CM1-E
CM1-E
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Object Dictionary

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: Error Code

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

-

"MYO28-04F"

STRING

ro

No

0x100A: Manufacturer Software Version

Indicates the version of the EtherCAT firmware

The version is a 9-character string, padded at the end with spaces. Firmware 1.3.12 reports "1.3.12" followed by three spaces.

Sub-index

Description

Range

Default

Type

Access

PDO Mapping

0x00

Manufacturer Software Version

-

"1.3.12"

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

0x20020103

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

0x07

Mode of operation mapping

0x60600008

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

0x09

Mode of operation display mapping

0x60610008

ro

No

CiA402 Drive Profile Objects 

0x6007: Abort Connection Option Code

Sets the reaction when the EtherCAT slave leaves OP. Available from firmware 1.3.12.

Sub-index

Description

Range

Default

Type

Access

PDO Mapping

0x00

Abort Connection Option Code

0-3

1

INT

rw

No

The value is not stored: it returns to 1 at every power-up.

Value

Reaction when the slave leaves OP

0

No action. CSV/CSP set points freeze and the motor holds its last position, still energised. PV, PP and Homing keep running at their last command.

1 (default)

Fault. The motor is disabled and the axis goes to Fault, with 0x603F = 0x7500 and 0x1001 = 0x11. Clear it with a fault reset (controlword bit 7).

2

Disable voltage. The motor is disabled and the axis goes to Switch On Disabled. No fault is raised.

3 and any other value

Handled as 1. Quick stop is not implemented.

The reaction applies to every exit from OP: SM watchdog timeout or cable pull, a change to SAFEOP, PREOP or INIT requested by the master, and a TwinCAT runtime stop.

To use 0 or 2, add a CoE startup entry in TwinCAT so the value is written every time the drive starts: Startup tab, New, Transition P -> S, Index 6007, Sub-Index 0, value 0 or 2.

Communication loss is detected by the SM watchdog. In TwinCAT it is set on the EtherCAT tab under Advanced Settings > Behavior > Set SM Watchdog (default 1000 = 100 ms). With the SM watchdog disabled, a cable pull is not detected until the master changes the state.

0x6007 is not a safety function. For an emergency stop, remove the 24 V drive power through a safety relay.

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

EtherCAT communication lost: slave left OP, reaction set by 0x6007

0x7510

0x11

1

Internal motor serial link lost

0x7520

0x11

1

Cannot switch the motor to cyclic (CIA) mode

0x8611

0x00

0

Motor not currently following commanded position 1,2

0xFF01

0x00

0

Motor disabled by command1

0xFF02

0x81

1

Push-mode torque limit fault

0xFF03

0x81

1

Push-mode timeout

0xFF04

0x81

1

Emergency stop active

0xFF05

0x11

0/13

24V drive power not present

  1. Not an error state

  2. The motor is not following because for example the FSM state is not in Operation Enabled.

  3. 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.

Clearing errors

  • A fault reset (controlword 0x0080) clears 0x603F and 0x1001 together with the fault bit. 0x603F then reads 0x8611 in Switch On Disabled and Ready to Switch On, and 0 from Switched On.

  • A fault that is still present is reported again.

  • The fault reset is refused while the motor serial link is down and drive power is off.

  • Masters that need the last error should log 0x603F when the fault bit rises.

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 - mNm

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

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

0x607C: Home offset

Sub-index

Description

Type

Access

PDO Mapping

0x00

Set the offset after a home switch/hardstop has been found.

  • Unit - pulses (50,000 pulses/revolution)

    • Internally will be rounded to the closest 100.

  • Used in homing mode

DINT

rw

No

0x6081: Profile velocity

Sub-index

Description

Type

Access

PDO Mapping

0x00

Set the target velocity in profile position mode

  • Unit - pulses/s (50,000 pulses/revolution)

  • Used in profile position mode

UDINT

rw

Yes

0x6083: Profile acceleration

Sub-index

Description

Type

Access

PDO Mapping

0x00

Set the profile acceleration.

  • Unit - pulses/s2 (50,000 pulses/revolution)

  • Used in profile position and profile velocity modes

UDINT

rw

Yes

0x6084: Profile deceleration

Sub-index

Description

Type

Access

PDO Mapping

0x00

Set the profile deceleration in profile velocity mode.

  • Unit - pulses/s2 (50,000 pulses/revolution)

  • Used 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.

  • 0: No home routine selected

  • -1: Hardstop CW

  • -2:  Hardstop CCW

  • -3:  Input 2 sensor CW

  • -4:  Input 2 sensor CCW

  • -5:  Input 3 sensor CW

  • -6:  Input 3 sensor CCW

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

  • The homing speed is written to an internal register which has a unit of 100 pulses/s. 


    The value written into 0x6099:01 will be rounded to the closest 100.

  • Used in homing mode

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.

  • Unit - pulses/s2 (50,000 pulses/revolution)

  • The homing acceleration is written to an internal register which has a unit of 1000 pulses/s. The value written into 0x609A will be rounded to the closest 1000.

  • Used 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.

  • See standard Cool Muscle documentation for details

  • Typically these parameters do not need to be modified as the current profile mode changes them directly as required.

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

-

-

-

-

-

-

-

OUT1

  • Output 1 is driven by 0x60FD

  • Output 2 is driven by the motor driver depending on the K34 value. See K Parameters for additional information. Example

    • 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.

  • Unit - pulses/ms (50,000 pulses/revolution)

  • Used in CSV, PV and CML modes

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
Bit1 = 0: VL mode
Bit2 = 1: PV mode
Bit3 = 0: TQ mode
Bit4 = 0: reserved
Bit5 = 1: HM mode
Bit6 = 0: IP mode
Bit7 = 1: CSP mode
Bit8 = 1: CSV mode
Bit9 = 0: CST 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

  • Unit - degrees C

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.

The cycle time in 0x1C32:02 (measured after writing 0x1C32:08 = 1) is only valid at cycle times of 1 ms or more.

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.

  • Range [0,16]

  • 0 - OFF

  • 1 - minimum brightness (default)

  • 16 - maximum brightness

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
Bit 1 - flash on/off

Values

0x00 - Red OFF
0x01 - Red ON

0x00 - Green OFF
0x01 - Green ON

0x00 - Blue OFF
0x01 - Blue ON

0x00 - No override
0x01 - Override with solid colour defined in bytes 3-1
0x03 - Override with flash colour defined in bytes 3-1

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.

  1. In the Solution Explorer select the CM1-E drive

  2. Select the CoE-Online tab. Only the objects listed in the EDS are currently listed.

  3. Click the Advanced button to enable reading all objects.

    CM1-E Selection.png

  4. Select the Online radio button

  5. Click OK

    Advanced Settings.png

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.

KH Parameters.png