Table of Contents

Communication Objects

0x1000: Device Type

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

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
0x00	Error Register	0x00-0xFF	0x00	USINT	ro	No

Definition of bits:

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

0x1008: Manufacturer Device Name

Indicates the manufacturers device name

Sub-index	Description	Range	Default	Type	Access	PDO Mapping
0x00	Manufacturers Device Name	-	"CM1-E"	STRING	ro	No

0x1009: Manufacturer Hardware Version

Indicates the EtherCAT hardware version.

Sub-index	Description	Range	Default	Type	Access	PDO Mapping
0x00	Manufacturer Hardware Version	-	"MYO28-02A"	STRING	ro	No

0x100A: Manufacturer Software Version

Indicates the version of the EtherCAT firmware

Sub-index	Description	Range	Default	Type	Access	PDO Mapping
0x00	Manufacturer Software Version	-	"1.0.0"	STRING	ro	No

0x1018: Identity Object

Indicates general device information

Sub-index	Description	Range	Default	Type	Access	PDO Mapping
0x00	Number of Entries	0x01-0x04	0x04	USINT	ro	No
0x01	Vendor ID	0x00-0xFFFFFFFF	0x00004441	UDINT	ro	No
0x02	Product Code	0x00-0xFFFFFFFF	0x44412002	UDINT	ro	No
0x03	Revision Number	0x00-0xFFFFFFFF	0x20020001	UDINT	ro	No
0x04	Serial Number	0x00-0xFFFFFFFF	0x00000000	UDINT	ro	No

PDO Mapping Objects

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

Sub-index	Description	Value	Access	PDO Mapping
0x00	Number of entries	0x07	ro	No
0x01	Controlword mapping	0x60400010	ro	No
0x02	Target position mapping	0x607A0020	ro	No
0x03	Target velocity mapping	0x60FF0020	ro	No
0x04	Digital outputs mapping	0x60FE0010	ro	No
0x05	Mode of operation mapping	0x60600008	ro	No

0x1601: Receive PDO mapping parameter - CSP mode

Sub-index	Description	Value	Access	PDO Mapping
0x00	Number of entries	0x04	ro	No
0x01	Controlword mapping	0x60400010	ro	No
0x02	Target position mapping	0x607A0020	ro	No
0x03	Digital outputs mapping	0x60FE0010	ro	No

0x1602: Receive PDO mapping parameter - CSV mode

Sub-index	Description	Value	Access	PDO Mapping
0x00	Number of entries	0x04	ro	No
0x01	Controlword mapping	0x60400010	ro	No
0x02	Target velocity mapping	0x60FF0020	ro	No
0x03	Digital outputs mapping	0x60FE0010	ro	No

0x1603: Receive PDO mapping parameter - Profile mode

Sub-index	Description	Value	Access	PDO Mapping
0x00	Number of entries	0x06	ro	No
0x01	Controlword mapping	0x60400010	ro	No
0x03	Target Position mapping	0x607A0020	ro	No
0x04	Target Velocity mapping	0x60FF0020	ro	No
0x05	Profile Velocity mapping	0x60810020	ro	No
0x06	Profile Acceleration mapping	0x60830020	ro	No

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

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	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	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

0x1A02: Transmit PDO mapping parameter - CSV mode

Sub-index	Description	Value	Access	PDO Mapping
0x00	Number of entries	0x07	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

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

CiA402 Drive Profile Objects

0x603F: Error Code

Indicates specific error code when an error occurs.

Sub-index	Description	Range	Default	Type	Access	PDO Mapping
0x00	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	0	No mode selected (0x6060=0)¹
0x7310	0x81	1	Over speed error
0x7320	0x81	1	Position Error overflow
0x7500	0x11	1	Motor 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 no 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	Used 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 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	Set the 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	Type	Access	PDO Mapping
0x00	Read the mode of operation currently set on the drive	SINT	ro	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

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)

DINT

ro

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)

DINT

ro

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

UINT

ro

Yes

0x6073: Motor max current

Sub-index

Description

Type

Access

PDO Mapping

0x00

Read the max current of the motor.

Unit - 0.1% of rated current

UINT

ro

No

0x6075: Motor rated current

Sub-index

Description

Type

Access

PDO Mapping

0x00

Read the rated current of the motor.

Unit - mA

UDINT

ro

No

0x6076: Motor rated torque

Sub-index

Description

Type

Access

PDO Mapping

0x00

Read the rated torque of the motor.

Unit - nNm

UDINT

ro

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

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.

Unit - 0.1V

DINT

ro

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

DINT

rw

Yes

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

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

0x60FD: 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 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

DINT

rw

Yes

Manufacturer Specific Objects

0x2301: Drive temperature

Sub-index

Description

Type

Access

PDO Mapping

0x00

Read the drive temperature

Unit - degrees C

INT

ro

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

SINT

ro

Yes

Cool Muscle User Guides

Object Dictionary

Servo Gearboxes - Inline and Right Angle

SR Joint Spherical Rolling Joints

Estun ProNet Servo Systems

Contact Information

Communication Objects

0x1000: Device Type

0x1001: Error Register

0x1008: Manufacturer Device Name

0x1009: Manufacturer Hardware Version

0x100A: Manufacturer Software Version

0x1018: Identity Object

PDO Mapping Objects

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

0x1601: Receive PDO mapping parameter - CSP mode

0x1602: Receive PDO mapping parameter - CSV mode

0x1603: Receive PDO mapping parameter - Profile mode

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

0x1A01: Transmit PDO mapping parameter - CSP mode

0x1A02: Transmit PDO mapping parameter - CSV mode

0x1A03: Transmit PDO mapping parameter - Profile mode

CiA402 Drive Profile Objects

0x603F: Error Code

0x6040: Controlword

0x6041: Statusword

0x6060: Modes of operation

0x6061: Modes of operation display

0x6064: Position actual value

0x606C: Speed actual value

0x6072: Peak torque

0x6073: Motor max current

0x6075: Motor rated current

0x6076: Motor rated torque

0x6077: Torque actual value

0x6079: DC link circuit voltage

0x607A: Target position

0x60FB: H Parameter Settings (Tuning Parameters)

0x60FD: Digital inputs

0x60FD: Digital outputs

0x60FF: Target velocity

Manufacturer Specific Objects

0x2301: Drive temperature

0xFF00: Status LED brightness