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Table of Contents

Communication Objects 

0x1000: Device Type

Provides information on the device type.

Sub-index

Description

Range

Default

Type

Access

PDO Mapping

0x00Device Type0x00-0xFFFFFFFFh


0x00040192

UDINTroNo

Explanation of set value

Bits

Name

Description

0-15Device Profile Number402 (0x192): Drive Profile
16-23Type04: Step motor
24-31Mode0: Manufacturer specific

0x1001: Error Register

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

Sub-index

Description

Range

Default

Type

Access

PDO Mapping

0x00Error Register0x00-0xFF0x00USINTroNo

Definition of bits:

Bit

Error Description

0Generic
1Current
2Voltage
3Temperature
4Communication Error
5Device profile specific
6N/A
7Manufacturer specific

0x1008: Manufacturer Device Name

Indicates the manufacturers device name

Sub-index

Description

Range

Default

Type

Access

PDO Mapping

0x00Manufacturers Device Name-"CM1-E"STRINGroNo

0x1009: Manufacturer Hardware Version

Indicates the EtherCAT hardware version.

Sub-index

Description

Range

Default

Type

Access

PDO Mapping

0x00Manufacturer Hardware Version-"MYO28-02A"STRINGroNo

0x100A: Manufacturer Software Version

Indicates the version of the EtherCAT firmware

Sub-index

Description

Range

Default

Type

Access

PDO Mapping

0x00Manufacturer Software Version-"1.0.0"STRINGroNo

0x1018: Identity Object

Indicates general device information

Sub-index

Description

Range

Default

Type

Access

PDO Mapping

0x00Number of Entries0x01-0x040x04USINTroNo
0x01Vendor ID0x00-0xFFFFFFFF0x00004441UDINT

ro

No
0x02Product Code0x00-0xFFFFFFFF0x44412002UDINTroNo
0x03Revision Number0x00-0xFFFFFFFF0x20020001UDINTroNo
0x04Serial Number0x00-0xFFFFFFFF0x00000000UDINTroNo

PDO Mapping Objects 

0x1600: Receive PDO mapping parameter - Dynamic switching of modes

Sub-index

Description

Value

Access

PDO Mapping

0x00Number of entries

0x07

roNo
0x01Reserved0x00000010
roNo
0x02Controlword mapping0x60400010
roNo
0x03Target position mapping0x607A0020
roNo
0x04Target velocity mapping0x60FF0020roNo
0x05Digital outputs mapping 0x60FE0010
roNo
0x06Mode of operation mapping0x60600008
roNo
0x07Reserved0x00000008
roNo

0x1601: Receive PDO mapping parameter - CSP mode

Sub-index

Description

Value

Access

PDO Mapping

0x00Number of entries

0x04

roNo
0x01Reserved0x00000010
roNo
0x02Controlword mapping0x60400010
roNo
0x03Target position mapping0x607A0020
roNo
0x04Digital outputs mapping 0x60FE0010
roNo

0x1602: Receive PDO mapping parameter - CSV mode

Sub-index

Description

Value

Access

PDO Mapping

0x00Number of entries

0x04

roNo
0x01Reserved0x00000010
roNo
0x02Controlword mapping0x60400010
roNo
0x03Target velocity mapping0x60FF0020roNo
0x04Digital outputs mapping 0x60FE0010
roNo

0x1A00: Transmit PDO mapping parameter - Dynamic switching of modes

Sub-index

Description

Value

Access

PDO Mapping

0x00Number of entries

0x0B

roNo
0x01Reserved0x00000010
roNo
0x02Statusword mapping0x60410010roNo
0x03Position actual value mapping0x60640020roNo
0x04Velocity actual value mapping0x606C0020
roNo
0x05Torque actual value mapping0x60770020
roNo
0x06Digital input mapping 0x60FD0010
roNo
0x07Error code mapping0x603F0010roNo
0x08Temperature-C mapping0x23010010
roNo
0x09DC voltage mapping0x60790010
roNo
0x0AModes of operation display mapping0x60610008
roNo
0x0BReserved0x00000008
roNo

0x1A01: Transmit PDO mapping parameter - CSP mode


Sub-index

Description

Value

Access

PDO Mapping

0x00Number of entries

0x07

roNo
0x01Reserved0x00000010
roNo
0x02Statusword mapping0x60410010roNo
0x03Position actual value mapping0x60640020roNo
0x04Velocity actual value mapping0x606C0020
roNo
0x05Torque actual value mapping0x60770020
roNo
0x06Digital input mapping 0x60FD0010
roNo
0x07Error code mapping0x603F0010roNo

0x1A02: Transmit PDO mapping parameter - CSV mode


Sub-index

Description

Value

Access

PDO Mapping

0x00Number of entries

0x07

roNo
0x01Reserved0x00000010
roNo
0x02Statusword mapping0x60410010roNo
0x03Position actual value mapping0x60640020roNo
0x04Velocity actual value mapping0x606C0020
roNo
0x05Torque actual value mapping0x60770020
roNo
0x06Digital input mapping 0x60FD0010
roNo
0x07Error code mapping0x603F0010roNo

CiA402 Drive Profile Objects 

0x603F: Error Code 

Indicates specific error code when an error occurs.

Sub-index

Description

Range

Default

Type

Access

PDO Mapping

0x00Error Code0x0000-0xFFFF

0x0000

UINTroNo

The following table outlines the error and the relevant objects that are set.

0x603F

Error Code

0x1001

Error Register

0x6041 Fault

(Bit 3)

Description

0x00000x000No error
0x73200x811Position Error overflow
0x73100x811Over speed error
0x23100x031Continuous over current error (torque overload)
0xFF010x000Motor disabled by command1
0x43100x091Drive over temperature
0x45020x000No mode selected (0x6060=0)1
0xFF040x811Emergency stop active
0x75000x111Motor communication error
0x86110x000

Motor no currently following commanded position 1,2

  1. No an error state
  2. The motor is not following because for example the FSM state is not in Operation Enabled.

0x6040: Controlword

Sub-index

Description

Type

Access

PDO Mapping

0x00Used to control the drive's state machineUINTrw

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

0x00Displays the status of the drive's state machineUINTro

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

0x00Set the desired mode of operationSINTrw

Yes

ValueMode of Operation
0No mode selected
3Profile Velocity (PV) Mode
8Cyclic Synchronois Position (CSP) Mode
9Cyclic Synchronous Velocity (CSV) Mode

0x6061: Modes of operation display

Sub-index

Description

Type

Access

PDO Mapping

0x00Read the mode of operation currently set on the driveSINTro

Yes

ValueMode of Operation
0No mode selected
3Profile Velocity (PV) Mode
8Cyclic Synchronois Position (CSP) Mode
9Cyclic Synchronous Velocity (CSV) Mode

0x6064: Position actual value

Sub-index

Description

Type

Access

PDO Mapping

0x00

Read the actual position of the motor.

  • Unit - pulses

(50,000 pulses/revolution)

DINTro

Yes

0x606C: Speed actual value

Sub-index

Description

Type

Access

PDO Mapping

0x00

Read the actual speed of the motor.

  • Unit - pulses/millisecond

(50,000 pulses/revolution)

DINTro

Yes

0x6072: Peak torque

Sub-index

Description

Type

Access

PDO Mapping

0x00

Read the peak torque of the motor.

  • Unit - 0.1% of rated torque
UINTro

Yes

0x6076: Rated torque

Sub-index

Description

Type

Access

PDO Mapping

0x00

Read the rated torque of the motor.

  • Unit - nNm
UDINTro

Yes

0x6077: Torque actual value

Sub-index

Description

Type

Access

PDO Mapping

0x00

Read the actual torque of the motor.

  • Unit - 0.1% of rated torque
INTro

Yes

0x6079: DC link circuit voltage

Sub-index

Description

Type

Access

PDO Mapping

0x00

Read the actual value of the 24V DC bus.

  • Unit - 0.1V


DINTro

Yes

0x607A: Target position

Sub-index

Description

Type

Access

PDO Mapping

0x00

Set the target position of the motor.

  • Unit - pulses (50,000 pulses/revolution)
  • Used in CSP and CML modes
DINTrw

Yes

0x60FD: Digital inputs

Sub-index

Description

Type

Access

PDO Mapping

0x00

Read the status of the inputs

UINTro

Yes


Bit76543210
INPUT----4321

0x60FD: Digital outputs

Sub-index

Description

Type

Access

PDO Mapping

0x00

Set the digital output

UINTrw

Yes


Bit76543210
OUTPUT------OUT2OUT1
  • 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

0x00

Set the target velocity of the motor.

  • Unit - pulses/ms (50,000 pulses/revolution)
  • Used in CSV, PV and CML modes
DINTrw

Yes

Manufacturer Specific Objects

0x2301: Drive temperature

Sub-index

Description

Type

Access

PDO Mapping

0x00

Read the drive temperature

  • Unit - degrees C
INTro

Yes

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.

  • Range [0,16]
  • 0 - OFF
  • 1 - minimum brightness (default)
  • 16 - maximum brightness
SINTro

Yes

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