Input/output data

2001:0

Outputs

Maximum subindex

UINT8

RO

0x11 (17_dec)

2001:11

Torque offset

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

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

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

INT16

RO

0x0000 (0_dec)

603E:0

TxPDO Data invalid

Max. Subindex

UINT8

RO

0x02 (2_dec)

603E:02

Position actual value

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

BOOLEAN

RO P

0

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 (0_dec)

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 : Drive follows the command value
Bit 13 - 15 : reserved

UINT16

RO

0x0000 (0_dec)

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

6060:0

Modes of operation

This object shall indicate the requested operation mode

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 (0_dec)

6061:0

Modes of operation display

This object shall provide the actual operation mode

UINT8

RO

0x00 (0_dec)

6064:0

Position actual value

Position

UINT32

RO

0x00000000 (0_dec)

6065:0

Following error window

RW

6066:0

Following error time out

RW

606C:0

Velocity actual value

This object shall provide the actual velocity value

INT32

RO

0x00000000 (0_dec)

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 (0_dec)

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 (32767_dec)

6075:0

Motor rated current

Rated motor current
Unit: mA

UINT32

RW

0x000003E8 (1000_dec)

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 (0_dec)

6079:0

DC link circuit voltage

DC link voltage
Unit: mV

UINT32

RO

0x00000000 (0_dec)

607A:0

Target position

Objects represents absolute position.
Unit: the given value must be multiplied by the corresponding scaling factor

UINT32

RO

0x00000000 (0_dec)

6080:0

Max motor speed

Velocity limitation
Unit: rpm

UINT32

RW

0x00040000 (262144_dec)

608F:0

Position encoder resolution

This object shall indicate the configured encoder increments and number of motor revolutions. The position encoder resolution shall be calculated by the following formula:

UINT8

RO

0x02 (2_dec)

608F:01

SubIndex 001

Encoder increments

UINT32

RO

0x00000000 (0_dec)

608F:02

SubIndex 002

Motor revolutions

UINT32

RO

0x00000000 (0_dec)

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

0x00041893 (268435_dec)

60C2:0

Interpolation time period

Maximum subindex

UINT8

RO

0x02 (2_dec)

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.

UINT8

RO

0x00 (0_dec)

60C2:02

Interpolation time index

INT8

RO

0x00 (0_dec)

60D9:0

Supported functions

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

UINT32

RO

0x00000000 (0_dec)

60DA:0

Synchronization 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 (0_dec)

60EA:0

Commutation angle

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

UINT16

RO

0x0000 (0_dec)

60F4:0

Following error actual value

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

INT32

RO

0x00000000 (0_dec)

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 (0_dec)

6502:0

Supported drive modes

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