Input/output data

Index 2001 Outputs

Index (hex)

Name

Meaning

Data type

Flags

Default

2001:0

Outputs

Maximum subindex

UINT8

RO

0x11 (17dec)

2001:11

Torque offset

Torque value offset
The value is specified in 1000th of the rated current .

Equation for index 0x2002:54 = 0 :
M = ((Torque actual value / 1000) x (rated current / √2)) x torque constant (0x2003:16)

Equation for index 0x2002:54 = 1 :
M = ((Torque actual value / 1000) x rated current)) x torque constant (0x2003:16)

INT16

RO

0x0000 (0dec)

Index 2008 Inputs

Index (hex)

Name

Meaning

Data type

Flags

Default

2008:0

Inputs

Maximum subindex

UINT8

RO

0x02 (2dec)

2008:01

Info data1

Synchronous information (selection via subindex 0x2002:55)

UINT16

RO

0x0000 (0dec)

2008:01

Info data2

Synchronous information (selection via subindex 0x2002:56)

UINT16

RO

0x0000 (0dec)

Index 603E TxPDO Data invalid

Index (hex)

Name

Meaning

Data type

Flags

Default

603E:0

TxPDO Data invalid

Max. subindex

UINT8

RO

0x02 (2dec)

603E:02

Position actual value

0: The current position is valid
1: The current position is invalid

BOOLEAN

RO P

0

Index 6040 Controlword

Index (hex)

Name

Meaning

Data type

Flags

Default

6040:0

Controlword

DS402 Controlword
Bit 0: Switch on
Bit 1: Enable voltage
Bit 2: reserved
Bit 3: Enable operation
Bit 4 - 6: reserved
Bit 7: Fault reset
Bit 8 - 15: reserved

UINT16

RO

0x0000 (0dec)

Index 6041 Statusword

Index (hex)

Name

Meaning

Data type

Flags

Default

6041:0

Statusword

DS402 Statusword
Bit 0: Ready to switch on
Bit 1: Switched on
Bit 2: Operation enabled
Bit 3: Fault
Bit 4: reserved
Bit 5: reserved
Bit 6: Switch on disabled
Bit 7: Warning
Bit 8 + 9: reserved
Bit 10: TxPDOToggle (selection/deselection via 0x60DA)
Bit 11: Internal limit active
Bit 12: (Target value ignored)
Bit 13 - 15: reserved

UINT16

RO

0x0000 (0dec)

Index 605E Fault reaction option code

Index (hex)

Name

Meaning

Data type

Flags

Default

605E:0

Fault reaction option code

0: Disable drive function, motor is free to rotate

1: Slow down by slow down ramp

ENUM16BIT

RW

0

Index 6060 Modes of operation

Index (hex)

Name

Meaning

Data type

Flags

Default

6060:0

Modes of operation

permitted values:

0x08: Cyclic synchronous position mode (CSP)
0x09: Cyclic synchronous velocity mode (CSV)
0x0A: Cyclic synchronous torque mode (CST)
0x0B: Cyclic synchronous torque mode with commutation angle (CSTCA)

UINT8

RW

0x00 (0dec)

Index 6061 Modes of operation display

Index (hex)

Name

Meaning

Data type

Flags

Default

6061:0

Modes of operation display

permitted values:

8: Cyclic synchronous position mode (CSP)

9: Cyclic synchronous velocity mode (CSV)

10: Cyclic synchronous torque mode (CST)

11: Cyclic synchronous torque mode with commutation angle (CSTCA)

UINT8

RO

0x00 (0dec)

Index 6064 Position actual value

Index (hex)

Name

Meaning

Data type

Flags

Default

6064:0

Position actual value

Position
Unit: the given value must be multiplied by the corresponding scaling factor

UINT32

RO

0x00000000 (0dec)

Index 6065 Following error window

Index (hex)

Name

Meaning

Data type

Flags

Default

6065:0

Following error window

Following error monitor: Following error window
Unit: the given value must be multiplied by the corresponding scaling factor

0xFFFFFFFF (-1dec) = following error monitor off
Any other value = following error monitor on

UINT32

RO

0xFFFFFFFF (-1dec)

Index 6066 Following error time out

Index (hex)

Name

Meaning

Data type

Flags

Default

6066:0

Following error time out

Following error monitor: Timeout
Unit: ms

If the following error is larger than the following error window for a time that exceeds the timeout, this leads to an error reaction

UINT16

RO

0x0000 (0dec)

Index 606C Velocity actual value

Index (hex)

Name

Meaning

Data type

Flags

Default

606C:0

Velocity actual value

Display of the current velocity value

INT32

RO

0x00000000 (0dec)

Index 6071 Target torque

Index (hex)

Name

Meaning

Data type

Flags

Default

6071:0

Target torque

This object shall indicate the configured input value for the torque controller.
The value is specified in 1000th of the rated current.

Equation for index 0x2002:54 = 0 :
M = ((Torque actual value / 1000) x (rated current / √2)) x torque constant (0x2003:16)

Equation for index 0x2002:54 = 1 :
M = ((Torque actual value / 1000) x rated current)) x torque constant (0x2003:16)

INT16

RO

0x0000 (0dec)

Index 6072 Max torque

Index (hex)

Name

Meaning

Data type

Flags

Default

6072:0

Max torque

This object limits the target torque for the torque controller (bipolar limit).
The value is specified in 1000th of the rated current.

Equation for index 0x2002:54 = 0 :
M = ((Torque actual value / 1000) x (rated current / √2)) x torque constant (0x2003:16)

Equation for index 0x2002:54 = 1 :
M = ((Torque actual value / 1000) x rated current)) x torque constant (0x2003:16)

UINT16

RW

0x7FFF (32767dec)

Index 6075 Motor rated current

Index (hex)

Name

Meaning

Data type

Flags

Default

6075:0

Motor rated current

Motor rated current
Unit: mA

UINT32

RW

0x000003E8 (1000dec)

Index 6077 Torque actual value

Index (hex)

Name

Meaning

Data type

Flags

Default

6077:0

Torque actual value

This object shall provide the actual value of the torque.
The value is specified in 1000th of the rated current.

Equation for index 0x2002:54 = 0 :
M = ((Torque actual value / 1000) x (rated current / √2)) x torque constant (0x2003:16)

Equation for index 0x2002:54 = 1 :
M = ((Torque actual value / 1000) x rated current)) x torque constant (0x2003:16)

INT16

RO

0x0000 (0dec)

Index 6079 DC link circuit voltage

Index (hex)

Name

Meaning

Data type

Flags

Default

6079:0

DC link circuit voltage

DC link voltage g
Unit: mV

UINT32

RO

0x00000000 (0dec)

Index 607A Target position

Index (hex)

Name

Meaning

Data type

Flags

Default

607A:0

Target position

This object shall provide the actual position.
Unit: the given value must be multiplied by the corresponding scaling factor

UINT32

RO

0x00000000 (0dec)

Index 6080 Max motor speed

Index (hex)

Name

Meaning

Data type

Flags

Default

6080:0

Max motor speed

Velocity limitation
Unit: rpm

UINT32

RW

0x00040000 (262144dec)

Index 608F Position encoder resolution

Index (hex)

Name

Meaning

Data type

Flags

Default

608F:0

Position encoder resolution

This object represents the configured encoder increments and the number of motor revolutions. The position encoder resolution is calculated according to the following equation:
Position encoder resolution =
(encoder increments / motor revolutions)

UINT8

RO

0x02 (2dec)

608F:01

SubIndex 001

Encoder increments

UINT32

RO

0x00000000 (0dec)

608F:02

SubIndex 002

Motor revolutions

UINT32

RO

0x00000000 (0dec)

Index 6090 Velocity Encoder Resolution

Index (hex)

Name

Meaning

Data type

Flags

Default

6090:0

Velocity Encoder Resolution

Display of configured encoder increments/s and motor revolutions/s.
The velocity encoder resolution is calculated according to the following formula:

Velocity Encoder Resolution =
(encoder_increments / s ) / (motor_revolutions / s)

UINT32

RO

0x00000000 (0dec)

Index 60B2 Torque offset

Index (hex)

Name

Meaning

Data type

Flags

Default

60B2:0

Torque offset

Torque value offset

UINT16

RO

0x0000 (0dec)

Index 60B8 Touch probe function

Index (hex)

Name

Meaning

Data type

Flags

Default

60B8:0

Touch probe function

Touch probe function byte

UINT16

RO

0x0000 (0dec)

Index 60B9 Touch probe status

Index (hex)

Name

Meaning

Data type

Flags

Default

60B9:0

Touch probe status

Touch probe status byte

UINT16

RO

0x0000 (0dec)

Index 60BA Touch probe 1 positive edge

Index (hex)

Name

Meaning

Data type

Flags

Default

60BA:0

Touch probe 1 positive edge

Positive position value of TP 1
Unit: the given value must be multiplied by the corresponding scaling factor

INT32

RO

0x00000000 (0dec)

Index 60BB Touch probe 1 negative edge

Index (hex)

Name

Meaning

Data type

Flags

Default

60BB:0

Touch probe 1 negative edge

Negative position value of TP 1
Unit: the given value must be multiplied by the corresponding scaling factor

INT32

RO

0x00000000 (0dec)

Index 60BC Touch probe 2 positive edge

Index (hex)

Name

Meaning

Data type

Flags

Default

60BC:0

Touch probe 2 positive edge

Positive position value of TP 2
Unit: the given value must be multiplied by the corresponding scaling factor

INT32

RO

0x00000000 (0dec)

Index 60BD Touch probe 2 negative edge

Index (hex)

Name

Meaning

Data type

Flags

Default

60BD:0

Touch probe 2 negative edge

Negative position value of TP 2
Unit: the given value must be multiplied by the corresponding scaling factor

INT32

RO

0x00000000 (0dec)

Index 60C2 Interpolation time period

Index (hex)

Name

Meaning

Data type

Flags

Default

60C2:0

Interpolation time period

Maximum subindex x

UINT8

RO

0x02 (2dec)

60C2:01

Interpolation time period value

This object shall indicate the configured interpolation cycle time. The interpolation time period (sub-index 0x01) value shall be given in 10(interpolation time index) (second).
The interpolation time index (sub-index 0x02) shall be dimensionless.

UINT8T8

RO

0x00 (0dec)

60C2:02

Interpolation time index

INT8

RO

0x00 (0dec)

Index 60D9 Supported functions

Index (hex)

Name

Meaning

Data type

Flags

Default

60D9:0

Supported functions

This object shall provide information on the supported functions in the device.

UINT3232

RO

0x00000000 (0dec)

Index 60DA Function settings

Index (hex)

Name

Meaning

Data type

Flags

Default

60DA:0

Function settings

This object shall enable/disable supported functions in the device.

Bit 0: Enable TxPDOToggle-Bit in Statusword: Bit 10

Bit 1: Enable input cycle counter in Statusword: Bit 13

Bit 2-31: reserved

UINT32

RW

0x00000000 (0dec)

Index 60EA Commutation angle

Index (hex)

Name

Meaning

Data type

Flags

Default

60EA:0

Commutation angle

Electrical commutation angle (for the CSTCA mode)
Unit: 5.49 * 10-3 °

UINT16

RO

0x0000 (0dec)

Index 60F4 Following error actual value

Index (hex)

Name

Meaning

Data type

Flags

Default

60F4:0

Following error actual value

Following error
Unit: the given value must be multiplied by the corresponding scaling factor

INT32

RO

0x00000000 (0dec)

Index 60FF Target velocity

Index (hex)

Name

Meaning

Data type

Flags

Default

60FF:0

Target velocity

This object shall indicate the configured target velocity
The velocity scaling can be found in object 0x6090 (Velocity encoder resolution)

INT32

RO

0x00000000 (0dec)

Index 6403 Motor catalogue number

Index (hex)

Name

Meaning

Data type

Flags

Default

6403:0

Motor catalogue number

This is the order code from the electronic type plate of the motor, e.g. AM8121-0F20-0000

STRING

RO

 

Index 6502 Supported drive modes

Index (hex)

Name

Meaning

Data type

Flags

Default

6502:0

Supported drive modes

This object shall provide information on the supported drive modes. (DS402 Object 0x6502)
Only modes CSV, CST, CSTCA and CSP are supported

Bit 0: PP
Bit 1: VL
Bit 2: PV
Bit 3: TQ
Bit 4: R
Bit 5: HM
Bit 6: IP
Bit 7: CSP
Bit 8: CSV
Bit 9: CST
Bit 10: CSTCA
Bit 11-15: reserved
Bit 16-31: Manufacturer-specific

UINT32

RO

0x00000000 (0dec)