/hardstop has been found.
| DINT | rw | No |
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Manufacturer Specific Objects
0x2301: Drive temperature
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Sub-index
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Description
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Type
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Access
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PDO Mapping
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Read the drive temperature
- Unit - degrees C
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Yes
0xFE00: PDO Timing
The PDO time is autodetected by the slave. The detected time can be read in 0xFE00.
Only PDO rates of 200μs, 250μs, 500μs and 1000μs (1ms) are accepted by the CM1-E.
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Sub-index
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Description
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Type
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Access
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PDO Mapping
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Number of entries
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No
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0xFF00: Status LED brightness
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Sub-index
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Description
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Type
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Access
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PDO Mapping
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Set the brightness of the system and motor status LED.This is a non-volatile object that is stored in memory.
- Range [0,16]
- 0 - OFF
- 1 - minimum brightness (default)
- 16 - maximum brightness
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No
0xFF01: Status LED Override
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Sub-index
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Description
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Type
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Access
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PDO Mapping
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Override the status LED colour and flash.
This allows the user to use the status LED to indicate custom operations such as identify a motor in a large axes application.
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No
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Override on/off
Bit 0 - override on/off
Bit 1 - flash on/off
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0x00 - Red OFF
0x01 - Red ON
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0x00 - Green OFF
0x01 - Green ON
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0x00 - Blue OFF
0x01 - Blue ON
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0x00 - No override
0x01 - Override with solid colour defined in bytes 3-1
0x03 - Override with flash colour defined in bytes 3-1
0x2201: 32bit User Variables
This object contains 4 volatile variables. Variable1 in addition has BIT15 and BIT14 mapped to the manufacturer specific bits, B15 and B14, on the Statusword (0x6041).
An example of usage would be if the application requires a custom home routine. These bit could be set as a flag to indicate the home routine has been completed. Due to the volatile nature of the variables if a reset occurs on the drive the flag bit would be reset.
Sub-index | Description | Type | Access | PDO Mapping |
|---|---|---|---|---|
| 0x00 | Number of entries | UINT | ro | No |
| 0x01 | Variable1 | DINT | rw | BIT15 and B14 are mapped to the Statusword 0x6041 BIT15 and B14. |
| 0x02 | Variable2 | DINT | rw | No |
| 0x03 | Variable3 | DINT | rw | No |
| 0x04 | Variable4 | DINT | rw | No |
0x2301: Drive temperature
Sub-index | Description | Type | Access | PDO Mapping |
|---|---|---|---|---|
| 0x00 | Read the drive temperature
| INT | ro | Yes |
0xFE00: PDO Timing
The PDO time is autodetected by the slave. The detected time can be read in 0xFE00.
Only PDO rates of 200μs, 250μs, 500μs and 1000μs (1ms) are accepted by the CM1-E.
Sub-index | Description | Type | Access | PDO Mapping |
|---|---|---|---|---|
| 0x00 | Number of entries | UINT | ro | No |
| 0x01 | PDO Time in μs | UINT | ro | No |
| 0x02 | N/A | UINT | ro | No |
| 0x03 | N/A | UINT | ro | No |
| 0x04 | N/A | UINT | ro | No |
0xFF00: Status LED brightness
Sub-index | Description | Type | Access | PDO Mapping |
|---|---|---|---|---|
| 0x00 | Set the brightness of the system and motor status LED.This is a non-volatile object that is stored in memory.
| SINT | rw | No |
0xFF01: Status LED Override
Sub-index | Description | Type | Access | PDO Mapping |
|---|---|---|---|---|
| 0x00 | Override the status LED colour and flash. This allows the user to use the status LED to indicate custom operations such as identify a motor in a large axes application. | UDINT | rw | No |
Byte Description
| Byte3 | Byte2 | Byte1 | Byte0 | |
|---|---|---|---|---|
| Description | Red LED on/off | Green LED on/off | Blue LED on/off | Override on/off Bit 0 - override on/off |
| Values | 0x00 - Red OFF | 0x00 - Green OFF | 0x00 - Blue OFF | 0x00 - No override |
Example Values
- 0xFF01 = 0x01010101 - LED will turn solid white
- 0xFF01 = 0x01000003 - LED will flash red
Accessing the Objects in TwinCAT3
The following instructions show how to read/write the objects in TwinCAT3 through the online object dictionary. It assumes a CM1-E drive has already been added.
- In the Solution Explorer select the CM1-E drive
- Select the CoE-Online tab. Only the objects listed in the EDS are currently listed.
- Click the Advanced button to enable reading all objects.
draw.io Diagram border false diagramName CM1-E Selection simpleViewer true width 600 links auto tbstyle top lbox true diagramWidth 851 revision 1 - Select the Online radio button
- Click OK
draw.io Diagram border false diagramName Advanced Settings simpleViewer true width 475 links auto tbstyle top lbox true diagramWidth 647 revision 1
The full object dictionary is now available. The K and H parameters are shown below in red. Expand the list to see all the parameters.
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Example Values
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Overview
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