• Hardware Manuals
  • Commissioning and Tuning Guide
  • Software Reference
    • v4.2-beta
    • v4.1
    • v4.0
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  • Hardware Manuals
  • Commissioning and Tuning Guide
  • Software Reference
    • v4.2-beta
    • v4.1
    • v4.0
  1. Documentation
  2. Firmware Versions
  3. Software Reference Manual v4.1
  4. CiA 402 Object Dictionary
  5. Profile Specific Area
  • SOMANET Servo Nodes
    • Handling instructions
      • Electrostatic sensitive devices
      • Magnetic sensitive devices
    • SOMANET Servo Node Revisions
    • SOMANET Servo Node EtherCAT rev. E.1
      • Technical specifications
        • Power Specifications
        • General specifications
        • Downloads
      • Hardware diagrams
        • EtherCAT module
        • Processor module
        • Drive module
      • Setup guide
        • Wiring instructions
          • Power supply and motor brake
            • Pinout Power Terminal
            • Connecting a Brake
          • Encoders and IO
            • Encoder Port 1
            • Encoder Port 2
            • Encoder Port 3 / Digital IO
            • Analog IN
            • EtherCAT port
          • Connectors and mating parts
          • Overview of connectors
        • Mounting instructions
          • Heat dissipation
          • Thermal mounting considerations
          • Dimensions
          • Interference with magnetic fields
      • LED signals
        • Overview
          • Legend
        • Core LED
          • Firmware
          • Bootloader
        • Drive LED
        • Com LED
      • Safety Module
        • Specifications of the safety functions
          • System requirements
          • Technical specifications
          • Block diagram
        • Safety connectors
          • Connector Pinout
            • Safe digital I/O port
            • Safe brake terminal
            • Connector types and mating parts numbers
        • Wiring the safety inputs
          • Disabling the safety functions
          • Cabling lenghts
          • Connection diagrams for the STO inputs
            • Manual switch + drive
            • Manual switch + drive (single-channel)
            • Manual switch + multiple drives
            • Safety PLC PM (Plus-Minus output) + drive
            • Safety PLC PM (Plus-Minus output) + multiple drives
            • Safety PLC PP (Plus-Plus output) + drive
            • Safety PLC PP (Plus-Plus output) + multiple drives
          • Connection diagram for the brake
        • Using the safety functions
          • Timing diagrams
            • Timing diagram for STO-function without SBC
            • Timing diagram for STO-function with SBC-function
          • Truth table for digital inputs
          • Diagnostic functions
            • Fault diagnostics
            • Fault reaction
            • Resetting diagnostic faults
          • STO-SBC status register
          • Use cases
            • Emergency stop
            • Prevention of unexpected start-up
        • Commissioning and maintenance
          • Commissioning
          • Maintenance
        • Downloads
    • SOMANET Servo Node EtherCAT rev. D.3/4
      • Technical specifications
        • Power Specifications
        • General specifications
      • Hardware diagrams
        • EtherCAT module
        • Processor module
        • Drive module
      • Setup guide
        • Wiring Instructions
          • Using a PELV or SELV power supply
          • Warning about using contactors behind the power supply
        • Connector Pinouts
          • Power Terminal
          • Encoder Port 1
          • Encoder Port 2
          • Encoder Port 3 / Digital IO
          • Analog IN
          • EtherCAT port
            • EtherCAT IN Port
            • EtherCAT OUT Port
          • Connector types and mating parts numbers
        • Grounding and connecting a brake
          • Connecting a Brake
        • Mounting instructions
          • Heat dissipation
          • Dimensions
          • Interference with magnetic fields
        • Downloads
      • LED signals
        • Overview
          • Legend
        • Core LED
          • Firmware
          • Bootloader
        • Drive LED
        • Com LED
    • SOMANET Servo Node EtherCAT rev. C.4
      • Technical specifications
        • Power Specifications
        • General specifications
      • Hardware diagrams
        • EtherCAT module
        • Processor module
        • Drive module
      • Setup guide
        • Wiring Instructions
          • Using a PELV or SELV power supply
          • Warning about using contactors behind the power supply
        • Connector Pinouts
          • EtherCAT IN/OUT
          • Power Terminal
          • Encoder Port 1
          • Encoder Port 2
          • Encoder Port 3 / Digital IO
          • Analog IN
          • EtherCAT port
            • EtherCAT IN Port
            • EtherCAT OUT Port
          • Connector types and mating parts numbers
        • Grounding and connecting a brake
          • Connecting a Brake
        • Mounting instructions
          • Heat dissipation
          • Dimensions
          • Interference with magnetic fields
      • LED signals
        • Overview
          • Legend
        • Core LED
          • Firmware
          • Bootloader
        • Drive LED
        • Com LED
    • SOMANET Servo Node Circulo rev. A.2 Preliminary
      • Technical specifications
        • Power Specification
        • General Specification
        • Optional Integrated Encoders
          • Functions
          • Magnetic data
        • Optional Integrated Brake
        • Downloads
      • Setup Guide
        • Wiring instructions
          • Power supply and motor brake
            • Power Terminal
            • Motor phases
            • Connecting a Brake
          • Encoders and IO
            • Connector overview
            • Analog Input
            • External Encoder
            • Digital IO
            • Safety STO-SBC
            • Encoder Battery (for multi-turn)
            • EtherCAT In/Out
          • Temperature sensor
          • Mating parts and encoder battery
            • Connector details and mating part numbers
            • Suitable encoder batteries
          • Overview of connectors
        • Dimensions and mechanical mounting
          • Dimensions
          • Drilling patterns for mounting
          • Heat dissipation
        • Mounting the encoder disks
          • Aligning the encoder discs
          • Mounting tolerances
            • Radial displacement (r)
            • Tangential displacement (t)
            • Axial distance
            • Tilt angle
            • Mounting eccentricity (rotation axis offset)
      • LED signals
        • Overview
          • Legend
        • Core LED
          • Firmware
          • Bootloader
        • Drive LED
        • EtherCAT LED
      • Safety functions (STO-SBC)
        • Specifications of the safety functions
          • System requirements
          • Technical specifications
          • Block diagram
        • Wiring the safety inputs
          • Connection diagrams for the STO inputs
            • Manual switch + drive
            • Manual switch + drive (single-channel)
            • Manual switch + multiple drives
            • Safety PLC PM (Plus-Minus output) + drive
            • Safety PLC PM (Plus-Minus output) + multiple drives
            • Safety PLC PP (Plus-Plus output) + drive
            • Safety PLC PP (Plus-Plus output) + multiple drives
          • Connection diagrams for the STO/SBC feedback output
            • High side driver
            • Low side driver
          • Connection diagram for the brake
        • Using the safety functions
          • Timing diagrams
            • Timing diagram for STO-function without SBC
            • Timing diagram for STO-function with SBC-function
          • Truth table for digital inputs
          • Diagnostic functions
            • Software diagnostics
            • Hardware diagnostics
          • STO-SBC status register
          • Use cases
            • Emergency stop
            • Prevention of unexpected start-up
        • Commissioning and maintenance
          • Commissioning
          • Maintenance
    • SOMANET Braking Chopper
      • Overview
      • Technical Specs
      • Setup and setting the threshold voltage
      • Connecting the Board to DC-BUS
        • Suitable cables
        • Wiring
      • Failsafe Behavior
      • Multi-board option
      • LED
      • Dimensions
    • SOMANET Sin/Cos Cable Adapter
      • Overview
      • Block Diagram
      • Connectors
        • Encoder Connector Top
        • Encoder Connector Bottom
        • Interface Connector
      • Mounting remarks
      • Strain relief
      • Soldered cables
    • Industrial I/O Adapter for SOMANET Drives
  • Commissioning and Tuning with OBLAC Drives
    • OBLAC Drives Box
      • Connectors
      • Installation
      • Powering the box off and resetting
      • Open OBLAC Drives
      • Using OBLAC Drives Box with WiFi
      • Sharing a connection with your Host-PC
      • Update OBLAC Drives
    • OBLAC Drives Virtual Machine
      • Prerequisite
      • Getting started
      • Connecting to OBLAC Drives
      • Troubleshooting
    • Set up your drive system
    • Motion Control Tuning
      • Auto-Tuning
        • System Identification
          • Prerequisites
          • Limitations
          • How to use
          • F.A.Q.
        • Position Auto-tuning
          • Prerequisites
          • Limitations
          • How to use
          • Next steps
          • F.A.Q.
        • Velocity Auto-tuning
          • Prerequisites
          • Limitations
          • How to use
          • Next steps
          • F.A.Q.
        • Concept of Auto-Tuning
        • Goal of Position Auto-tuning
        • Goal of Velocity Auto-tuning
      • Manual Tuning
        • Manual Tuning of torque/current control loop
        • Manual Tuning of the velocity control loop
        • Manual Tuning of the position control loop: Cascaded controller
    • Test your drive at the playground
      • Prerequisites
      • Apply a defined torque to your motor
      • Rotate your motor at defined velocities
      • Rotate your motor to defined positions
    • Update or downgrade OBLAC Drives
    • Troubleshooting
      • Virtualization not activated
      • Memory Warning
      • Runtime Issues
      • Other Issues
  • Firmware Versions
    • Software Reference v4.0
      • Overview
        • Functionality description
      • CANopen over EtherCAT (CoE)
        • PDO
        • PDO Configuration
        • SDO
      • Actuator Configuration
        • Motor Configuration
          • Motor Control Objects
        • Brake Configuration
          • Brake Parameter Object
        • Gear Ratio
      • Sensor Configuration
        • Sensor Objects
        • Description of commonly used specifications
          • Function
          • Resolution
          • Velocity calculation period
          • Polarity
          • Multiturn resolution
      • Motion Control
        • Drive State Machine (CiA 402)
        • Modes of Operation
          • Cyclic Synchronous Torque Control (CST)
            • General Scope of the Torque Controller
            • Reference Torque Generation
            • Functional Description and Controller Structure
            • Model-Predictive Current Controller
          • Cyclic Synchronous Velocity Control (CSV)
          • Cyclic Synchronous Position Control (CSP)
            • Cascaded PID Controller
            • Simple PID Controller
          • Switching modes
        • Extended Control Functionalities
          • Cogging Torque Compensation
            • Overview
            • Procedure
            • Controlling Cogging Torque Compensation and Recording Feature via EtherCAT
            • Subitems:
          • Field Weakening
          • Anti-Windup Control
          • Torque Offset for Feedforward Control
      • Errors and Warnings
      • Object Dictionary
        • All Objects
          • 0x1000 Device Type
          • 0x1001 Error Register
          • 0x1008 Manufacturer Device Name
          • 0x100A Manufacturer Software Version
          • 0x1010 Store parameters
          • 0x1011 Restore default parameters
          • 0x1018 Identity
          • 0x1600 Rx PDO Mapping
          • 0x1A00 Tx PDO Mapping
          • 0x1C00 Sync Manager
          • 0x1C10 SM 0 Assignment
          • 0x1C11 SM 1 Assignment
          • 0x1C12 SM 2 Assignment
          • 0x1C13 SM 3 Assignment
          • 0x2000 Command Object (disabled)
          • 0x2001 Commutation Angle Offset
          • 0x2002 Position control strategy
          • 0x2003 Motor Specific Settings
          • 0x2004 Brake Options
          • 0x2005 Recuperation
          • 0x2006 Protection
          • 0x2008 Cogging Torque Compensation
          • 0x2009 Commutation Offset
          • 0x2010 Torque Controller
          • 0x2011 Velocity Controller
          • 0x2012 Position Controller
          • 0x20F0 Timestamp
          • 0x20F1 Real Time Clock
          • 0x20F2 Assigned Name
          • 0x2100 Feedback sensor ports
          • 0x2201 BISS Encoder 1
          • 0x2202 BISS Encoder 2
          • 0x2203 REM 16MT Encoder
          • 0x2204 REM 14 Encoder
          • 0x2205 Incremental Encoder 1
          • 0x2206 Incremental Encoder 2
          • 0x2207 HALL Sensor 1
          • 0x2208 HALL Sensor 2
          • 0x2210 GPIO
          • 0x230A Secondary position value
          • 0x230B Secondary velocity value
          • 0x2401 Analog input 1
          • 0x2402 Analog input 2
          • 0x2403 Analog input 3
          • 0x2404 Analog input 4
          • 0x2501 Digital Input 1
          • 0x2502 Digital Input 2
          • 0x2503 Digital Input 3
          • 0x2504 Digital Input 4
          • 0x2601 Digital Output 1
          • 0x2602 Digital Output 2
          • 0x2603 Digital Output 3
          • 0x2604 Digital Output 4
          • 0x2701 Tuning command
          • 0x2702 Tuning status
          • 0x2703 User MOSI
          • 0x2704 User MISO
          • 0x2705 Setup Wizard Completed
          • 0x603F Error code
          • 0x6040 Controlword
          • 0x6041 Statusword
          • 0x6060 Op Mode
          • 0x6061 Op Mode Display
          • 0x6064 Position Value
          • 0x606C Velocity Value
          • 0x6071 Target Torque
          • 0x6072 Max torque
          • 0x6073 Max current
          • 0x6075 Motor Rated Current
          • 0x6076 Motor Rated Torque
          • 0x6077 Torque Value
          • 0x6079 DC link circuit voltage
          • 0x607A Target Position
          • 0x607B Position Range Limits
          • 0x607C Home offset
          • 0x607D Software position limit
          • 0x607E Polarity
          • 0x607F Max profile velocity
          • 0x6080 Max motor speed
          • 0x6081 Profile velocity
          • 0x6083 Profile acceleration
          • 0x6084 Profile deceleration
          • 0x6085 Quick stop deceleration
          • 0x6086 Motion profile type
          • 0x60B2 Torque offset
          • 0x60C5 Max acceleration
          • 0x60FF Target Velocity
          • 0x6502 Supported Drive Modes
        • Communication Area
        • Manufacturer Specific Area
        • Profile Specific Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
      • Device Information
    • Software Reference v4.1
      • Overview
        • Functionality description
      • CANopen over EtherCAT (CoE)
        • PDO
        • PDO Configuration
        • SDO
      • Actuator Configuration
        • Motor Configuration
          • Motor Control Objects
        • Brake Configuration
          • Brake Parameter Object
        • Gear Ratio
      • Sensor Configuration
        • Sensor Objects
        • Description of commonly used specifications
          • Function
          • Resolution
          • Velocity calculation period
          • Polarity
          • Multiturn resolution
      • Logging
        • Overview
        • Types
        • Format
      • Motion Control
        • Drive State Machine (CiA 402)
        • Modes of Operation
          • Cyclic Synchronous Torque Control (CST)
            • General Scope of the Torque Controller
            • Reference Torque Generation
            • Functional Description and Controller Structure
            • Model-Predictive Current Controller
          • Cyclic Synchronous Velocity Control (CSV)
          • Cyclic Synchronous Position Control (CSP)
            • Cascaded PID Controller
            • Simple PID Controller
          • Switching modes
        • Extended Control Functionalities
          • Cogging Torque Compensation
            • Overview
            • Procedure
            • Controlling Cogging Torque Compensation and Recording Feature via EtherCAT
            • Subitems:
          • Field Weakening
          • Anti-Windup Control
          • Gain Scheduling
          • Motor Overload Protection (i2t)
            • Overview
            • Requirements
            • Description of Subitems for 0x200A:
            • Operating principle
          • Torque Offset for Feedforward Control
          • Velocity Offset for Feedforward Control
      • Errors and Warnings
        • Error codes thrown by the firmware
        • Error Report Object
      • Object Dictionary
        • All Objects
          • 0x1000 Device Type
          • 0x1001 Error Register
          • 0x1008 Manufacturer Device Name
          • 0x100A Manufacturer Software Version
          • 0x1010 Store parameters
          • 0x1011 Restore default parameters
          • 0x1018 Identity
          • 0x1600 RxPDO Mapping 1
          • 0x1A00 TxPDO Mapping 1
          • 0x1C00 Sync Manager
          • 0x1C10 SM 0 Assignment
          • 0x1C11 SM 1 Assignment
          • 0x1C12 SM 2 Assignment
          • 0x1C13 SM 3 Assignment
          • 0x2000 Command Object (disabled)
          • 0x2001 Commutation Angle Offset
          • 0x2002 Position control strategy
          • 0x2003 Motor Specific Settings
          • 0x2004 Brake Options
          • 0x2005 Recuperation
          • 0x2006 Protection
          • 0x2008 Cogging Torque Compensation
          • 0x2009 Commutation Offset
          • 0x200A I2t
          • 0x2010 Torque Controller
          • 0x2011 Velocity Controller
          • 0x2012 Position Controller
          • 0x2013 Gain Scheduling
          • 0x2021 Velocity Feedback Filter
          • 0x2022 Position Feedback Filter
          • 0x2031 Drive temperature
          • 0x203F Error report
          • 0x20F0 Timestamp
          • 0x20F1 Real Time Clock
          • 0x20F2 Assigned Name
          • 0x2100 Feedback sensor ports
          • 0x2201 BISS Encoder 1
          • 0x2202 BISS Encoder 2
          • 0x2203 REM 16MT Encoder
          • 0x2204 REM 14 Encoder
          • 0x2205 Incremental Encoder 1
          • 0x2206 Incremental Encoder 2
          • 0x2207 HALL Sensor 1
          • 0x2208 HALL Sensor 2
          • 0x2209 SSI Encoder 1
          • 0x220A SSI Encoder 2
          • 0x2210 GPIO
          • 0x230A Secondary position value
          • 0x230B Secondary velocity value
          • 0x2401 Analog input 1
          • 0x2402 Analog input 2
          • 0x2403 Analog input 3
          • 0x2404 Analog input 4
          • 0x2501 Digital Input 1
          • 0x2502 Digital Input 2
          • 0x2503 Digital Input 3
          • 0x2504 Digital Input 4
          • 0x2601 Digital Output 1
          • 0x2602 Digital Output 2
          • 0x2603 Digital Output 3
          • 0x2604 Digital Output 4
          • 0x2701 Tuning command
          • 0x2702 Tuning status
          • 0x2703 User MOSI
          • 0x2704 User MISO
          • 0x2705 Setup Wizard Completed
          • 0x603F Error code
          • 0x6040 Controlword
          • 0x6041 Statusword
          • 0x6060 Op Mode
          • 0x6061 Op Mode Display
          • 0x6064 Position Value
          • 0x606C Velocity Value
          • 0x6071 Target Torque
          • 0x6072 Max torque
          • 0x6073 Max current
          • 0x6075 Motor Rated Current
          • 0x6076 Motor Rated Torque
          • 0x6077 Torque Value
          • 0x6079 DC link circuit voltage
          • 0x607A Target Position
          • 0x607B Position Range Limits
          • 0x607C Home offset
          • 0x607D Software position limit
          • 0x607E Polarity
          • 0x607F Max profile velocity
          • 0x6080 Max motor speed
          • 0x6081 Profile velocity
          • 0x6085 Quick stop deceleration
          • 0x6086 Motion profile type
          • 0x6091 Gear ratio
          • 0x60B1 Velocity offset
          • 0x60B2 Torque offset
          • 0x60FF Target Velocity
          • 0x6502 Supported Drive Modes
        • Communication Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
          • Advanced PDO mapping
        • Manufacturer Specific Area
        • Profile Specific Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
          • Advanced PDO mapping
      • Device Information
    • Software Reference v4.2-beta
      • Overview
        • Functionality description
      • CANopen over EtherCAT (CoE)
        • PDO
        • PDO Configuration
        • SDO
      • Actuator Configuration
        • Motor and Gear settings
          • Motor Configuration
            • Parameters related to the Motor
          • Gear Ratio
            • Parameters related to Gear Ratio
        • Brake release
          • Pin-brake Mode
            • Timing diagram
            • Parameters related to Brake
      • I/O
        • Analog In
          • Using differential inputs for single-ended sensors
          • External scaled measurement
            • Requirements
            • Specifications
          • Parameters related to Analog Inputs
        • Digital I/O
          • Configuration of Digital I/Os as Input or Output
          • Parameters related to GPIO
        • Encoder Configuration
          • Description of common encoder parameters
            • Function
            • Resolution
            • Zero velocity threshold
            • Polarity
            • Multiturn resolution
          • Encoder related parameters
        • Commutation with Hall and ABI combined
          • Overview
          • Requirements
          • Usage
          • Detailed description
      • Logging
        • Overview
        • Types
        • Format
      • Motion Control
        • Drive State Machine (CiA 402)
        • Modes of Operation
          • Cyclic modes
            • Cyclic Synchronous Torque Control (CST)
            • Cyclic Synchronous Velocity Control (CSV)
            • Cyclic Synchronous Position Control (CSP)
          • Profiled modes
            • Profile position mode
            • Profile velocity mode
            • Profile torque mode
          • Homing modes
            • Overview
            • Settings for homing mode
            • How to perform homing
            • Objects used
          • Switching modes
        • Extended Control Functionalities
          • Cogging Torque Compensation
            • Overview
            • Procedure
            • Controlling the feature via EtherCAT
            • Subitems:
            • Objects used for Cogging Torque Compensation
          • Field Weakening
          • Anti-Windup Control
            • Objects used for Anti-Windup Control
          • Gain Scheduling
          • Motor Overload Protection (i2t)
            • Overview
            • Requirements
            • Description of Subitems for 0x200A:
            • Operating principle
          • Feedforward Control
            • Usage
            • Object used for Feedforward control
          • Torque Offset
          • Velocity Offset
          • Filtering
            • Position and Velocity Feedback Low-pass filters
            • Torque loop input shaping filter
            • Overview
            • Methods
            • Application Guide
          • Control supervision
            • Timing diagram of the supervision objects
            • Following error
            • Following error window
            • Target reached function
            • Monitoring the internal variables
            • Control Effort
            • Objects used for Control supervision
          • Distributed clocks
            • Overview
            • Reference Clock
            • Sample configuration (TwinCAT)
            • Behavior of the feature
      • Errors and Warnings
        • Error codes thrown by the firmware
        • Error Report Object
      • Object Dictionary
        • All Objects
          • 0x1000 Device type
          • 0x1001 Error register
          • 0x1005 COB-ID SYNC
          • 0x1006 Communication cycle period
          • 0x1008 Manufacturer device name
          • 0x100A Manufacturer software version
          • 0x100C Guard time
          • 0x100D Life time factor
          • 0x1010 Store parameters
          • 0x1011 Restore default parameters
          • 0x1016 Consumer heartbeat time
          • 0x1017 Producer heartbeat time
          • 0x1018 Identity object
          • 0x1019 Synchronous counter overflow value
          • 0x1400 Receive PDO1 parameter
          • 0x1401 Receive PDO2 parameter
          • 0x1600 Receive PDO1 mapping
          • 0x1601 Receive PDO2 mapping
          • 0x1602 Receive PDO3 mapping
          • 0x1603 Receive PDO4 mapping
          • 0x1800 Transmit PDO1 parameter
          • 0x1801 Transmit PDO2 parameter
          • 0x1A00 Transmit PDO1 mapping
          • 0x1A01 Transmit PDO2 mapping
          • 0x1A02 Transmit PDO3 mapping
          • 0x1A03 Transmit PDO4 mapping
          • 0x1C00 Sync Manager
          • 0x1C10 SM 0 Assignment
          • 0x1C11 SM 1 Assignment
          • 0x1C12 SM 2 Assignment
          • 0x1C13 SM 3 Assignment
          • 0x2000 Command object (disabled)
          • 0x2001 Commutation angle offset
          • 0x2002 Position control strategy
          • 0x2003 Motor specific settings
          • 0x2004 Brake options
          • 0x2005 Recuperation
          • 0x2006 Protection
          • 0x2008 Cogging torque compensation
          • 0x2009 Commutation offset
          • 0x200A I2t
          • 0x2010 Torque controller
          • 0x2011 Velocity controller
          • 0x2012 Position controller
          • 0x2012 Position controller
          • 0x2013 Gain scheduling
          • 0x2014 Torque window
          • 0x2015 Velocity feed forward
          • 0x2021 Velocity feedback filter
          • 0x2022 Position feedback filter
          • 0x2023 Notch filter
          • 0x2030 Core temperature
          • 0x2031 Drive temperature
          • 0x2038 External scaled measurement
          • 0x203F Error report
          • 0x2040 Input counter
          • 0x20E1 High resolution data
          • 0x20F0 Timestamp
          • 0x20F1 Real time clock
          • 0x20F2 Assigned name
          • 0x20F3 DC synchronization
          • 0x2100 Feedback sensor ports
          • 0x2201 BiSS encoder 1
          • 0x2202 BiSS encoder 2
          • 0x2203 REM 16MT encoder
          • 0x2205 Incremental encoder 1
          • 0x2206 Incremental encoder 2
          • 0x2207 Hall sensor 1
          • 0x2208 Hall sensor 2
          • 0x2209 SSI encoder 1
          • 0x220A SSI encoder 2
          • 0x220B A Format encoder
          • 0x220C Fast ABI module
          • 0x220E SinCos module
          • 0x2210 GPIO
          • 0x230A Secondary position value
          • 0x230B Secondary velocity value
          • 0x2401 Analog input 1
          • 0x2402 Analog input 2
          • 0x2403 Analog input 3
          • 0x2404 Analog input 4
          • 0x2501 Digital input 1
          • 0x2502 Digital input 2
          • 0x2503 Digital input 3
          • 0x2504 Digital input 4
          • 0x2601 Digital output 1
          • 0x2602 Digital output 2
          • 0x2603 Digital output 3
          • 0x2604 Digital output 4
          • 0x2611 Safety digital input diagnostics
          • 0x2701 Tuning command
          • 0x2702 Tuning status
          • 0x2703 User MOSI
          • 0x2704 User MISO
          • 0x2705 Setup wizard completed
          • 0x603F Error code
          • 0x6040 Controlword
          • 0x6041 Statusword
          • 0x6060 Modes of operation
          • 0x6061 Modes of operation display
          • 0x6062 Position demand value
          • 0x6064 Position actual value
          • 0x6065 Following error window
          • 0x6066 Following error time out
          • 0x6067 Position window
          • 0x6068 Position window time
          • 0x606B Velocity demand value
          • 0x606C Velocity actual value
          • 0x606D Velocity window
          • 0x606E Velocity window time
          • 0x606F Velocity threshold
          • 0x6070 Velocity threshold time
          • 0x6071 Target torque
          • 0x6072 Max torque
          • 0x6073 Max current
          • 0x6074 Torque demand
          • 0x6075 Motor rated current
          • 0x6076 Motor rated torque
          • 0x6077 Torque actual value
          • 0x6079 DC link circuit voltage
          • 0x607A Target position
          • 0x607B Position range limit
          • 0x607C Home offset
          • 0x607D Software position limit
          • 0x607E Polarity
          • 0x6080 Max motor speed
          • 0x6081 Profile velocity
          • 0x6083 Profile acceleration
          • 0x6084 Profile deceleration
          • 0x6085 Quick stop deceleration
          • 0x6086 Motion profile type
          • 0x6087 Torque slope
          • 0x6088 Torque profile type
          • 0x6091 Gear ratio
          • 0x6098 Homing method
          • 0x6099 Homing speeds
          • 0x609A Homing acceleration
          • 0x60A9 SI unit velocity
          • 0x60B1 Velocity offset
          • 0x60B2 Torque offset
          • 0x60E3 Supported homing methods
          • 0x60F4 Following error actual value
          • 0x60FA Control effort
          • 0x60FC Position demand internal value
          • 0x60FF Target velocity
          • 0x6502 Supported drive modes
          • 0x6621 Safety statusword
        • Communication Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
          • Advanced PDO mapping
            • Changing the content of an object
        • Manufacturer Specific Area
        • Profile Specific Area
      • Device Information
  • Tutorials
    • Motion Master C++ application installation guide
      • Prerequisites
        • Pull the Motion Master
        • Create and run an application
      • Run Motion master via OBLAC Drives Box
    • Tuning Guides
      • Velocity PID Tuning
        • PID Parameter Range
        • Recommended Tuning Steps
      • Position tuning with Gain Scheduling
        • Introduction
        • Control Basics
        • Tuning Concept in Brief
        • Tuning Steps
      • Cascaded position Tuning
        • Introduction
        • Control Basics
        • Tuning Concept in Brief
        • Tuning Steps
  • Resources
    • About this documentation
      • Warnings
      • Reporting errors
      • Using offline documentation
    • Glossary
      • Differential and single-ended I/Os

Profile Specific Area¶

Index Name
0x603F Error code
0x6040 Controlword
0x6041 Statusword
0x6060 Op Mode
0x6061 Op Mode Display
0x6064 Position Value
0x606C Velocity Value
0x6071 Target Torque
0x6072 Max torque
0x6073 Max current
0x6075 Motor Rated Current
0x6076 Motor Rated Torque
0x6077 Torque Value
0x6079 DC link circuit voltage
0x607A Target Position
0x607B Position Range Limits
0x607B:1 Min position range limit
0x607B:2 Max position range limit
0x607C Home offset
0x607D Software position limit
0x607D:1 Min position limit
0x607D:2 Max position limit
0x607E Polarity
0x607F Max profile velocity
0x6080 Max motor speed
0x6081 Profile velocity
0x6085 Quick stop deceleration
0x6086 Motion profile type
0x6091 Gear ratio
0x6091:1 Motor revolutions
0x6091:2 Shaft revolutions
0x60B1 Velocity offset
0x60B2 Torque offset
0x60FF Target Velocity
0x6502 Supported Drive Modes

Europe (HQ)

Synapticon GmbH
Daimlerstraße 26
71101 Schönaich
Germany

+49 7031 / 30 478 -0

sales@synapticon.com

Americas

Synapticon Inc.
303 Twin Dolphin Drive
Redwood City 94065
California

+1 (650) 632 4599

sales-us@synapticon.com

Asia

Synapticon
518 Shen Chang Road
Shanghai 201106
China

+86 180-1628-7337

sales-ap@synapticon.com

About

Synapticon is a technology company focusing on the transition band between advanced software and electromechanics. The company provides a comprehensive portfolio of motion control-related technology to robot and machinery OEMs.

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