...

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 28868758 0x603F

Sub-index	Description	Range	Default	Type	Access	PDO Mapping
0x00	Error Register	0x00-0xFF	0x00	USINT	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
Anchor
CiA402 Drive Profile Objects
CiA402 Drive Profile Objects

...

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

mNm

UDINT

ro

Yes

0x6077: Torque actual value

...

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 (81_d)

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.

...

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

...

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

...

Only PDO rates of 200μs, 250μs, 500μs and 1000μs (1ms) are accepted by the CM1-E.

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

...

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

...

Cool Muscle User Guides

Versions Compared

Old Version 34

New Version 35

Key

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
Anchor
CiA402 Drive Profile Objects
CiA402 Drive Profile Objects

0x6072: Peak torque

0x6073: Motor max current

0x6075: Motor rated current

0x6076: Motor rated torque

0x6077: Torque actual value

0x607C: Home offset

0x6081: Profile velocity

0x6083: Profile acceleration

0x6084: Profile deceleration

0x6098: Homing method

0x6099: Homing speeds

0x609A: Homing acceleration

0x60F6: K Parameter Settings

0x60FB: H Parameter Settings (Tuning Parameters)

0x6502: Supported drive modes

Manufacturer Specific Objects

0x2301: Drive temperature

0xFF00: Status LED brightness

0xFF01: Status LED Override

Cool Muscle User Guides

Page History

Versions Compared

Old Version 34

New Version 35

Key

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 AnchorCiA402 Drive Profile ObjectsCiA402 Drive Profile Objects

0x6072: Peak torque

0x6073: Motor max current

0x6075: Motor rated current

0x6076: Motor rated torque

0x6077: Torque actual value

0x607C: Home offset

0x6081: Profile velocity

0x6083: Profile acceleration

0x6084: Profile deceleration

0x6098: Homing method

0x6099: Homing speeds

0x609A: Homing acceleration

0x60F6: K Parameter Settings

0x60FB: H Parameter Settings (Tuning Parameters)

0x6502: Supported drive modes

Manufacturer Specific Objects

0x2301: Drive temperature

0xFF00: Status LED brightness

0xFF01: Status LED Override

CiA402 Drive Profile Objects
Anchor
CiA402 Drive Profile Objects
CiA402 Drive Profile Objects