Version: 1.1.1
Table of Contents
- Introduction
- EtherCAT Overview
- Wiring and LED Information
- CiA 402 - Drives and Motion Control Device Profile
- Object Dictionary
- Communication Objects
- 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
- 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)
- 0x60FD: Digital inputs
- 0x60FE: Digital outputs
- 0x60FF: Target velocity
- 0x6502: Supported drive modes
- Manufacturer Specific Objects
- Accessing the Objects in TwinCAT3
- Data Sheets, CAD Drawings and XML Data
Overview
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