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Table of Contents

Communication Objects 

0x1000: Device Type

Provides information on the device type.

Sub-index

Description

Range

Default

Type

Access

PDO Mapping

0x00Device Type0x00-0xFFFFFFFFh

0x00040192

UDINTroNo

Explanation of set value

Bits

Name

Description

0-15Device Profile Number402 (0x192): Drive Profile
16-23Type04: Step motor
24-31Mode0: 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 Object Dictionary#0x603F

Sub-index

Description

Range

Default

Type

Access

PDO Mapping

0x00Error Register0x00-0xFF0x00USINTroNo

Definition of bits:

Bit

Error Description

0Generic
1Current
2Voltage
3Temperature
4Communication Error
5Device profile specific
6N/A
7Manufacturer specific

0x1008: Manufacturer Device Name

Indicates the manufacturers device name

Sub-index

Description

Range

Default

Type

Access

PDO Mapping

0x00Manufacturers Device Name-"CM1-E"STRINGroNo

0x1009: Manufacturer Hardware Version

Indicates the EtherCAT hardware version.

Sub-index

Description

Range

Default

Type

Access

PDO Mapping

0x00Manufacturer Hardware Version-"MYO28-02A"STRINGroNo

0x100A: Manufacturer Software Version

Indicates the version of the EtherCAT firmware

Sub-index

Description

Range

Default

Type

Access

PDO Mapping

0x00Manufacturer Software Version-"1.0.0"STRINGroNo

0x1018: Identity Object

Indicates general device information

Sub-index

Description

Range

Default

Type

Access

PDO Mapping

0x00Number of Entries0x01-0x040x04USINTroNo
0x01Vendor ID0x00-0xFFFFFFFF0x00004441UDINT

ro

No
0x02Product Code0x00-0xFFFFFFFF0x44412002UDINTroNo
0x03Revision Number0x00-0xFFFFFFFF0x20020001UDINTroNo
0x04Serial Number0x00-0xFFFFFFFF0x00000000UDINTroNo

PDO Mapping Objects 

0x1600: Receive PDO mapping parameter - Dynamic switching of modes

Sub-index

Description

Value

Access

PDO Mapping

0x00Number of entries

0x07

roNo

0x01

Controlword mapping0x60400010
roNo
0x02Target position mapping0x607A0020
roNo
0x03Target velocity mapping0x60FF0020roNo
0x04Digital outputs mapping 0x60FE0010
roNo
0x05Mode of operation mapping0x60600008
roNo

0x1601: Receive PDO mapping parameter - CSP mode

Sub-index

Description

Value

Access

PDO Mapping

0x00Number of entries

0x04

roNo
0x01Controlword mapping0x60400010
roNo
0x02Target position mapping0x607A0020
roNo
0x03Digital outputs mapping 0x60FE0010
roNo

0x1602: Receive PDO mapping parameter - CSV mode

Sub-index

Description

Value

Access

PDO Mapping

0x00Number of entries

0x04

roNo
0x01Controlword mapping0x60400010
roNo
0x02Target velocity mapping0x60FF0020roNo
0x03Digital outputs mapping 0x60FE0010
roNo

0x1603: Receive PDO mapping parameter - Profile mode

Sub-index

Description

Value

Access

PDO Mapping

0x00Number of entries

0x06

roNo
0x01Controlword mapping0x60400010
roNo
0x03Target Position mapping0x607A0020
roNo
0x04Target Velocity mapping0x60FF0020roNo
0x05Profile Velocity mapping0x60810020roNo
0x06Profile Acceleration mapping0x60830020roNo
0x07Mode of operation mapping0x60600008roNo

0x1A00: Transmit PDO mapping parameter - Dynamic switching of modes

Sub-index

Description

Value

Access

PDO Mapping

0x00Number of entries

0x0B

roNo
0x01Statusword mapping0x60410010roNo
0x02Position actual value mapping0x60640020roNo
0x03Velocity actual value mapping0x606C0020
roNo
0x04Torque actual value mapping0x60770020
roNo
0x05Digital input mapping 0x60FD0010
roNo
0x06Error code mapping0x603F0010roNo
0x07Temperature-C mapping0x23010010
roNo
0x08DC voltage mapping0x60790010
roNo
0x09Modes of operation display mapping0x60610008
roNo

0x1A01: Transmit PDO mapping parameter - CSP mode


Sub-index

Description

Value

Access

PDO Mapping

0x00Number of entries

0x07

roNo
0x01Statusword mapping0x60410010roNo
0x02Position actual value mapping0x60640020roNo
0x03Velocity actual value mapping0x606C0020
roNo
0x04Torque actual value mapping0x60770020
roNo
0x05Digital input mapping 0x60FD0010
roNo
0x06Error code mapping0x603F0010roNo

0x1A02: Transmit PDO mapping parameter - CSV mode


Sub-index

Description

Value

Access

PDO Mapping

0x00Number of entries

0x07

roNo
0x01Statusword mapping0x60410010roNo
0x02Position actual value mapping0x60640020roNo
0x03Velocity actual value mapping0x606C0020
roNo
0x04Torque actual value mapping0x60770020
roNo
0x05Digital input mapping 0x60FD0010
roNo
0x06Error code mapping0x603F0010roNo

0x1A03: Transmit PDO mapping parameter - Profile mode

Sub-index

Description

Value

Access

PDO Mapping

0x00Number of entries

0x0B

roNo
0x01Statusword mapping0x60410010roNo
0x02Position actual value mapping0x60640020roNo
0x03Velocity actual value mapping0x606C0020
roNo
0x04Torque actual value mapping0x60770020
roNo
0x05Digital input mapping 0x60FD0010
roNo
0x06Error code mapping0x603F0010roNo
0x07Temperature-C mapping0x23010010
roNo
0x08DC voltage mapping0x60790010
roNo
0x09Mode of operation display mapping0x60610008roNo

CiA402 Drive Profile Objects 

0x603F: Error Code 

Indicates specific error code when an error occurs.

Sub-index

Description

Range

Default

Type

Access

PDO Mapping

0x00Error Code0x0000-0xFFFF

0x0000

UINTroNo

The following table outlines the error and the relevant objects that are set.

0x603F

Error Code

0x1001

Error Register

0x6041 Fault

(Bit 3)

Description

0x00000x000No error
0x23100x031Continuous over current error (torque overload)
0x43100x091Drive over temperature
0x45020x000No mode selected (0x6060=0) 1
0x73100x811Over speed error
0x73200x811Position Error overflow
0x75000x111Motor communication error
0x75100x111Motor drive to EtherCAT slave communication error
0x86110x000

Motor not currently following commanded position 1,2

0xFF010x000Motor disabled by command1
0xFF040x811Emergency stop active
0xFF050x110/13

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.

0x6040: Controlword

Sub-index

Description

Type

Access

PDO Mapping

0x00Used to control the drive's state machineUINTrw

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

0x00Displays the status of the drive's state machineUINTro

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

0x00Set the desired mode of operationSINTrw

Yes

ValueMode of Operation
0No mode selected
3Profile Velocity (PV) Mode
6Homing Mode (HM)
8Cyclic Synchronois Position (CSP) Mode
9Cyclic Synchronous Velocity (CSV) Mode

0x6061: Modes of operation display

Sub-index

Description

Type

Access

PDO Mapping

0x00Read the mode of operation currently set on the driveSINTro

Yes

ValueMode of Operation
0No mode selected
3Profile Velocity (PV) Mode
8Cyclic Synchronois Position (CSP) Mode
9Cyclic 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)

DINTro

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)

DINTro

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
UINTro

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
UINTro

No

0x6075: Motor rated current

Sub-index

Description

Type

Access

PDO Mapping

0x00

Read the rated current of the motor.

  • Unit - mA
UDINTro

No

0x6076: Motor rated torque

Sub-index

Description

Type

Access

PDO Mapping

0x00

Read the rated torque of the motor.

  • Unit - nNm
UDINTro

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
INTro

Yes

0x6079: DC link circuit voltage

Sub-index

Description

Type

Access

PDO Mapping

0x00

Read the actual value of the 24V DC bus.

  • Unit - 0.1V


DINTro

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
DINTrw

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
DINTrw

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
UDINTrw

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
UDINTrw

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
UDINTrw

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
SINTrw

No

0x6099: Homing speeds

Sub-index

Description

Type

Access

PDO Mapping

0x00

Highest sub-index supported

SINTrw

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
UDINTrwNo
0x02

N/A

Speed during search for 0 uses the same speed as search for switch/hardstop

UDINTrwNo

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
UDINTrw

No

0x60F6: K Parameter Settings

Sub-index

Description

Type

Access

PDO Mapping

0x00

Highest sub-index supported = 0x51 (81d)

USINTrw

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.
UINTrwNo

0x60FB: H Parameter Settings (Tuning Parameters)

Sub-index

Description

Type

Access

PDO Mapping

0x00

Number of entries

UINTro

No

0x01H0INTrwNo
0x02H1INTrwNo
0x03H2INTrwNo
0x04H3INTrwNo
0x05H4INTrwNo
0x06H5INTrwNo
0x07H6INTrwNo
0x08H7INTrwNo
0x09H8INTrwNo
  • 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

UINTro

Yes


Bit76543210
INPUT----4321

0x60FE: Digital outputs

Sub-index

Description

Type

Access

PDO Mapping

0x00

Set the digital output

UINTrw

Yes


Bit76543210
OUTPUT------OUT2OUT1
  • Output 1 is driven by 0x60FD
  • Output 2 is driven by 0x60FD or by the motor driver depending on the K34 value. See K Parameters for additional information.
    • Set K34=40 for 0x60FD
    • 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
DINTrw

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

UDINTro

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

UINTro

No

0x01Variable1DINTrwBIT15 and B14 are mapped to the Statusword 0x6041 BIT15 and B14.
0x02Variable2DINTrwNo
0x03Variable3DINTrwNo
0x04Variable4DINTrwNo

0x2301: Drive temperature

Sub-index

Description

Type

Access

PDO Mapping

0x00

Read the drive temperature

  • Unit - degrees C
INTro

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.

Sub-index

Description

Type

Access

PDO Mapping

0x00

Number of entries

UINTro

No

0x01PDO Time in μsUINTroNo
0x02N/AUINTroNo
0x03N/AUINTroNo
0x04N/AUINTroNo

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
SINTrw

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.

UDINTrw

No


Byte Description


Byte3Byte2Byte1Byte0
DescriptionRed LED on/offGreen LED on/offBlue 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.
  4. Select the Online radio button
  5. Click OK

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.





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