Table of Contents
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 Object Dictionary (Copy)
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 |
Indicates the manufacturers device name
Sub-index | Description | Range | Default | Type | Access | PDO Mapping |
---|---|---|---|---|---|---|
0x00 | Manufacturers Device Name | - | "CM1-E" | STRING | ro | No |
Indicates the EtherCAT hardware version.
Sub-index | Description | Range | Default | Type | Access | PDO Mapping |
---|---|---|---|---|---|---|
0x00 | Manufacturer Hardware Version | - | "MYO28-02A" | STRING | ro | No |
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 |
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 |
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 |
0x03 | Target position mapping | 0x607A0020 | ro | No |
0x04 | Target velocity mapping | 0x60FF0020 | ro | No |
0x05 | Digital outputs mapping | 0x60FE0010 | ro | No |
0x06 | Mode of operation mapping | 0x60600008 | ro | No |
0x07 | Reserved | 0x00000008 | 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 |
0x03 | Target position mapping | 0x607A0020 | ro | No |
0x04 | 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 |
0x03 | Target velocity mapping | 0x60FF0020 | ro | No |
0x04 | Digital outputs mapping | 0x60FE0010 | ro | No |
Sub-index | Description | Value | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Number of entries | 0x0B | ro | No |
0x01 | Reserved | 0x00000010 | ro | No |
0x02 | Statusword mapping | 0x60410010 | ro | No |
0x03 | Position actual value mapping | 0x60640020 | ro | No |
0x04 | Velocity actual value mapping | 0x606C0020 | ro | No |
0x05 | Torque actual value mapping | 0x60770020 | ro | No |
0x06 | Digital input mapping | 0x60FD0010 | ro | No |
0x07 | Error code mapping | 0x603F0010 | 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 |
Sub-index | Description | Value | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Number of entries | 0x07 | ro | No |
0x01 | Reserved | 0x00000010 | ro | No |
0x02 | Statusword mapping | 0x60410010 | ro | No |
0x03 | Position actual value mapping | 0x60640020 | ro | No |
0x04 | Velocity actual value mapping | 0x606C0020 | ro | No |
0x05 | Torque actual value mapping | 0x60770020 | ro | No |
0x06 | Digital input mapping | 0x60FD0010 | ro | No |
0x07 | Error code mapping | 0x603F0010 | ro | No |
Sub-index | Description | Value | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Number of entries | 0x07 | ro | No |
0x01 | Reserved | 0x00000010 | ro | No |
0x02 | Statusword mapping | 0x60410010 | ro | No |
0x03 | Position actual value mapping | 0x60640020 | ro | No |
0x04 | Velocity actual value mapping | 0x606C0020 | ro | No |
0x05 | Torque actual value mapping | 0x60770020 | ro | No |
0x06 | Digital input mapping | 0x60FD0010 | ro | No |
0x07 | Error code mapping | 0x603F0010 | ro | No |
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 |
0x7320 | 0x81 | 1 | Position Error overflow |
0x7310 | 0x81 | 1 | Over speed error |
0x2310 | 0x03 | 1 | Continuous over current error (torque overload) |
0xFF01 | 0x00 | 0 | Motor disabled by command (not an error) |
0x4310 | 0x09 | 1 | Drive over temperature |
0xFF04 | 0x81 | 1 | Emergency stop active |
0x7500 | 0x11 | 1 | Motor communication error |
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 (Copy)
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 (Copy)
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 |
8 | Cyclic Synchronois Position (CSP) Mode |
9 | Cyclic Synchronous Velocity (CSV) Mode |
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 |
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Read the actual position of the motor.
(50,000 pulses/revolution) | DINT | ro | Yes |
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Read the actual speed of the motor.
(50,000 pulses/revolution) | DINT | ro | Yes |
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Read the peak torque of the motor.
| UINT | ro | Yes |
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Read the rated torque of the motor.
| UDINT | ro | Yes |
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Read the actual torque of the motor.
| INT | ro | Yes |
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Read the actual value of the 24V DC bus.
| DINT | ro | Yes |
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Set the target position of the motor.
| DINT | rw | Yes |
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 |
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 |
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Set the target velocity of the motor.
| DINT | rw | Yes |
Sub-index | Description | Type | Access | PDO Mapping |
---|---|---|---|---|
0x00 | Read the drive temperature
| INT | ro | Yes |
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 | ro | Yes |