CANopen. stepim. Reference Manual. Manual Revision: 1.3 Firmware Version:
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1 CApen Reference Manual stepim Manual Revision: 1.3 Firmware Version:
2
3 Revision History Document Revision Date Remarks 1.3 Mar Update. Firmware Feb Update. Firmware May 2015 Update. Firmware Apr Initial release. Firmware May 2014 Preliminary release Firmware Revision Copyright tice Disclaimer Trademarks 2016 Servotronix Motion Control Ltd. All rights reserved. part of this work may be reproduced or transmitted in any form or by any means without prior written permission of Servotronix Motion Control Ltd. This product documentation was accurate and reliable at the time of its release. Servotronix Motion Control Ltd. reserves the right to change the specifications of the product described in this manual without notice at any time. All marks in this manual are the property of their respective owners. Contact Information Servotronix Motion Control Ltd. 21C Yagia Kapayim Street Petach Tikva Israel Tel: +972 (3) Fax: +972 (3) Website: Technical Support If you need assistance with the installation and configuration of the product, contact Servotronix technical support: CApen Reference Manual 3
4 4 CApen Reference Manual
5 Contents 1 Introduction About This Manual Documentation Format Object Dictionary xnnnn Example Name Communication Segment h Device Type h Error Register h Predefined Error Field h COB-ID SYNC h Communication Cycle Period h Synchronous Window Length h Manufacturer Device Name h Manufacturer Hardware Version Ah Manufacturer Software Version h Store Parameter Field h Restore Default Parameters h High Resolution Time Stamp h COB-ID EMCY h Inhibit Time Emergency h Heartbeat Consumer Entries h Producer Heartbeat Time h Identity Object h Server SDO Parameter h Receive PDO Communication Parameter h Receive PDO Communication Parameter h Receive PDO Communication Parameter h Receive PDO Communication Parameter h Receive PDO Communication Parameter h Receive PDO Communication Parameter h Receive PDO Communication Parameter h Receive PDO Communication Parameter h Receive Parameter h Receive Parameter h Receive Parameter h Receive Parameter h Receive Parameter h Receive Parameter h Receive Parameter h Receive Parameter h Transmit PDO Communication Parameter h Transmit PDO Communication Parameter h Transmit PDO Communication Parameter h Transmit PDO Communication Parameter h Transmit PDO Communication Parameter h Transmit PDO Communication Parameter h Transmit PDO Communication Parameter h Transmit PDO Communication Parameter A00h Transmit Parameter A01h Transmit Parameter A02h Transmit Parameter A03h Transmit Parameter A04h Transmit Parameter A05h Transmit Parameter CApen Reference Manual 5
6 1A06h Transmit Parameter A07h Transmit Parameter Manufacturer Segment h Current Integral Gain h Current Proportional Gain h Warning bits Eh Position Derivative Gain h Position Integral Gain h Position Proportional Gain h Position Velocity Feedforward Gain h Velocity Integral Gain h Velocity Proportional Gain h Mechanical Position h I2T Value h I2T Fault Threshold h Peak Current h Commutation Offset h Drive Temperature h Feedback Direction Ch Factory Restore Dh Feedback Type h Digital Inputs Polarity h Phase A Actual Current h Phase A Current Offset h Phase B Actual Current h Phase B Current Offset h Phase A Current Offset h Position Integral Input Saturation h Phase B Current Offset Dh Motor Pitch Eh Motor Poles h Home Status h Current Level 1 for Digital Output Definition Ah Current Level 2 for Digital Output Definition Bh Digital Outputs Polarity Ch Digital Output Functionality Dh Position Level 1 for Digital Output Definition Eh Position Level 2 for Digital Output Definition Fh Velocity Level 1 for Digital Output Definition A0h Velocity Level 2 for Digital Output Definition A1h Over-Voltage Threshold ACh Software Position Limit Mode B5h Position In Window BAh Remote Hardware Enable Status CCh Run Time CFh Under-Voltage Threshold D9h Velocity Loop Input Filter DEh Load Encoder Resolution E0h Digital Input Mode E6h Record Done Indicator EEh Velocity Limit F1h Motor Encoder Resolution F2h Analog Input F4h Analog Input Current Scaling F6h Analog Input Offset F7h Analog Input Velocity Scaling CApen Reference Manual
7 20F8h Analog Input Zero h Point to Point Generator Status h PDO Address Tx h PDO Data Tx h PDO Address Rx h PDO Data Rx h Sync Counter Out h PFB Sync Delay Ah PCMD Sync Delay Bh PLL State h Sync Lost Counter h RPDO Lost Counter h Position Derivative for Missing RPDO h Custom TBPRD Ah Sync RT Counter Bh Allowed Lost Syncs Ch Sync Allowed Window Dh High Resolution Timer Difference F01h Calibration Data Status F05h Drive Enabled Time F06h Phase A PWM F07h Phase B PWM F08h Maximum Velocity Error F09h Velocity Loop Out F0Ah Velocity Over-Speed F0Bh Maximum Position Derivative F0Ch Parameter Help String F0Dh Parameter Help String F0Eh Parameter Help F0Fh Parameter List F10h Recorder Channels F11h Recorder Sample Cycle F12h Recorder Trigger F13h Recorder Total Number of Points F14h Recordable Parameters F15h Recorder Number of Points per Channel F16h Recorder Start F17h Number of Recorded Points F18h Recorder Results F19h Phase Advance Factor F1Ah Phase Advance Limit F1Bh Drive Address F1Ch PLL Factor F1Dh Field Weakening Factor F1Eh Field Weakening Limit F1Fh CAN Open Baudrate F20h Phase Advance Start Velocity F21h Save Process Active F22h Home On Edge Current Saturation F23h Home On Edge Time F24h Reserved F25h Reserved F26h Reserved F27h Reserved F28h Home End Position Offset F29h Current High Limit F2Ah Current Low Limit CApen Reference Manual 7
8 2F30h CAN Buffer Overflow Counter F70h LED Color Select F76h Reset to Bootloader F77h Stop Position F78h Motor Ke F7Ah Serial Number F7Bh Boot Version F7Ch Motor Info F7Dh Serial Number For CAN ID F7Eh New CAN ID F7Fh CAN ID Configuration F80h User Parameters F81h Savable Parameters F82h PLL Lock F83h Motion Time F84h Backlash Compensation Distance F85h Voltage Level for Digital Output Definition F86h Save Pfb On Power Off F87h Manufacture Specific Bits Mode F88h Backlash Compensation Mode F89h Position Backup Restore Window F8Ah Position Backup Restore Status F8Bh Reduced Control Loop Frequency F90h Path Segment F91h Path Segment F92h Path Segment F93h Path Segment F94h Path Segment F95h Path Segment F96h Path Segment F97h Path Segment F98h Path Segment F99h Path Segment F9Ah Path Segment FC0h Calibration Table FC1h Calibration Sector Erase FC2h Data Sector FC3h Data Sector Erase FC4h CAN Error Counter FC5h Virtual Inputs FC6h Virtual Input Mode FC7h Virtual Input Setting FC8h Input Start Motion Mode Device Profile Segment h Abort Connection Option Code Fh Error Code h Controlword h Statusword h Modes of Operation h Modes of Operation Display h Position Demand Value h Position Actual Value h Position Actual Internal Value h Following Error Window h Position Window Bh Velocity Demand Value CApen Reference Manual
9 606Ch Velocity Actual Value Dh Velocity Window Fh Velocity Threshold h Velocity Threshold Time h Target Torque h Max Current h Torque Demand Value h Motor Rated Current h Current Actual Value h DC Link Circuit Voltage Ah Target Position Bh Position Range Limit Ch Home Offset Dh Software Position Limit Eh Polarity h Profile Velocity h Profile Acceleration h Profile Deceleration h Quick Stop Deceleration h Motion Profile Type h Position tation Ah Position Dimension Bh Velocity tation Ch Velocity Dimension Dh Acceleration tation Eh Acceleration Dimension Fh Position Encoder Resolution h Homing Method h Homing Speeds Ah Homing Acceleration B8h Touch Probe Function B9h Touch Probe Status BAh Touch Probe 1 Position Positive Value BBh Touch Probe 1 Position Negative Value BCh Touch Probe 2 Position Positive Value BDh Touch Probe 2 Position Negative Value C2h Interpolation Time Period C5h Max Acceleration C6h Max Deceleration F4h Following Error Actual Value FAh Control Effort FDh Digital Inputs FEh Digital Outputs FFh Target Velocity h Motor Type h Supported Drive Modes FFh Single Device Type CApen Reference Manual 9
10 10 CApen Reference Manual
11 1 Introduction 1.1 About This Manual This manual describes the implementation of CiA 402 and CiA 301 CApen protocols in the stepim digital servo drive. This manual is not meant to replace the CApen specifications, or to reproduce them. This manual is intended for skilled personnel who have been trained to work with the equipment described. 1.2 Documentation Format Object Dictionary The CAN objects are presented and described in the following format: CApen Reference Manual 11
12 0xnnnn Example Name Object nnnn of the object Array Record Integer8 Integer16 Integer32 Unsigned8 Unsigned16 Unsigned32 Real32 Visible_String PDO_COMM_PAR PDO_MAPPING IDENTITY Entry for and Record Objects Value Range Constant Yes The object s default value. Discrete values and ranges of values. When the object value implies units of measure, these units are specified. Lowest value in the object s ranges of values. Highest value in the object s ranges of values. Entry for Array Objects Sub- Value Range nnn of the sub-index Integer8 Integer16 Integer32 Unsigned8 Unsigned16 Unsigned32 Real32 Visible_String Constant Yes The object s default value. When the object value implies units of measure, these units are specified. Lowest value in the object s ranges of values. Highest value in the object s ranges of values. Discrete values and ranges of values. 12 CApen Reference Manual
13 2 Communication Segment 1000h Device Type Object 1000 This object describes the type of the logical device and its functionality. It is comprised of a 16 bit field that describes the device profile, and a second 16 bit field that gives additional information about the specific functionality of the device. Unsigned32 Entry Constant xFFFFFFFF 1001h Error Register Object 1001 This object is an error register for the device. It is a field of 8 bits, each of which indicates a particular type of error. If a bit is set to 1, the specified error has occurred. The bits have the following meaning: 0: generic error 1: current 2: voltage 3: temperature 4: communication error (overrun, error state) 5: device profile specific 6: reserved 7: manufacturer specific Unsigned8 CApen Reference Manual 13
14 Entry 0xFF 1003h Predefined Error Field Object 1003 This object holds errors that have occurred on the device and have been signaled via the Emergency object. It is an error history. Writing to sub-index 0 deletes the entire error history Array Unsigned32 Entry Sub- 000 Number of Errors 0 0xFE Sub- 001 Standard Error Field Unsigned32 0xFFFFFFFF 14 CApen Reference Manual
15 Sub- 002 Standard Error Field Unsigned32 0xFFFFFFFF Sub- 003 Standard Error Field Unsigned32 0xFFFFFFFF Sub- 004 Standard Error Field Unsigned32 0xFFFFFFFF Sub- 005 Standard Error Field Unsigned32 0xFFFFFFFF CApen Reference Manual 15
16 Sub- 006 Standard Error Field Unsigned32 0xFFFFFFFF Sub- 007 Standard Error Field Unsigned32 0xFFFFFFFF Sub- 008 Standard Error Field Unsigned32 0xFFFFFFFF Sub- 009 Standard Error Field Unsigned32 0xFFFFFFFF 16 CApen Reference Manual
17 Sub- 010 Standard Error Field Unsigned32 0xFFFFFFFF 1005h COB-ID SYNC Object 1005 This object defines the COB ID of the synchronization object (SYNC). The device generates a SYNC message if bit 30 is set. The meaning of other bits is the same as for other communication objects. Unsigned32 Entry 0x xFFFFFFFF 1006h Communication Cycle Period Object 1006 This object defines the communication cycle period, in microseconds. Its value is 0 if it is not used. Unsigned32 Entry CApen Reference Manual 17
18 0000FA0 microseconds xFFFFFFFF 1007h Synchronous Window Length Object 1007 This object contains the length of the time window for synchronous messages, in microseconds. Its value is 0 if it is not used. Unsigned32 Entry 00003E8 microseconds xFFFFFFFF 1008h Manufacturer Device Name Object 1008 This object contains the name of the device as given by the manufacturer. Visible_String Entry Constant stepim h Manufacturer Hardware Version 18 CApen Reference Manual
19 Object 1009 This object contains the manufacturer hardware version description. Visible_String Entry Constant Ah Manufacturer Software Version Object 100A This object contains the manufacturer software version description. Visible_String Entry Constant h Store Parameter Field Object 1010 CApen Reference Manual 19
20 This object controls the saving of parameters in nonvolatile memory. With read access, the device provides information about its save capabilities. Sub-indexes reference different groups of parameters. Sub-index 1: all parameters Parameters are saved when 0x (ASCII value of "SAVE") is written to the appropriate sub-index. Array Unsigned32 Entry Sub- 000 Number of entries 0x1 0x7F 20 CApen Reference Manual
21 Sub- 001 Save all Parameters Unsigned32 0xFFFFFFFF 1011h Restore Default Parameters Object 1011 This object controls the restoring of default parameters. With read access, the device provides information about its restore capabilities. Sub-indexes reference different groups of parameters. Sub-index 1: all parameters Parameters are restored when 0x64616F6C (ASCII value of "LOAD") is written to the appropriate subindex. Array Unsigned32 Entry Sub- 000 Number of entries 0x1 0x7F CApen Reference Manual 21
22 Sub- 001 Restore all Default Parameters Unsigned32 0xFFFFFFFF 1013h High Resolution Time Stamp Object 1013 This object contains the drives internal time at a resolution of microseconds. It can be mapped into a PDO in order to define a high resolution time stamp. It can be used to synchronize clocks of multiple drives over CApen network as follows: map object 1013h to RPDO, a high-resolution time stamp producer transmits a time stamp over the CApen network, and each drive adjusts its internal clock according to the value that the producer sent. Unsigned32 Entry SDO: PDO: Read Yes microsecond xFFFFFFFF 1014h COB-ID EMCY Object 1014 This object defines the COB-ID used for the emergency message (EMCY). Unsigned32 22 CApen Reference Manual
23 Entry 0x80 0x1 0xFFFFFFFF 1015h Inhibit Time Emergency Object 1015 This object defines the inhibit time used for the emergency message. The time must be a multiple of 100 milliseconds. Unsigned16 Entry 100 millisecond (ms) 0xFFFF 1016h Heartbeat Consumer Entries Object 1016 The consumer heartbeat time defines the expected heartbeat cycle time and thus has to be higher than the corresponding producer heartbeat time configured on the device producing this heartbeat. Bits of each sub-index must be 0. Bits contain the node-id. The lower 16 bits contain the heartbeat time. Array Unsigned32 Entry Sub- 000 CApen Reference Manual 23
24 Number of entries 0x2 0x1 0x7F Sub- 001 Consumer Heartbeat Time 1 Unsigned32 0x2FFFFFF 24 CApen Reference Manual
25 Sub- 002 Consumer Heartbeat Time 2 Unsigned x2FFFFFF 1017h Producer Heartbeat Time Object 1017 This object defines the cycle time of the heartbeat. If its value is 0 it is not used. The time must be a multiple of 1 millisecond. Unsigned16 Entry 00007D0 1 millisecond (ms) 0xFFFF 1018h Identity Object Object 1018 This object contains general information about the device. Sub-index 1 contains a unique value allocated each manufacturer. Sub-index 2 defines the manufacturer specific product code (device version). Sub-index 3 defines the revision number. Bit is the major revision number Bit 15-0 the minor revision number. Sub-index 4 defines a manufacturer specific serial number. CApen Reference Manual 25
26 Record IDENTITY Entry Sub- 000 Number of entries 0x4 0x1 0x4 Sub- 001 Vendor Id Unsigned32 2e1 0xFFFFFFFF Sub- 002 Product Code Unsigned32 0xA5A5 0xFFFFFFFF 26 CApen Reference Manual
27 Sub- 003 Revision number Unsigned32 0xFFFFFFFF Sub- 004 Serial number Unsigned32 0xFFFFFFFF 1200h Server SDO Parameter 1 Object 1200 The object contains the parameters for the SDOs for which the device is the server. Record SDO_PARAMETER Entry Sub- 000 Number of entries CApen Reference Manual 27
28 Sub- 001 COB-ID Client -> Server Unsigned xBFFFFFFF 28 CApen Reference Manual
29 Sub- 002 COB-ID Server -> Client Unsigned xBFFFFFFF 1400h Receive PDO Communication Parameter 1 Object 1400 The object contains the communication parameters for the PDOs that the device is able to receive. Sub-index 0 defines the number of PDO-parameters implemented. Sub-index 1 defines the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2 defines the transmission type. Record PDO_COMM_PAR Entry Sub- 000 Number of entries 2 0x2 0x5 CApen Reference Manual 29
30 Sub- 001 COB-ID Unsigned32 0x200 0x1 0xFFFFFFFF 30 CApen Reference Manual
31 Sub- 002 Transmission Type Unsigned8 0x1 0xFF 1401h Receive PDO Communication Parameter 2 Object 1401 The object contains the communication parameters for the PDOs that the device is able to receive. Sub-index 0 defines the number of PDO-parameters implemented. Sub-index 1 defines the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2 defines the transmission type. Record PDO_COMM_PAR Entry Sub- 000 Number of entries CApen Reference Manual 31
32 Sub- 001 COB-ID Unsigned xFFFFFFFF 32 CApen Reference Manual
33 Sub- 002 Transmission Type Unsigned8 0x1 0 0xFF 1402h Receive PDO Communication Parameter 3 Object 1402 The object contains the communication parameters for the PDOs that the device is able to receive. Sub-index 0 defines the number of PDO-parameters implemented. Sub-index 1 defines the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2 defines the transmission type. Record PDO_COMM_PAR Entry Sub- 000 Number of entries CApen Reference Manual 33
34 Sub- 001 COB-ID Unsigned xFFFFFFFF 34 CApen Reference Manual
35 Sub- 002 Transmission Type Unsigned8 0x1 0 0xFF 1403h Receive PDO Communication Parameter 4 Object 1403 The object contains the communication parameters for the PDOs that the device is able to receive. Sub-index 0 defines the number of PDO-parameters implemented. Sub-index 1 defines the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2 defines the transmission type. Record PDO_COMM_PAR Entry Sub- 000 Number of entries CApen Reference Manual 35
36 Sub- 001 COB-ID Unsigned xFFFFFFFF 36 CApen Reference Manual
37 Sub- 002 Transmission Type Unsigned8 0xFF 0 0xFF 1404h Receive PDO Communication Parameter 5 Object 1404 The object contains the communication parameters for the PDOs that the device is able to receive. Sub-index 0 defines the number of PDO-parameters implemented. Sub-index 1 defines the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2 defines the transmission type. Record PDO_COMM_PAR Entry Sub- 000 Number of entries CApen Reference Manual 37
38 Sub- 001 COB-ID Unsigned xFFFFFFFF 38 CApen Reference Manual
39 Sub- 002 Transmission Type Unsigned8 0xFF 0 0xFF 1405h Receive PDO Communication Parameter 6 Object 1405 The object contains the communication parameters for the PDOs that the device is able to receive. Sub-index 0 defines the number of PDO-parameters implemented. Sub-index 1 defines the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2 defines the transmission type. Record PDO_COMM_PAR Entry Sub- 000 Number of entries CApen Reference Manual 39
40 Sub- 001 COB-ID Unsigned xFFFFFFFF 40 CApen Reference Manual
41 Sub- 002 Transmission Type Unsigned8 0xFF 0 0xFF 1406h Receive PDO Communication Parameter 7 Object 1406 The object contains the communication parameters for the PDOs that the device is able to receive. Sub-index 0 defines the number of PDO-parameters implemented. Sub-index 1 defines the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2 defines the transmission type. Record PDO_COMM_PAR Entry Sub- 000 Number of entries CApen Reference Manual 41
42 Sub- 001 COB-ID Unsigned xFFFFFFFF 42 CApen Reference Manual
43 Sub- 002 Transmission Type Unsigned8 0xFF 0 0xFF 1407h Receive PDO Communication Parameter 8 Object 1407 The object contains the communication parameters for the PDOs that the device is able to receive. Sub-index 0 defines the number of PDO-parameters implemented. Sub-index 1 defines the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2 defines the transmission type. Record PDO_COMM_PAR Entry Sub- 000 Number of entries CApen Reference Manual 43
44 Sub- 001 COB-ID Unsigned xFFFFFFFF 44 CApen Reference Manual
45 Sub- 002 Transmission Type Unsigned8 0xFF 0 0xFF 1600h Receive Parameter 1 Object 1600 This object contains the mapping for the PDOs the device is able to receive. Sub-index 0 defines the number of valid entries in the mapping record. This Number of entries is also the number of the application variables that are received with the corresponding PDO. Sub-indexes 1 to number of mapped entries contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. Record PDO_MAPPING Entry Sub- 000 Number of entries 2 0x40 CApen Reference Manual 45
46 Sub- 001 Mapping Entry 1 Unsigned32 0x xFFFFFFFF Sub- 002 Mapping Entry 2 Unsigned32 0x xFFFFFFFF Sub- 003 Mapping Entry 3 Unsigned xFFFFFFFF 46 CApen Reference Manual
47 Sub- 004 Mapping Entry 4 Unsigned xFFFFFFFF 1601h Receive Parameter 2 Object 1601 This object contains the mapping for the PDOs the device is able to receive. Sub-index 0 defines the number of valid entries in the mapping record. This Number of entries is also the number of the application variables that are received with the corresponding PDO. Sub-indexes 1 to number of mapped entries contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. Record PDO_MAPPING Entry Sub- 000 Number of entries 2 0x40 CApen Reference Manual 47
48 Sub- 001 Mapping Entry 1 Unsigned32 0x607A0020 0xFFFFFFFF Sub- 002 Mapping Entry 2 Unsigned32 0x xFFFFFFFF Sub- 003 Mapping Entry 3 Unsigned xFFFFFFFF 48 CApen Reference Manual
49 Sub- 004 Mapping Entry 4 Unsigned xFFFFFFFF 1602h Receive Parameter 3 Object 1602 This object contains the mapping for the PDOs the device is able to receive. Sub index 0 defines the number of valid entries in the mapping record. This Number of entries is also the number of the application variables that are received with the corresponding PDO. Sub indexes 1 to number of mapped entries contain information about the mapped application variables. These entries describe the PDO contents by their index, sub index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. Record PDO_MAPPING Entry Sub- 000 Number of entries 2 0x40 CApen Reference Manual 49
50 Sub- 001 Mapping Entry 1 Unsigned32 0x xFFFFFFFF Sub- 002 Mapping Entry 2 Unsigned32 0x60FF0020 0xFFFFFFFF Sub- 003 Mapping Entry 3 Unsigned xFFFFFFFF 50 CApen Reference Manual
51 Sub- 004 Mapping Entry 4 Unsigned xFFFFFFFF 1603h Receive Parameter 4 Object 1603 This object contains the mapping for the PDOs the device is able to receive. Sub-index 0 defines the number of valid entries in the mapping record. This Number of entries is also the number of the application variables that are received with the corresponding PDO. Sub-indexes 1 to number of mapped entries contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. Record PDO_MAPPING Entry Sub- 000 Number of entries 1 0x40 CApen Reference Manual 51
52 Sub- 001 Mapping Entry 1 Unsigned32 0x xFFFFFFFF Sub- 002 Mapping Entry 2 Unsigned xFFFFFFFF Sub- 003 Mapping Entry 3 Unsigned xFFFFFFFF 52 CApen Reference Manual
53 Sub- 004 Mapping Entry 4 Unsigned xFFFFFFFF 1604h Receive Parameter 5 Object 1604 This object contains the mapping for the PDOs the device is able to receive. Sub-index 0 defines the number of valid entries in the mapping record. This Number of entries is also the number of the application variables that are received with the corresponding PDO. Sub-indexes from 1 to the number of mapped entries contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. Record PDO_MAPPING Entry Sub- 000 Number of entries 0 0x40 CApen Reference Manual 53
54 Sub- 001 Mapping Entry 1 Unsigned xFFFFFFFF Sub- 002 Mapping Entry 2 Unsigned xFFFFFFFF Sub- 003 Mapping Entry 3 Unsigned xFFFFFFFF 54 CApen Reference Manual
55 Sub- 004 Mapping Entry 4 Unsigned xFFFFFFFF 1605h Receive Parameter 6 Object 1605 This object contains the mapping for the PDOs the device is able to receive. Sub-index 0 defines the number of valid entries in the mapping record. This Number of entries is also the number of the application variables that are received with the corresponding PDO. Sub-indexes from 1 to the number of mapped entries contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. Record PDO_MAPPING Entry Sub- 000 Number of entries 0 0x40 CApen Reference Manual 55
56 Sub- 001 Mapping Entry 1 Unsigned xFFFFFFFF Sub- 002 Mapping Entry 2 Unsigned xFFFFFFFF Sub- 003 Mapping Entry 3 Unsigned xFFFFFFFF 56 CApen Reference Manual
57 Sub- 004 Mapping Entry 4 Unsigned xFFFFFFFF 1606h Receive Parameter 7 Object 1606 This object contains the mapping for the PDOs the device is able to receive. Sub-index 0 defines the number of valid entries in the mapping record. This Number of entries is also the number of the application variables that are received with the corresponding PDO. Sub-indexes from 1 to the number of mapped entries contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. Record PDO_MAPPING Entry Sub- 000 Number of entries 0 0x40 CApen Reference Manual 57
58 Sub- 001 Mapping Entry 1 Unsigned xFFFFFFFF Sub- 002 Mapping Entry 2 Unsigned xFFFFFFFF Sub- 003 Mapping Entry 3 Unsigned xFFFFFFFF 58 CApen Reference Manual
59 Sub- 004 Mapping Entry 4 Unsigned xFFFFFFFF 1607h Receive Parameter 8 Object 1607 This object contains the mapping for the PDOs the device is able to receive. Sub-index 0 defines the number of valid entries in the mapping record. This Number of entries is also the number of the application variables that are received with the corresponding PDO. Sub-indexes from 1 to the number of mapped entries contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. Record PDO_MAPPING Entry Sub- 000 Number of entries 0 0x40 CApen Reference Manual 59
60 Sub- 001 Mapping Entry 1 Unsigned xFFFFFFFF Sub- 002 Mapping Entry 2 Unsigned xFFFFFFFF Sub- 003 Mapping Entry 3 Unsigned xFFFFFFFF 60 CApen Reference Manual
61 Sub- 004 Mapping Entry 4 Unsigned xFFFFFFFF 1800h Transmit PDO Communication Parameter 1 Object 1800 Contains the communication parameters of the current PDO the device is able to transmit. Sub-index 0 defines the number of PDO parameters implemented. Sub-index 1 describes the COB ID. If bit 31 is set, the PDO is disabled. Sub-index 2 defines the transmission type. Record PDO_COMM_PAR Entry Sub- 000 Number of entries CApen Reference Manual 61
62 Sub- 001 COB-ID Unsigned32 0x180 0x1 0xFFFFFFFF Sub- 002 Transmission Type Unsigned8 0xFF 0xFF 62 CApen Reference Manual
63 Sub- 003 Inhibit Time Unsigned16 0x7D0 100 us 000 0xFFFF 1801h Transmit PDO Communication Parameter 2 Object 1801 Contains the communication parameters of the current PDO the device is able to transmit. Sub-index 0 defines the number of PDO parameters implemented. Sub-index 1 describes the COB ID. If bit 31 is set, the PDO is disabled. Sub-index 2 defines the transmission type. Record PDO_COMM_PAR Entry Sub- 000 Number of entries CApen Reference Manual 63
64 Sub- 001 COB-ID Unsigned xFFFFFFFF Sub- 002 Transmission Type Unsigned8 0xFF 0 0xFF 64 CApen Reference Manual
65 Sub- 003 Inhibit Time Unsigned16 0x7D0 100 us 000 0xFFFF 1802h Transmit PDO Communication Parameter 3 Object 1802 Contains the communication parameters of the current PDO the device is able to transmit. Sub-index 0 defines the number of PDO parameters implemented. Sub-index 1 describes the COB ID. If bit 31 is set, the PDO is disabled. Sub-index 2 defines the transmission type. Record PDO_COMM_PAR Entry Sub- 000 Number of entries CApen Reference Manual 65
66 Sub- 001 COB-ID Unsigned xFFFFFFFF Sub- 002 Transmission Type Unsigned8 0xFF 0 0xFF 66 CApen Reference Manual
67 Sub- 003 Inhibit Time Unsigned16 0x7D0 100 us 000 0xFFFF 1803h Transmit PDO Communication Parameter 4 Object 1803 Contains the communication parameters of the current PDO the device is able to transmit. Sub-index 0 defines the number of PDO parameters implemented. Sub-index 1 describes the COB ID. If bit 31 is set, the PDO is disabled. Sub-index 2 defines the transmission type. Record PDO_COMM_PAR Entry Sub- 000 Number of entries CApen Reference Manual 67
68 Sub- 001 COB-ID Unsigned xFFFFFFFF Sub- 002 Transmission Type Unsigned8 0xFF 0 0xFF 68 CApen Reference Manual
69 Sub- 003 Inhibit Time Unsigned16 0x7D0 100 us 000 0xFFFF 1804h Transmit PDO Communication Parameter 5 Object 1804 Contains the communication parameters of the current PDO the device is able to transmit. Sub-index 0 defines the number of PDO parameters implemented. Sub-index 1 describes the COB ID. If bit 31 is set, the PDO is disabled. Sub-index 2 defines the transmission type. Record PDO_COMM_PAR Entry Sub- 000 Number of entries CApen Reference Manual 69
70 Sub- 001 COB-ID Unsigned xFFFFFFFF Sub- 002 Transmission Type Unsigned8 0xFF 0 0xFF 70 CApen Reference Manual
71 Sub- 003 Inhibit Time Unsigned16 0x7D0 100 us 000 0xFFFF 1805h Transmit PDO Communication Parameter 6 Object 1805 Contains the communication parameters of the current PDO the device is able to transmit. Sub-index 0 defines the number of PDO parameters implemented. Sub-index 1 describes the COB ID. If bit 31 is set, the PDO is disabled. Sub-index 2 defines the transmission type. Record PDO_COMM_PAR Entry Sub- 000 Number of entries CApen Reference Manual 71
72 Sub- 001 COB-ID Unsigned xFFFFFFFF Sub- 002 Transmission Type Unsigned8 0xFF 0 0xFF 72 CApen Reference Manual
73 Sub- 003 Inhibit Time Unsigned16 0x7D0 100 us 000 0xFFFF 1806h Transmit PDO Communication Parameter 7 Object 1806 Contains the communication parameters of the current PDO the device is able to transmit. Sub-index 0 defines the number of PDO parameters implemented. Sub-index 1 describes the COB ID. If bit 31 is set, the PDO is disabled. Sub-index 2 defines the transmission type. Record PDO_COMM_PAR Entry Sub- 000 Number of entries CApen Reference Manual 73
74 Sub- 001 COB-ID Unsigned xFFFFFFFF Sub- 002 Transmission Type Unsigned8 0xFF 0 0xFF 74 CApen Reference Manual
75 Sub- 003 Inhibit Time Unsigned16 0x7D0 100 us 000 0xFFFF 1807h Transmit PDO Communication Parameter 8 Object 1807 Contains the communication parameters of the current PDO the device is able to transmit. Sub-index 0 defines the number of PDO parameters implemented. Sub-index 1 describes the COB ID. If bit 31 is set, the PDO is disabled. Sub-index 2 defines the transmission type. Record PDO_COMM_PAR Entry Sub- 000 Number of entries CApen Reference Manual 75
76 Sub- 001 COB-ID Unsigned xFFFFFFFF Sub- 002 Transmission Type Unsigned8 0xFF 0 0xFF 76 CApen Reference Manual
77 Sub- 003 Inhibit Time Unsigned16 0x7D0 100 us 000 0xFFFF 1A00h Transmit Parameter 1 Object 1A00 Contains the mapping for the PDOs the device is able to transmit. Sub-index 0 defines the number of valid entries in the mapping record. This Number of entries is also the number of the application variables that are transmitted with the corresponding PDO. Sub-indexes 1 to Number of entries: Contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. The type of the PDO mapping parameter is at index 21h. This parameter can be used to verify the overall mapping length. It is mandatory. Record PDO_MAPPING Entry Sub- 000 Number of entries 2 0xFF CApen Reference Manual 77
78 Sub- 001 Mapping Entry 1 Unsigned32 0x xFFFFFFFF Sub- 002 Mapping Entry 2 Unsigned32 0x xFFFFFFFF Sub- 003 Mapping Entry 3 Unsigned xFFFFFFFF 78 CApen Reference Manual
79 Sub- 004 Mapping Entry 4 Unsigned xFFFFFFFF 1A01h Transmit Parameter 2 Object 1A01 Contains the mapping for the PDOs the device is able to transmit. Sub-index 0 defines the number of valid entries in the mapping record. This Number of entries is also the number of the application variables that are transmitted with the corresponding PDO. Sub-indexes 1 to Number of entries: Contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. The type of the PDO mapping parameter is at index 21h. This parameter can be used to verify the overall mapping length. It is mandatory. Record PDO_MAPPING Entry Sub- 000 Number of entries 2 0xFF CApen Reference Manual 79
80 Sub- 001 Mapping Entry 1 Unsigned32 0x xFFFFFFFF Sub- 002 Mapping Entry 2 Unsigned32 0x606C xFFFFFFFF Sub- 003 Mapping Entry 3 Unsigned xFFFFFFFF 80 CApen Reference Manual
81 Sub- 004 Mapping Entry 4 Unsigned xFFFFFFFF 1A02h Transmit Parameter 3 Object 1A02 Contains the mapping for the PDOs the device is able to transmit. Sub-index 0 defines the number of valid entries in the mapping record. This Number of entries is also the number of the application variables that are transmitted with the corresponding PDO. Sub-indexes 1 to Number of entries: Contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. The type of the PDO mapping parameter is at index 21h. This parameter can be used to verify the overall mapping length. It is mandatory. Record PDO_MAPPING Entry Sub- 000 Number of entries 3 0xFF CApen Reference Manual 81
82 Sub- 001 Mapping Entry 1 Unsigned32 0x xFFFFFFFF Sub- 002 Mapping Entry 2 Unsigned32 0x Sub- 003 Mapping Entry 3 Unsigned32 0x606B CApen Reference Manual
83 Sub- 004 Mapping Entry 4 Unsigned A03h Transmit Parameter 4 Object 1A03 Contains the mapping for the PDOs the device is able to transmit. Sub-index 0 defines the number of valid entries in the mapping record. This Number of entries is also the number of the application variables that are transmitted with the corresponding PDO. Sub-indexes 1 to Number of entries: Contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. The type of the PDO mapping parameter is at index 21h. This parameter can be used to verify the overall mapping length. It is mandatory. Record PDO_MAPPING Entry Sub- 000 Number of entries 1 0xFF CApen Reference Manual 83
84 Sub- 001 Mapping Entry 1 Unsigned32 0x60FA xFFFFFFFF Sub- 002 Mapping Entry 2 Unsigned32 0x60F Sub- 003 Mapping Entry 3 Unsigned CApen Reference Manual
85 Sub- 004 Mapping Entry 4 Unsigned A04h Transmit Parameter 5 Object 1A04 Contains the mapping for the PDOs the device is able to transmit. Sub-index 0 defines the number of valid entries in the mapping record. This Number of entries is also the number of the application variables that are transmitted with the corresponding PDO. Sub-indexes 1 to Number of entries: Contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. The type of the PDO mapping parameter is at index 21h. This parameter can be used to verify the overall mapping length. It is mandatory. Record PDO_MAPPING Entry Sub- 000 Number of entries 0 0xFF CApen Reference Manual 85
86 Sub- 001 Mapping Entry 1 Unsigned xFFFFFFFF Sub- 002 Mapping Entry 2 Unsigned xFFFFFFFF Sub- 003 Mapping Entry 3 Unsigned CApen Reference Manual
87 Sub- 004 Mapping Entry 4 Unsigned A05h Transmit Parameter 6 Object 1A05 Contains the mapping for the PDOs the device is able to transmit. Sub-index 0 defines the number of valid entries in the mapping record. This Number of entries is also the number of the application variables that are transmitted with the corresponding PDO. Sub-indexes 1 to Number of entries: Contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. The type of the PDO mapping parameter is at index 21h. This parameter can be used to verify the overall mapping length. It is mandatory. Record PDO_MAPPING Entry Sub- 000 Number of entries 0 0xFF CApen Reference Manual 87
88 Sub- 001 Mapping Entry 1 Unsigned xFFFFFFFF Sub- 002 Mapping Entry 2 Unsigned Sub- 003 Mapping Entry 3 Unsigned CApen Reference Manual
89 Sub- 004 Mapping Entry 4 Unsigned A06h Transmit Parameter 7 Object 1A06 Contains the mapping for the PDOs the device is able to transmit. Sub-index 0 defines the number of valid entries in the mapping record. This Number of entries is also the number of the application variables that are transmitted with the corresponding PDO. Sub-indexes 1 to Number of entries: Contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. The type of the PDO mapping parameter is at index 21h. This parameter can be used to verify the overall mapping length. It is mandatory. Record PDO_MAPPING Entry Sub- 000 Number of entries 0 0xFF CApen Reference Manual 89
90 Sub- 001 Mapping Entry 1 Unsigned xFFFFFFFF Sub- 002 Mapping Entry 2 Unsigned Sub- 003 Mapping Entry 3 Unsigned CApen Reference Manual
91 Sub- 004 Mapping Entry 4 Unsigned A07h Transmit Parameter 8 Object 1A07 Contains the mapping for the PDOs the device is able to transmit. Sub-index 0 defines the number of valid entries in the mapping record. This Number of entries is also the number of the application variables that are transmitted with the corresponding PDO. Sub-indexes 1 to Number of entries: Contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. The type of the PDO mapping parameter is at index 21h. This parameter can be used to verify the overall mapping length. It is mandatory. Record PDO_MAPPING Entry Sub- 000 Number of entries 0 0xFF CApen Reference Manual 91
92 Sub- 001 Mapping Entry 1 Unsigned xFFFFFFFF Sub- 002 Mapping Entry 2 Unsigned Sub- 003 Mapping Entry 3 Unsigned Sub- 004 Mapping Entry 4 Unsigned CApen Reference Manual
93 3 Manufacturer Segment 2006h Current Integral Gain Object 2006 This object indicates the current controller integral gain. Integer32 Entry Yes 0x7D0 t Applicable 0x7FFFFFFF 2007h Current Proportional Gain Object 2007 This object indicates the current controller proportional gain. Integer32 Entry Yes 0x9C40 t Applicable 0x7FFFFFFF 2011h Warning bits Object CApen Reference Manual 93
94 2011 This object logs the drive warnings. To clear the warnings, set fault reset bit (#7) in Controlword. The bits have the following meaning: bit 1: CW limit switch on bit 2: CCW limit switch on bit 3: Encoder sensor detected disturbance in the force Unsigned32 Entry Yes xFFFFFFFF 201Eh Position Derivative Gain Object 201E This object indicates the position derivative gain. Integer32 Entry t Applicable 0x7FFFFFFF 2020h Position Integral Gain Object 2020 This object indicates the position integral gain. Integer32 94 CApen Reference Manual
95 Entry t Applicable 0x7FFFFFFF 2022h Position Proportional Gain Object 2022 This object indicates the position proportional gain. Integer32 Entry 0x2710 RPM/100/Encoder Counts/2^16 0x7FFFFFFF 2023h Position Velocity Feedforward Gain Object 2023 This object indicates the velocity feed forward gain. Integer32 Entry 0x100 RPM/256 0x7FFFFFFF CApen Reference Manual 95
96 2026h Velocity Integral Gain Object 2026 This object indicates the velocity integral gain. Integer32 Entry 0x5 t Applicable 0x h Velocity Proportional Gain Object 2027 This object indicates the velocity proportional gain. Integer32 Entry 0x1388 ma/(rpm/100) /2^16 0x h Mechanical Position Object CApen Reference Manual
97 This object indicates the mechanical angle position in 16-bit resolution. It gets the position (angle) of the motor shaft within one mechanical motor revolution. The mechanical angle position increments from 0 to in the course of one mechanical motor shaft revolution (360 degrees). The range of the mechanical angle position does not change. Its resolution is dependent upon the feedback device resolution. (mechanical angle position)/65535 * 360 = Angle [degrees] Unsigned16 Entry Yes 360/2^16 deg 0xFFFF 2033h I2T Value Object 2033 This object indicates the current I2T value. It is calculated by integrating [actual current (object 6078h) - rated current (object 6075h)] to the second power, over time. Fault condition occurs when the I2T value (object 2033h) exceeds I2T Fault Threshold (object 2034h) Integer32 Entry Yes ampere^2*millisecond(ms) 0x7FFFFFFF 2034h I2T Fault Threshold CApen Reference Manual 97
98 Object 2034 This object indicates the threshold for I2T fault. Setting it to zero disables this function. Integer32 Entry ampere^2*millisecond(ms) 0x7FFFFFFF 2036h Peak Current Object 2036 This object indicates the peak rated current. Unsigned32 Entry 0x1770 milliampere 0xFFFFFFFF 2043h Commutation Offset Object 2043 This object indicates the encoder phase relative to the standard commutation table. Unsigned16 98 CApen Reference Manual
99 Entry 0x5A Degree 0x h Drive Temperature This object indicates the temperature of the drive electronics board (Celsius degrees). CApen Reference Manual 99
100 Object 2044 Drive Temperature Integer16 Entry 000 degree Celsius 0x8000 0x7FFF 2045h Feedback Direction Object 2045 This object indicates the feedback positive direction. 1 = CW is considered positive 0 = CCW is considered positive Integer8 Entry 1 t Applicable Ch Factory Restore Object 204C This object restores all configuration variables to factory default settings. Writing 0x64616F6C (ASCII "load") initiates the factory restore command. 100 CApen Reference Manual
101 Integer32 Entry 0x x7FFFFFFF 204Dh Feedback Type Object 204D This object indicates the type of motor feedback. 1 = Absolute single turn encoder Unsigned16 Entry 0x1 t Applicable 0x1 0x1 2070h Digital Inputs Polarity Object 2070 This object inverts the polarity of each digital input. 0 = Polarity inverted 1 = Polarity not inverted Array Unsigned16 Entry Sub- 000 Number of entries CApen Reference Manual 101
102 0x4 0x4 Sub- 001 Polarity of Input Number 1 Unsigned16 0x1 0x1 Sub- 002 Polarity of Input Number 2 Unsigned16 0x1 0x1 Sub- 003 Polarity of Input Number 3 Unsigned16 0x1 0x1 102 CApen Reference Manual
103 Sub- 004 Polarity of Input Number 4 Unsigned16 0x1 0x1 2072h Phase A Actual Current Object 2072 This object indicates the actual current at phase A. Integer16 Entry Yes 000 milliampere 0x8000 0x7FFF 2073h Phase A Current Offset 1 Object 2073 This object indicates the current offset of phase A. Integer16 Entry Yes 0xF801 milliampere 0x8000 CApen Reference Manual 103
104 0x7FFF 2074h Phase B Actual Current Object 2074 This object indicates the actual current at phase B. Integer16 Entry Yes 000 milliampere 0x8000 0x7FFF 2075h Phase B Current Offset 1 Object 2075 This object indicates the current offset of phase B. Integer16 Entry Yes 0xF801 milliampere 0x8000 0x7FFF 2076h Phase A Current Offset 2 Object 2076 This object indicates the current offset of phase A. 104 CApen Reference Manual
105 Integer16 Entry Yes 0xF801 milliampere 0x8000 0x7FFF 2077h Position Integral Input Saturation Object 2077 Entry This object indicates the position integral input saturation. Integer32 0x186A0 counts 0x7FFFFFFF 2078h Phase B Current Offset 2 Object 2078 This object indicates the current offset of phase B. Integer16 Entry Yes 0xF801 milliampere CApen Reference Manual 105
106 0x8000 0x7FFF 207Dh Motor Pitch Object 207D This object indicates the pitch of a linear motor. Unsigned32 Entry Yes 0x800 mm 0xFFFFFFFF 207Eh Motor Poles Object 207E This object indicates the number of individual poles (not pairs) in the motor. Integer16 Entry h Home Status Object CApen Reference Manual
107 This object indicates the status of the homing procedure. 0 = t Homed 1 = Homed 2 = Failed Integer16 Entry 000 t Applicable 0x8000 0x7FFF 2099h Current Level 1 for Digital Output Definition Object 2099 The value of this object is used by the Digital Outputs Functionality object (209Ch) as the first current value for a condition that controls a digital output. Integer32 Entry milliampere 0x2EE0 209Ah Current Level 2 for Digital Output Definition Object 209A The value of this object is used by the Digital Outputs Functionality object (209Ch) as the second current value for a condition that controls a digital output. CApen Reference Manual 107
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