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 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 |
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 |
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 |
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
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
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 |