Page History
...
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 |
...
Indicates the error type that occurs in the slave device. The generic error bit is set on all errors. Specific error codes can be found in object 0x603F 28868758
Sub-index | Description | Range | Default | Type | Access | PDO Mapping |
---|---|---|---|---|---|---|
0x00 | Error Register | 0x00-0xFF | 0x00 | USINT | ro | No |
...
Sub-index | Description | Value | Access | PDO Mapping | |||||
---|---|---|---|---|---|---|---|---|---|
0x00 | Number of entries | 0x07 | ro | No | |||||
0x01 | Reserved | 0x00000010 | ro | No | 0x02 | Controlword mapping | 0x60400010 | ro | No |
0x030x02 | Target position mapping | 0x607A0020 | ro | No | |||||
0x040x03 | Target velocity mapping | 0x60FF0020 | ro | No | |||||
0x050x04 | Digital outputs mapping | 0x60FE0010 | ro | No | |||||
0x060x05 | Mode of operation mapping | 0x60600008 | ro | No | 0x07 | Reserved | 0x00000008 | ro | No |
0x1601: Receive PDO mapping parameter - CSP mode
Sub-index | Description | Value | Access | PDO Mapping | |||||
---|---|---|---|---|---|---|---|---|---|
0x00 | Number of entries | 0x04 | ro | No | |||||
0x01 | Reserved | 0x00000010 | ro | No | 0x02 | Controlword mapping | 0x60400010 | ro | No |
0x030x02 | Target position mapping | 0x607A0020 | ro | No | |||||
0x040x03 | Digital outputs mapping | 0x60FE0010 | ro | No |
...
Sub-index | Description | Value | Access | PDO Mapping | |||||
---|---|---|---|---|---|---|---|---|---|
0x00 | Number of entries | 0x04 | ro | No | |||||
0x01 | Reserved | 0x00000010 | ro | No | 0x02 | Controlword mapping | 0x60400010 | ro | No |
0x030x02 | Target velocity mapping | 0x60FF0020 | ro | No | |||||
0x040x03 | Digital outputs mapping | 0x60FE0010 | ro | No |
...
0x1603:
...
Receive PDO mapping parameter -
...
Profile mode
Sub-index | Description | Value | Access | PDO Mapping | |||||
---|---|---|---|---|---|---|---|---|---|
0x00 | Number of entries | 0x0B0x06 | ro | No | |||||
0x01 | Reserved | 0x00000010 | ro | No | 0x02 | Statusword Controlword mapping | 0x604100100x60400010 | ro | No |
0x03 | Target Position actual value mapping | 0x606400200x607A0020 | ro | No | |||||
0x04 | Target Velocity actual value mapping | 0x606C00200x60FF0020 | ro | No | |||||
0x05 | Torque actual valueProfile Velocity mapping | 0x607700200x60810020 | ro | No | |||||
0x06 | Digital input Profile Acceleration mapping | 0x60FD00100x60830020 | ro | No | |||||
0x07 | Error codeMode of operation mapping | 0x603F00100x60600008 | ro | No | |||||
0x08 | Temperature-C mapping | 0x23010010 | ro | No | |||||
0x09 | DC voltage mapping | 0x60790010 | ro | No | |||||
0x0A | Modes of operation display mapping | 0x60610008 | ro | No | |||||
0x0B | Reserved | 0x00000008 | ro | No |
...
0x1A00: Transmit PDO mapping parameter -
...
Dynamic switching of modes
Sub-index | Description | Value | Access | PDO Mapping | |||||
---|---|---|---|---|---|---|---|---|---|
0x00 | Number of entries | 0x070x0B | ro | No | |||||
0x01 | Reserved | 0x00000010 | ro | No | 0x02 | Statusword Statusword mapping | 0x60410010 | ro | No |
0x030x02 | Position actual value mapping | 0x60640020 | ro | No | |||||
0x040x03 | Velocity actual value mapping | 0x606C0020 | ro | No | |||||
0x050x04 | Torque actual value mapping | 0x60770020 | ro | No | |||||
0x060x05 | Digital input mapping | 0x60FD0010 | ro | No | |||||
0x070x06 | Error code mapping | 0x603F0010 | ro | No |
0x1A02: Transmit PDO mapping parameter - CSV mode
0x07 | Temperature-C mapping | 0x23010010 | ro | No | ||
0x08 | DC voltage mapping | |||||
Sub-index | Description | Value | Access | PDO Mapping | ||
---|---|---|---|---|---|---|
0x00 | Number of entries | 0x070x60790010 | ro | No | 0x01 | Reserved |
0x09 | Modes of operation display mapping | 0x60610008 | ro | No |
0x1A01: Transmit PDO mapping parameter - CSP mode
Sub-index | Description | Value | Access | PDO Mapping | |
---|---|---|---|---|---|
0x00 | Number of entries | 0x07 | 0x00000010ro | No | |
0x020x01 | Statusword mapping | 0x60410010 | ro | No | |
0x030x02 | Position actual value mapping | 0x60640020 | ro | No | |
0x040x03 | Velocity actual value mapping | 0x606C0020 | ro | No | |
0x050x04 | Torque actual value mapping | 0x60770020 | ro | No | |
0x060x05 | Digital input mapping | 0x60FD0010 | ro | No | |
0x070x06 | Error code mapping | 0x603F0010 | ro | No |
...
0x1A02: Transmit PDO mapping parameter - CSV mode
...
Indicates specific error code when an error occurs.
Sub-index | Description |
---|
Value |
---|
Default
Type
Access | PDO Mapping |
---|---|
0x00 |
0x0000
Number of entries | 0x07 | ro | No | |
0x01 | Statusword mapping | 0x60410010 | ro | No |
The following table outlines the error and the relevant objects that are set.
...
0x603F
Error Code
...
0x1001
Error Register
...
0x6041 Fault
(Bit 3)
...
Description
...
Motor not currently following commanded position 1,2
...
24V drive power no present
0x02 | Position actual value mapping | 0x60640020 | ro | No |
0x03 | Velocity actual value mapping | 0x606C0020 | ro | No |
0x04 | Torque actual value mapping | 0x60770020 | ro | No |
0x05 | Digital input mapping | 0x60FD0010 | ro | No |
0x06 | Error code mapping | 0x603F0010 | ro | No |
0x1A03: Transmit PDO mapping parameter - Profile mode
Sub-index | Description | Value | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Number of entries | 0x0B | ro | No |
0x01 | Statusword mapping | 0x60410010 | ro | No |
0x02 | Position actual value mapping | 0x60640020 | ro | No |
0x03 | Velocity actual value mapping | 0x606C0020 | ro | No |
0x04 | Torque actual value mapping | 0x60770020 | ro | No |
0x05 | Digital input mapping | 0x60FD0010 | ro | No |
0x06 | Error code mapping | 0x603F0010 | ro | No |
0x07 | Temperature-C mapping | 0x23010010 | ro | No |
0x08 | DC voltage mapping | 0x60790010 | ro | No |
0x09 | Mode of operation display mapping | 0x60610008 | ro | No |
CiA402 Drive Profile Objects
Anchor | ||||
---|---|---|---|---|
|
0x603F: Error Code
Anchor | ||||
---|---|---|---|---|
|
Indicates specific error code when an error occurs.
Sub-index | Description | Range | Default |
---|
- No an error state
- The motor is not following because for example the FSM state is not in Operation Enabled.
- If the FSM is in Operation Enabled the loss of 24V power will generate a fault on the statusword
otherwise the fault bit will not show an error.
0x6040: Controlword
...
Sub-index
...
Description
...
Type
...
Access
...
PDO Mapping
...
Yes
For more information on the Controlword usage see the chapter CiA 402 - Drives and Motion Control Device Profile
0x6041: Statusword
...
Sub-index
...
Description
...
Type
...
Access
...
PDO Mapping
...
Yes
For more information on the Statusword usage see the chapter CiA 402 - Drives and Motion Control Device Profile
0x6060: Modes of operation
Sub-index | DescriptionType | Access | PDO Mapping | |
---|---|---|---|---|
0x00 | Set the desired mode of operation | SINT | rw | Yes |
Value | Mode of Operation | |||
0 | No mode selected | |||
3 | Profile Velocity (PV) Mode | |||
8 | Cyclic Synchronois Position (CSP) Mode | |||
9 | Cyclic Synchronous Velocity (CSV) Mode |
0x6061: Modes of operation display
Error Code | 0x0000-0xFFFF | 0x0000 | UINT | ro | No |
The following table outlines the error and the relevant objects that are set.
0x603F Error Code | 0x1001 Error Register | 0x6041 Fault (Bit 3) | Description | |
---|---|---|---|---|
0x0000 | 0x00 | 0 | No error | |
0x2310 | 0x03 | 1 | Continuous over current error (torque overload) | |
0x4310 | 0x09 | 1 | Drive over temperature | |
0x4502 | 0x00 | |||
Sub-index | Description | Type | Access | PDO Mapping |
0x00 | Read the mode of operation currently set on the drive | SINT | ro | Yes |
Value | Mode of Operation0 | No mode selected | ||
3 | Profile Velocity (PV) Mode | |||
8 | Cyclic Synchronois Position (CSP) Mode | |||
9 | Cyclic Synchronous Velocity (CSV) Mode |
0x6064: Position actual value
...
Sub-index
...
Description
...
Type
...
Access
...
PDO Mapping
...
Read the actual position of the motor.
- Unit - pulses
(50,000 pulses/revolution)
...
Yes
0x606C: Speed actual value
...
Sub-index
...
Description
...
Type
...
Access
...
PDO Mapping
...
Read the actual speed of the motor.
- Unit - pulses/millisecond
(50,000 pulses/revolution)
...
Yes
(0x6060=0) 1 | |||
0x7310 | 0x81 | 1 | Over speed error |
---|---|---|---|
0x7320 | 0x81 | 1 | Position Error overflow |
0x7500 | 0x11 | 1 | Motor communication error |
0x7510 | 0x11 | 1 | Motor drive to EtherCAT slave communication error |
0x8611 | 0x00 | 0 | Motor not currently following commanded position 1,2 |
0xFF01 | 0x00 | 0 | Motor disabled by command1 |
0xFF04 | 0x81 | 1 | Emergency stop active |
0xFF05 | 0x11 | 0/13 | 24V drive power not present |
- Not an error state
- The motor is not following because for example the FSM state is not in Operation Enabled.
- If the FSM is in Operation Enabled the loss of 24V power will generate a fault on the statusword
otherwise the fault bit will not show an error.
0x6040: Controlword
...
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 |
Read the peak torque of the motor.
Unit - 0.1% of ratedUsed to control the drive's state machine | UINT |
rw | Yes |
...
For more information on the Controlword usage see the chapter CiA 402 - Drives and Motion Control Device Profile
0x6041: Statusword
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 |
Displays the |
status of the |
- Unit - nNm
Yes
0x6077: Torque actual value
drive's state machine | UINT | ro | Yes |
For more information on the Statusword usage see the chapter CiA 402 - Drives and Motion Control Device Profile
0x6060: Modes of operation
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Read Set the actual torque of the motor.
| INT | ro | Yes |
0x6079: DC link circuit voltage
desired mode of operation | SINT | rw | Yes |
Value | Mode of Operation |
---|---|
0 | No mode selected |
3 | Profile Velocity (PV) Mode |
6 | Homing Mode (HM) |
8 | Cyclic Synchronois Position (CSP) Mode |
9 | Cyclic Synchronous Velocity (CSV) Mode |
0x6061: Modes of operation display
Sub-index | Description | Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|---|---|
0x00 | Read the actual value of the 24V DC bus.
| DINT | mode of operation currently set on the drive | SINT | ro | Yes |
0x607A: Target position
Value | Mode of Operation |
---|---|
0 | No mode selected |
3 | Profile Velocity (PV) Mode |
8 | Cyclic Synchronois Position (CSP) Mode |
9 | Cyclic Synchronous Velocity (CSV) Mode |
0x6064: Position actual value
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Read the actual position of the | |||
Sub-index | Description | Type | Access | PDO Mapping |
0x00 | Set the target position of the motor.
(50,000 pulses/revolution) | DINT | rwro | Yes |
...
0x606C: Speed actual value
Sub-index | Description | Type | Access | PDO Mapping | ||||
---|---|---|---|---|---|---|---|---|
0x00 | Read the status actual speed of the inputsmotor.
(50,000 pulses/revolution) | DINTUINT | ro | Yes | ||||
Bit | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
INPUT | - | - | - | - | 4 | 3 | 2 | 1 |
...
0x6072: Peak torque
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Read the peak torque of the motor.
| UINT | ro | Yes |
0x6073: Motor max current
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Read the max current of the motor.
| UINT | ro | No |
0x6075: Motor rated current
Sub-index | Description | Type | Access | PDO |
---|
Set the digital output
Yes
- Output 1 is driven by 0x60FD
- Output 2 is driven by 0x60FD or by the motor driver depending on the K34 value. See K Parameters for additional information.
- Set K34=40 for 0x60FD
- Set K34=20 for alarm output
- Set K34=10 for inposition signla output.
0x60FF: Target velocity
...
Sub-index
...
Description
...
Type
...
Access
...
PDO Mapping
...
Set the target velocity of the motor.
- Unit - pulses/ms (50,000 pulses/revolution)
- Used in CSV, PV and CML modes
...
Yes
Manufacturer Specific Objects
0x2301: Drive temperature
...
Sub-index
...
Description
...
Type
...
Access
...
PDO Mapping
...
Read the drive temperature
- Unit - degrees C
...
Yes
0xFF00: Status LED brightness
...
Sub-index
...
Description
...
Type
...
Access
...
PDO Mapping
...
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
...
Mapping | ||||
---|---|---|---|---|
0x00 | Read the rated current of the motor.
| UDINT | ro | No |
0x6076: Motor rated torque
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Read the rated torque of the motor.
| UDINT | ro | Yes |
0x6077: Torque actual value
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Read the actual torque of the motor.
| INT | ro | Yes |
0x6079: DC link circuit voltage
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Read the actual value of the 24V DC bus.
| DINT | ro | Yes |
0x607A: Target position
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Set the target position of the motor.
| DINT | rw | Yes |
0x607C: Home offset
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Set the offset after a home switch/hardstop has been found.
| DINT | rw | No |
0x6081: Profile velocity
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Set the target velocity in profile position mode
| UDINT | rw | Yes |
0x6083: Profile acceleration
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Set the profile acceleration.
| UDINT | rw | Yes |
0x6084: Profile deceleration
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Set the profile deceleration in profile velocity mode.
| UDINT | rw | No |
0x6098: Homing method
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Set the method of the home routine.
| SINT | rw | No |
0x6099: Homing speeds
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Highest sub-index supported | SINT | rw | No |
0x01 | Speed during search for switch or hardstop
| UDINT | rw | No |
0x02 | N/A Speed during search for 0 uses the same speed as search for switch/hardstop | UDINT | rw | No |
0x609A: Homing acceleration
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Set the homing acceleration in homing mode.
| UDINT | rw | No |
0x60F6: K Parameter Settings
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Highest sub-index supported = 0x51 (81d) | USINT | rw | No |
0x51 ... 0x51 | K parameter settings.
| UINT | rw | No |
0x60FB: H Parameter Settings (Tuning Parameters)
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Number of entries | UINT | ro | No |
0x01 | H0 | INT | rw | No |
0x02 | H1 | INT | rw | No |
0x03 | H2 | INT | rw | No |
0x04 | H3 | INT | rw | No |
0x05 | H4 | INT | rw | No |
0x06 | H5 | INT | rw | No |
0x07 | H6 | INT | rw | No |
0x08 | H7 | INT | rw | No |
0x09 | H8 | INT | rw | No |
- The H parameters are stored in non-volatile memory in the drive. The value will be retained on power down and do not need to be reloaded after a power cycle.
- Information on the H infinity parameters can be found in the RT3 user manual - Motor Tuning.
0x60FD: Digital inputs
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Read the status of the inputs | UINT | ro | Yes |
Bit | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
---|---|---|---|---|---|---|---|---|
INPUT | - | - | - | - | 4 | 3 | 2 | 1 |
0x60FE: Digital outputs
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Set the digital output | UINT | rw | Yes |
Bit | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
---|---|---|---|---|---|---|---|---|
OUTPUT | - | - | - | - | - | - | OUT2 | OUT1 |
- Output 1 is driven by 0x60FD
- Output 2 is driven by 0x60FD or by the motor driver depending on the K34 value. See K Parameters for additional information.
- Set K34=40 for 0x60FD
- Set K34=20 for alarm output
- Set K34=10 for inposition signal output.
0x60FF: Target velocity
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Set the target velocity of the motor.
| DINT | rw | Yes |
0x6502: Supported drive modes
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Shows support drive modes Value = 0x1A5 Bit0 = 1: PP mode | UDINT | ro | No |
Manufacturer Specific Objects
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.
draw.io Diagram | ||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
...