CiA 402 Object Dictionary

0x1000:0 Device Type

This object shall provide information about the device type. The object describes the type of the logical device and its functionality. It shall be composed of a 16-bit field that describes the device profile or the application profile that is used and a second 16-bit field, which gives additional information about optional functionality of the logical device. The additional information parameter is device profile specific and application profile specific. Its specification does not fall within the scope of this specification; it is defined in the appropriate device profile and application profile.

The value 0000h for the device profile number shall indicate a logical device that does not follow a standardized profile. In this case the additional information shall be 0000h (if no further logical device is implemented) or FFFFh (if a further logical device is implemented).

For multiple logical device modules the additional information parameter shall be FFFFh and the device profile number referenced by object 1000h shall be the profile of the first logical device in the object dictionary. All other profiles of a multiple logical device module shall identify their profiles at objects 67FFhh with x = internal number of the logical device (from 1 to 8) minus 1. These objects shall describe the device type of the preceding logical device, having the very same value definition as object 1000h.

Figure 52: Structure of the device type parameter

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x1000
SubIndex 0
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data 131474
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x1001:0 Error Register

This object shall provide error information. The CANopen device maps internal errors into this object. It is a part of an emergency object.

Structure of the error register
BitM/OMeaning
0MGeneric error
1OCurrent
2OVoltage
3OTemperature
4OCommunication error (overrun, error state)
5ODevice profile specific
6Oreserved (always 0b)
7Omanufacturer-specific

If a specific error occurs the corresponding bit shall be set to 1b. The generic error bit shall be supported. The other bits may be supported. The generic error shall be signaled at any error situation.

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x1001
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data 0
Unit
Access readonly (default)
Category optional (default)
PDO Mapping

0x1008:0 Manufacturer Device Name

This object shall provide the name of the device as given by the manufacturer.

undefined
Object Content
Object Type OBJECT_TYPE_VAR
Index 0x1008
SubIndex 0
Type STRING(50)
Bit Size 400
Deftype DEFTYPE_VISIBLE_STRING
Min Data
Max Data
Default Data 0
Unit
Access readonly (default)
Category optional (default)
PDO Mapping

0x100A:0 Manufacturer Software Version

This object shall provide the manufacturer software version description.

undefined
Object Content
Object Type OBJECT_TYPE_VAR
Index 0x100A
SubIndex 0
Type STRING(50)
Bit Size 400
Deftype DEFTYPE_VISIBLE_STRING
Min Data
Max Data
Default Data 0
Unit
Access readonly (default)
Category optional (default)
PDO Mapping

0x1018:0 Identity

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x1018
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1018:1 Vendor ID

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x1018
SubIndex 1
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1018:2 Product Code

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x1018
SubIndex 2
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1018:3 Revision

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x1018
SubIndex 3
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1018:4 Serialnumber

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x1018
SubIndex 4
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1600:0 Rx PDO Mapping

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1600
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1600:1 Controlword

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1600
SubIndex 1
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1600:2 Op Mode

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1600
SubIndex 2
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1600:3 Target Torque

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1600
SubIndex 3
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1600:4 Target Position

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1600
SubIndex 4
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1600:5 Target Velocity

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1600
SubIndex 5
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1600:6 Tuning command

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1600
SubIndex 6
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1600:7 Digital Output 1

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1600
SubIndex 7
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1600:8 padding entry (automatically added) 0

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1600
SubIndex 8
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1600:9 Digital Output 2

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1600
SubIndex 9
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1600:10 padding entry (automatically added) 1

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1600
SubIndex 10
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1600:11 Digital Output 3

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1600
SubIndex 11
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1600:12 padding entry (automatically added) 2

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1600
SubIndex 12
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1600:13 Digital Output 4

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1600
SubIndex 13
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1600:14 padding entry (automatically added) 3

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1600
SubIndex 14
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1600:15 User MOSI

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1600
SubIndex 15
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1600:16 Torque offset

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1600
SubIndex 16
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:0 Tx PDO Mapping

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:1 Statusword

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 1
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:2 Op Mode Display

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 2
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:3 Position Value

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 3
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:4 Velocity Value

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 4
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:5 Torque Value

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 5
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:6 Secondary position value

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 6
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:7 Secondary velocity value

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 7
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:8 Analog input 1

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 8
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:9 Analog input 2

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 9
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:10 Analog input 3

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 10
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:11 Analog input 4

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 11
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:12 Tuning status

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 12
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:13 Digital Input 1

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 13
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:14 padding entry (automatically added) 0

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 14
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:15 Digital Input 2

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 15
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:16 padding entry (automatically added) 1

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 16
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:17 Digital Input 3

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 17
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:18 padding entry (automatically added) 2

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 18
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:19 Digital Input 4

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 19
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:20 padding entry (automatically added) 3

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 20
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:21 User MISO

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 21
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1A00:22 Timestamp

Object Content
Object Type DEFSTRUCT_PDO_MAPPING
Index 0x1A00
SubIndex 22
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1C00:0 Sync Manager

Object Content
Object Type OBJECT_TYPE_ARRAY
Index 0x1C00
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1C00:1 SyncMan 0

Object Content
Object Type OBJECT_TYPE_ARRAY
Index 0x1C00
SubIndex 1
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1C00:2 SyncMan 1

Object Content
Object Type OBJECT_TYPE_ARRAY
Index 0x1C00
SubIndex 2
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1C00:3 SyncMan 2

Object Content
Object Type OBJECT_TYPE_ARRAY
Index 0x1C00
SubIndex 3
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1C00:4 SyncMan 3

Object Content
Object Type OBJECT_TYPE_ARRAY
Index 0x1C00
SubIndex 4
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1C10:0 SM 0 Assignment

Object Content
Object Type OBJECT_TYPE_ARRAY
Index 0x1C10
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1C11:0 SM 1 Assignment

Object Content
Object Type OBJECT_TYPE_ARRAY
Index 0x1C11
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1C12:0 SM 2 Assignment

Object Content
Object Type OBJECT_TYPE_ARRAY
Index 0x1C12
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1C12:1 SubIndex 001

Object Content
Object Type OBJECT_TYPE_ARRAY
Index 0x1C12
SubIndex 1
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1C13:0 SM 3 Assignment

Object Content
Object Type OBJECT_TYPE_ARRAY
Index 0x1C13
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x1C13:1 SubIndex 001

Object Content
Object Type OBJECT_TYPE_ARRAY
Index 0x1C13
SubIndex 1
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category optional
PDO Mapping

0x2000:0 Command Object

Commands:

1 - Write configuration parameter to flash; 

2 - Read configuration parameter from flash and store in the object dictionary.

A read of this object returns the state of the current command:

0 - idle (a new command can be written);

1 - command is processing;

2 - command finished successfully;

3 - command finished with error;

if 2 or 3 is read the next read of this object will be 0 (idle)

 

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2000
SubIndex 0
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data 0
Unit
Access readwrite
Category optional (default)
PDO Mapping

0x2001:0 Cogging Compensation

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2001
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2001:1 State

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2001
SubIndex 1
Type INT
Bit Size 16
Deftype DEFTYPE_INTEGER16
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2001:2 Enabled

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2001
SubIndex 2
Type INT
Bit Size 16
Deftype DEFTYPE_INTEGER16
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2002:0 Position control strategy

Selects the control structure used for position control:

1. Simple PID (A position PID controller directly generating the reference value for the torque controller.)

 

image/svg+xml τ_offset τ_ref τ Simple PID

2. Cascaded PID (A position PID controller that generates the reference value for an underlying velocity controller - while that velocity controller generates the reference value for the torque controller)

image/svg+xml τ_offset τ_ref τ Cascaded PID

3. Cascaded PID with velocity-based gain scheduling (based on the cascaded PID controller, this controller automatically varies its gains and integral limits depending on the currently measured velocity)

 

image/svg+xml τ τ_offset τ_ref Cascaded PID with gain scheduling

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2002
SubIndex 0
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data 1
Max Data 3
Default Data 1
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2003:0 Motor Specific Settings

Please refer to your motor's data sheet for the specific values.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2003
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2003:1 Pole Pairs

Without this value, your motor isn't going to function correctly!

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2003
SubIndex 1
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2003:2 Torque Constant

The motor's torque constant is given by the motor design and defines the torque generated by a given current.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2003
SubIndex 2
Type DINT
Bit Size 32
Deftype DEFTYPE_INTEGER32
Min Data
Max Data
Default Data
Unit μNm/A
Access readwrite
Category optional
PDO Mapping

0x2003:3 Phase Resistance

If not available, please keep the default value.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2003
SubIndex 3
Type DINT
Bit Size 32
Deftype DEFTYPE_INTEGER32
Min Data
Max Data
Default Data
Unit μΩ
Access readwrite
Category optional
PDO Mapping

0x2003:4 Phase Inductance

If not available, please keep the default value.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2003
SubIndex 4
Type DINT
Bit Size 32
Deftype DEFTYPE_INTEGER32
Min Data
Max Data
Default Data
Unit μH
Access readwrite
Category optional
PDO Mapping

0x2003:5 Motor phases inverted

Use this parameter only when you have a negative velocity or feedback increment with the positive torque increment.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2003
SubIndex 5
Type BOOL
Bit Size 1
Deftype DEFTYPE_BOOLEAN
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2004:0 Brake Release

This feature allows activating the release of a brake. The brake will be used to fix the gear in a given position, for example for holding up a robot's arm. Since the brake is spring-activated in powered-off mode, it must be pulled out by a solenoid to be released. Therefore an activation voltage must be applied to the solenoid and after a pre-defined time, a holding voltage is applied if the pull-out was successful.

image/svg+xml Brake Release Feature

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2004
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2004:1 Pull brake voltage

Voltage required to release the brake.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2004
SubIndex 1
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit mV
Access readwrite
Category optional
PDO Mapping

0x2004:2 Hold brake voltage

Voltage required to hold the brake in an open state. This voltage may be set lower than the "Pull brake voltage" to reduce losses in the brake. CAUTION! Before setting this parameter, contact your brake manufacturer to ensure reliable function.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2004
SubIndex 2
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit mV
Access readwrite
Category optional
PDO Mapping

0x2004:3 Pull brake time

Time period in which "Pull brake voltage (0x2004:3)" is applied to release the brake.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2004
SubIndex 3
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit ms
Access readwrite
Category optional
PDO Mapping

0x2004:4 Brake release strategy

Brake release strategy (0: Brake inactive, 1: Brake active (normal mode), 2 - 100: Pin Brake Mode - Applies torque to motor in both directions subsequently until the brake pin pulled out successfully. Level can be defined up to 100% of motor rated torque)

image/svg+xmlt s 0 s 2 s 1 Torque rated n / 100 τ s Visualization not to scale BRake Release Strategy

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0x2004:5 Brake release delay

Time period until the break is released after the control voltage is stopped.

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0x2004:6 DC bus voltage

Expected DC bus voltage used as a reference to create the PWM signal for the brake.

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0x2005:0 Recuperation

Configuration parameter for recuperation

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0x2005:1 Recuperation enabled

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0x2005:2 Min battery energy

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0x2005:3 Max battery energy

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0x2005:4 Min recuperation power

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0x2005:5 Max recuperation power

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0x2005:6 Minimum recuperation speed

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0x2005:7 Maximum recuperation speed

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0x2006:0 Protection

CAUTION! Every Drive module has internal over-current, over-voltage, under-voltage and temperature protections to protect itself. If a different set of protection values is needed, this can be set to custom values. Use this feature carefully!

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0x2006:1 Min DC Voltage

Custom value for under-voltage protection.

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0x2006:2 Max DC Voltage

Custom value for over-voltage protection.

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0x2006:3 Max Current

Custom value for over-current protection.

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0x2007:0 Commutation Offset

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0x2007:1 State

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0x2007:2 Measured Offset

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0x2007:3 Percent Complete

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0x2010:0 Torque Controller

Range of all torque controller gains is 0 to 100,000,000

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0x2010:1 Controller Kp

Range of this torque controller gain is 0 to 100,000,000.

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0x2010:2 Controller Ki

Range of this torque controller gain is 0 to 100,000,000.

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0x2010:3 Controller Kd

Range of this torque controller gain is 0 to 100,000,000.

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0x2010:4 Field Weakening Enable

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0x2010:5 Field Weakening Percentage

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0x2010:6 Field Weakening Starting Speed

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0x2010:7 Field Weakening Ending Speed

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0x2010:8 Commutation Angle Measurement Delay

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0x2011:0 Velocity Controller

Velocity PID Tuning (objects 2011:1...2011:4)

IMPORTANT: These values are only used in velocity control mode (not in cascaded position control)

Controller Structure

image/svg+xml τ_offset τ_con τ_ref τ Velocity Control

PID Parameter Range

The constants K_p, K_i, and K_d should be between 0 and 10 with the precision of 6-digit floating point. To find the proper values of PID constants of velocity controller the following steps are recommended:

Recommended Tuning Steps
  • Step 1. Check if all constants K_p, K_i, and K_d are set to 0. After that activate the velocity controller. By default, the integral limit of velocity controller should be set to the maximum torque of selected motor in [mNm].
  • Step 2. Set the reference velocity to 50% of rated motor velocity [rpm].
  • Step 3. Increase K_p until the measured speed is around 70% of the reference speed. As a suggestion start with K_p equal to 0.1, and in each step increase K_p with a factor of 2.
  • Step 4. From this step forth, step response of the system should be checked. Increase K_i step by step to increase the speed of velocity controller (as a suggestion start with K_i equal to 0.01 and in each step increase it by a factor of 2). At this point, the parameters K_p and K_i of the velocity controller are tuned. The parameter K_d of the velocity controller can be kept at its default value (0).
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0x2011:1 Controller Kp

The P-gain of the PID Velocity Control Loop [mNm/rpm].

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0x2011:2 Controller Ki

The I-gain of the PID Velocity Control Loop [mNm/(rpm*s)]

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0x2011:3 Controller Kd

The D-gain of the PID Velocity Control Loop [rpm*s/inc]

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0x2011:4 Controller integral limit

Integrator limitation for anti-windup. Used for preventing the integral term from accumulating above or below pre-determined bounds. Initially set to MAX (2,147,483,647 --> Integral limit DEACTIVATED), please set the maximal values for your integral limit manually.

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0x2012:0 Position Controller

Parameter Tuning Guide for Position Controller with Cascaded Structure

Introduction

The cascaded control structure is the standard position control structure for SOMANET Drives. Its controller gains can be automatically set by the auto-tuning process, the results will be stored in the objects 2012:1 ... 2012:8. If auto-tuning is not applicable or manual modifications are necessary, the gains can be set manually. In the following, a procedure to do so is described. If a simple PID position controller is selected instead of the cascaded PID position controller, its gains are defined by the objects 2012:1 ... 2012:4.

Control Basics

image/svg+xml τ_offset τ_ref τ Cascaded PID

Control Basics

Cascaded controller is usually used in PI-P form, i.e. inner loop (velocity control loop) is only using the proportional part of its PID controller and the outer loop (position controlling loop) is only using its proportional and integral part. The other form is P-PI form, i.e. inner loop is using proportional and integral part and outer loop uses only proportional part. The inner velocity control loop is responsible for calculating the torque reference. As a result the integral limit of the velocity controller should be set to the maximum torque of your torque actuato. Moreover, the outer position control loop is responsible for controlling the reference velocity, and consequently its integral limit should be set to the maximum velocity of your system.

Tuning Concept in Brief

For tuning the cascaded structure, we should first focus on the inner (velocity) loop. As it is the inner controlling loop, it should be faster than the outer position loop. However, if all parameters of the outer position controller are set to 0, the inner loop will be disconnected from the user position commands. As a result, we can increase the K_p of both position and velocity controllers with a ratio of 10 (K_p_velocity` = 10 * K_p_position`). Once the real position started to follow the reference position, we can stop increasing the K_p_position, and only focus on increasing K_p_velocity. At this stage, we can increase (sharpen) the velocity controller as much as possible. As a rule of thumb, increase K_p_velocity until you get close to the instability margin (at this margin, you will feel a vibration effect and some acoustic noise which is caused by controller sharpness). Now, you can reduce K_p_velocity to 90% of its value to increase the stability margin, and remove vibration noise. Once the velocity controller (the inner controlling loop) is tuned, it is time to tune the position controller (the outer controlling loop). To tune the position controller loop, we should start with the P part of its PID controller. Increase K_p_position until the entire position control gets close to instability margin. At this state, you will feel a vibration (or acoustic noise) which is because of too sharpened position control. At this step, reduce K_p_position to its 90% to increase the stability margin and remove the vibration/acoustic noise. So far, the proportional parts of both inner velocity loop and outer position loop are tuned, and we can focus on integrator part of the outer position or inner velocity loop (depends on chosen structure of controller). Increasing the integrator constant will remove the steady state error, but at the same time, it adds some overshoot at step responses. As a rule of thumb, you can increase K_i step by step until the following two conditions are met at the same time:

  • the steady-state error is eliminated in a short enough period of time
  • the overshoot is in its acceptable range

In the following section, the explained tuning concept is divided in separate systematic steps.

Tuning Steps
  • Step 1. Set the PID constants of both controllers equal to 0. By default, the integral limit of the velocity controller should be set to motor maximum torque and the integral limit of position controller should be set to motor maximum velocity. From this step forth, the step response of position controller should always be evaluated.
  • Step 2. In this step, the K_p constant of the velocity controller should be tuned. Increase the K_p of both position and velocity controllers with a ratio of 10 (K_p_velocity = 10 * K_p_position). Once the real position starts to follow the reference position, stop increasing the K_p_position and only focus on increasing the K_p_velocity. Increase (sharpen) the velocity controller as much as possible. As a rule of thumb, increase K_p_velocity until you get close to the instability margin (at this margin, you will feel a vibration effect and some acoustic noise which is because of controller sharpness). Now, you can reduce K_p_velocity to 90% of its value to increase the stability margin, and remove vibration noise.
  • Step 3. Now that the velocity controller is tuned, it is time to tune the parameters of the PID position controller. Start with K_p_position, and increase it until you again get close to the instability margin, and then reduce K_p_position` to its 90%. So far, the proportional parts of both inner velocity loop and outer position loop are tuned.
  • Step 4. In this step, increase K_i to eliminate the steady state error. As a suggestion start with K_i equal to 0.01, and in each step, increase it with a factor of 2. Increase K_i step by step until the following two conditions are met at the same time:
  • the steady-state error is eliminated in a short enough period of time
  • the overshoot is in its acceptable range

Parameter Tuning Guide for Position Controller with simple PID Structure (objects 2012:1...2012:4 only)

The Position Controller with Cascaded Structure is generally preferable over the simple PID controller. Apart from academic purposes there are few reasons to use the simple PID controller.

Control Structure

image/svg+xml τ_offset τ_ref τ Simple PID

Tuning Concept for Simple PID Controller

To tune the position controller loop, we should start with the P part of its PID controller. Increase K_p_position until the entire position control gets close to instability margin. At this state, you will feel a vibration (or acoustic noise) which is because of a position control that has been sharpened too much. At this step, reduce K_p_position to its 90% to increase the stability margin and remove the vibration/acoustic noise. Now increase K_i to eliminate the steady state error. As a suggestion start with K_i equal to 0.01, and in each step, increase it with a factor of 2. Increase K_i step by step until the following two conditions are met at the same time:

  • the steady-state error is eliminated in a short enough period of time
  • the overshoot is in its acceptable range
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0x2012:1 Position Loop Kp

The P-gain of the PID Position Control Loop. The value is given in [rpm/inc] for the cascaded position controller ([mNm/inc] for the simple PID position controller)

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0x2012:2 Position Loop Ki

The I-gain of the PID Position Control Loop. The value is given in [rpm/(inc*s)] for the cascaded position controller ([mNm/(inc*s)] for the simple PID position controller)

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0x2012:3 Position Loop Kd

The D-gain of the Position Control Loop [rpm*s/(inc)] for the cascaded position controller ([mNm*s/(inc)] for the simple PID position controller)

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0x2012:4 Position Loop integral limit

Integrator limitation for anti-windup. Used for preventing the integral term from accumulating above or below pre-determined bounds. Initially set to MAX (2,147,483,647 --> Integral limit DEACTIVATED), please set the maximal values for your integral limit manually.

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0x2012:5 Velocity Loop Kp

The P-gain of the PID Velocity Loop Controller [mNm/rpm]

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0x2012:6 Velocity Loop Ki

The I-gain of the PID Velocity Controller [mNm/(rpm*s)]

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0x2012:7 Velocity Loop Kd

The D-gain of the PID Velocity Loop Controller [mNm*s/rpm]

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0x2012:8 Velocity Loop integral limit

Integrator limitation for anti-windup. Used for preventing the integral term from accumulating above or below pre-determined bounds. Initially set to MAX (2,147,483,647 --> Integral limit DEACTIVATED), a good default is the maximum rated torque entered as motor parameter.

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0x2013:0 Position Controller Gain Scheduling

This feature allows the user to apply controller gains which will change dynamically with respect to the current velocity. This technique can be used within the cascaded position controller to compensate for nonlinear effects, especially stiction/friction in the mechanics. For velocities (in rpm) below a user-defined value, a set of PID values determined best for slow motion is used. Likewise, for velocities (in rpm) above a user-defined value, a set of PID values determined best for fast motion is used. The PID values between these values are interpolated linearly:

 

 

image/svg+xmlKp_0Ki_0 Kd_0 Kp_1Ki_1 Kd_1 ω Visualization not true to scale Low velocitiesHigh velocities Threshold velocity 0Threshold velocity 1

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0x2013:1 Gain Scheduling threshold Velocity 0

Velocity that determines the lower threshold. Underneath this value, controller gains set 0 is used. Beyond it, linear interpolation begins.

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0x2013:2 Position Loop Kp_0

The P-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm/inc]

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0x2013:3 Position Loop Ki_0

The I-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm/(inc*s)]

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0x2013:4 Position Loop Kd_0

The D-gain of the Position Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm*s/inc]

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0x2013:5 Position Loop integral limit 0

Integrator limitation for anti-windup. Used for preventing the integral term from accumulating above or below pre-determined bounds. Initially set to MAX (2,147,483,647 --> Integral limit DEACTIVATED), a good default is the maximum rated torque entered as motor parameter.

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0x2013:6 Velocity Loop Kp_0

The P-gain of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0) [mNm/rpm]

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0x2013:7 Velocity Loop Ki_0

The I-gain of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0) [mNm/(rpm*s)]

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0x2013:8 Velocity Loop Kd_0

The D-gain of the Velocity Control Loop of area 0 (low velocity, below threshold velocity 0) [rpm*s/inc]

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0x2013:9 Velocity Loop integral limit 0

Integrator limitation for anti-windup. Used for preventing the integral term from accumulating above or below pre-determined bounds. Initially set to MAX (2,147,483,647 --> Integral limit DEACTIVATED), a good default is the maximum rated torque entered as motor parameter.

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0x2013:10 Gain Scheduling threshold Velocity 1

Velocity that determines the upper threshold. Above this value, controller gains set 1 is used. Up to this velocity linear interpolation is performed.

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0x2013:11 Position Loop Kp_1

The P-gain of the Position Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm/inc]

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0x2013:12 Position Loop Ki_1

The I-gain of the Position Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm/(inc*s)]

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0x2013:13 Position Loop Kd_1

The D-gain of the Position Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm*s/inc]

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Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2013:14 Position Loop integral limit 1

Integrator limitation for anti-windup. Used for preventing the integral term from accumulating above or below pre-determined bounds. Initially set to MAX (2,147,483,647 --> Integral limit DEACTIVATED), a good default is the maximum rated torque entered as motor parameter.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2013
SubIndex 14
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2013:15 Velocity Loop Kp_1

The P-gain of the Velocity Control Loop of area 1 (high velocity, above threshold velocity 1) [mNm/rpm]

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2013
SubIndex 15
Type REAL
Bit Size 32
Deftype DEFTYPE_REAL32
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2013:16 Velocity Loop Ki_1

The I-gain of the Velocity Control Loop of area 1 (high velocity, above threshold velocity 1) [mNm/(rpm*s)]

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2013
SubIndex 16
Type REAL
Bit Size 32
Deftype DEFTYPE_REAL32
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2013:17 Velocity Loop Kd_1

The D-gain of the Velocity Control Loop of area 1 (high velocity, above threshold velocity 1) [rpm*s/inc]

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2013
SubIndex 17
Type REAL
Bit Size 32
Deftype DEFTYPE_REAL32
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2013:18 Velocity Loop integral limit 1

Integrator limitation for anti-windup. Used for preventing the integral term from accumulating above or below pre-determined bounds. Initially set to MAX (2,147,483,647 --> Integral limit DEACTIVATED), a good default is the maximum rated torque entered as motor parameter.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2013
SubIndex 18
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2100:0 Feedback sensor ports

Links sensor configuration objects to hardware sensor ports.

Object Content
Object Type OBJECT_TYPE_ARRAY
Index 0x2100
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2100:1 Sensor port 1

Stores the index of the object containing sensor configuration.

Object Content
Object Type OBJECT_TYPE_ARRAY
Index 0x2100
SubIndex 1
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2100:2 Sensor port 2

Stores the index of the object containing sensor configuration.

Object Content
Object Type OBJECT_TYPE_ARRAY
Index 0x2100
SubIndex 2
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2100:3 Sensor port 3

Stores the index of the object containing sensor configuration.

Object Content
Object Type OBJECT_TYPE_ARRAY
Index 0x2100
SubIndex 3
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2201:0 BISS Encoder 1

Configuration parameters for first BISS encoder.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2201
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2201:1 Type

For internal purposes only!

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2201
SubIndex 1
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2201:2 Function

Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback and monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A & #0x230B.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2201
SubIndex 2
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2201:3 Resolution

For Absolute n-bit Binary Sensor: Resolution = 2^n

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2201
SubIndex 3
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit Inc/Revolution
Access readwrite
Category mandatory
PDO Mapping

0x2201:4 Velocity calculation period

The time period between two position samples. This value is used to calculate the velocity.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2201
SubIndex 4
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit μs
Access readwrite
Category mandatory
PDO Mapping

0x2201:5 Polarity

Altering the default values is recommended for expert users only!

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2201
SubIndex 5
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2201:6 Multiturn resolution

Total number of revolutions that are counted by the encoder.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2201
SubIndex 6
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2201:7 Clock frequency

Please refer to your encoder data sheet for the specific values.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2201
SubIndex 7
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit kHz
Access readwrite
Category mandatory
PDO Mapping

0x2201:8 Timeout

Please refer to your encoder data sheet for the specific values.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2201
SubIndex 8
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit μs
Access readwrite
Category mandatory
PDO Mapping

0x2201:9 CRC polynom

Please refer to your encoder data sheet for the specific values.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2201
SubIndex 9
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2201:10 Clock port config

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2201
SubIndex 10
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2201:11 Data port config

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2201
SubIndex 11
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2201:12 Number of filling bits

Please refer to your encoder data sheet for the specific values.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2201
SubIndex 12
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2201:13 Number of bits to read while busy

Please refer to your encoder data sheet for the specific values.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2201
SubIndex 13
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2202:0 BISS Encoder 2

Configuration parameters for second BISS encoder.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2202:1 Type

For internal purposes only!

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 1
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2202:2 Function

Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback and monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A & #0x230B.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 2
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2202:3 Resolution

For Absolute n-bit Binary Sensor: Resolution = 2^n

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 3
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit Inc/Revolution
Access readwrite
Category mandatory
PDO Mapping

0x2202:4 Velocity calculation period

The time period between two position samples. This value is used to calculate the velocity.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 4
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit μs
Access readwrite
Category mandatory
PDO Mapping

0x2202:5 Polarity

Altering the default values is recommended for expert users only!

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 5
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2202:6 Multiturn resolution

Total number of revolutions that are counted by the encoder.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 6
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2202:7 Clock frequency

Please refer to your encoder data sheet for the specific values.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 7
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit kHz
Access readwrite
Category mandatory
PDO Mapping

0x2202:8 Timeout

Please refer to your encoder data sheet for the specific values.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 8
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit μs
Access readwrite
Category mandatory
PDO Mapping

0x2202:9 CRC polynom

Please refer to your encoder data sheet for the specific values.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 9
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2202:10 Clock port config

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 10
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2202:11 Data port config

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 11
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2202:12 Number of filling bits

Please refer to your encoder data sheet for the specific values.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 12
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2202:13 Number of bits to read while busy

Please refer to your encoder data sheet for the specific values.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 13
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2203:0 REM 16MT Encoder

Configuration parameter for REM 16MT encoder

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2203
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2203:1 Type

For internal purposes only!

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2203
SubIndex 1
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2203:2 Function

Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback and monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A & #0x230B.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2203
SubIndex 2
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2203:3 Resolution

65,536 is the total number of Increments (Positions) per Revolution for the REM 16MT encoder

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2203
SubIndex 3
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit Inc/Revolution
Access readwrite
Category optional
PDO Mapping

0x2203:4 Velocity calculation period

The time period between two position samples. This value is used to calculate the velocity.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2203
SubIndex 4
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit μs
Access readwrite
Category optional
PDO Mapping

0x2203:5 Polarity

Altering the default values is recommended for expert users only!

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2203
SubIndex 5
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2203:6 Filter

The filter with strength F of the sensor. The estimated step response time of the filter is Ts*2^F (Ts is the sampling time, ca. 70µs).

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2203
SubIndex 6
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2204:0 REM 14 Encoder

Configuration parameter for REM 14 encoder

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2204
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2204:1 Type

For internal purposes only!

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2204
SubIndex 1
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2204:2 Function

Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback and monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A & #0x230B.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2204
SubIndex 2
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2204:3 Resolution

16,384 is the total number of Increments (Positions) per Revolution for the REM 14 encoder.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2204
SubIndex 3
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit Inc/Revolution
Access readwrite
Category optional
PDO Mapping

0x2204:4 Velocity calculation period

The time period between two position samples. This value is used to calculate the velocity.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2204
SubIndex 4
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit μs
Access readwrite
Category optional
PDO Mapping

0x2204:5 Polarity

Altering the default values is recommended for expert users only!

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2204
SubIndex 5
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2204:6 Hysteresis

Only affects the optional ABI interface. See AMS AS5047D Datasheet for more information.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2204
SubIndex 6
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2204:7 Noise settings

Allows enabling reduced noise settings.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2204
SubIndex 7
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2204:8 Dynamic angle error compensation

Enables (Default) or disables dynamic angle error compensation.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2204
SubIndex 8
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2204:9 Resolution settings

Only affects the optional ABI interface.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2204
SubIndex 9
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2205:0 Incremental Encoder 1

Configuration parameter for first incremental encoder

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2205
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2205:1 Type

For internal purposes only!

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2205
SubIndex 1
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2205:2 Function

Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback and monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A & #0x230B.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2205
SubIndex 2
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2205:3 Resolution

Total number of quadrature counts.

Resolution = Lines per Revolution * 4

Note:

Pulses = Lines = Cycles

Positions = Counts = Increments = 4 * Pulses

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2205
SubIndex 3
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit Inc/Revolution
Access readwrite
Category mandatory
PDO Mapping

0x2205:4 Velocity calculation period

The time period between two position samples. This value is used to calculate the velocity.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2205
SubIndex 4
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit μs
Access readwrite
Category mandatory
PDO Mapping

0x2205:5 Polarity

Altering the default values is recommended for expert users only!

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2205
SubIndex 5
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2205:6 Number of channels

Can be set as two-channels (without index) or three-channels (with index)

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2205
SubIndex 6
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2205:7 Access signal type

Differential (RS422) or Single-ended (TTL).

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2205
SubIndex 7
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2206:0 Incremental Encoder 2

Configuration parameter for second incremental encoder

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2206
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2206:1 Type

For internal purposes only!

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2206
SubIndex 1
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2206:2 Function

Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback and monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A & #0x230B.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2206
SubIndex 2
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2206:3 Resolution

Total number of quadrature counts.

Resolution = Lines per Revolution * 4

Note:

Pulses = Lines = Cycles

Positions = Counts = Increments = 4 * Pulses

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2206
SubIndex 3
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit Inc/Revolution
Access readwrite
Category mandatory
PDO Mapping

0x2206:4 Velocity calculation period

The time period between two position samples. This value is used to calculate the velocity.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2206
SubIndex 4
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit μs
Access readwrite
Category mandatory
PDO Mapping

0x2206:5 Polarity

Altering the default values is recommended for expert users only!

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2206
SubIndex 5
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2206:6 Number of channels

Can be set as two-channels (without index) or three-channels (with index).

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2206
SubIndex 6
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2206:7 Access signal type

Differential (RS422) or Single-ended (TTL).

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2206
SubIndex 7
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2207:0 HALL Sensor 1

Configuration parameter for first HALL sensor.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2207
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2207:1 Type

For internal purposes only!

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2207
SubIndex 1
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2207:2 Function

Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback and monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A & #0x230B.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2207
SubIndex 2
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2207:3 Resolution

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2207
SubIndex 3
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit Inc/Revolution
Access readonly (default)
Category mandatory
PDO Mapping

0x2207:4 Velocity calculation period

The time period between two position samples. This value is used to calculate the velocity.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2207
SubIndex 4
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit μs
Access readwrite
Category mandatory
PDO Mapping

0x2207:5 Polarity

Altering the default values is recommended for expert users only!

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2207
SubIndex 5
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2207:6 State angle 0

Optional: only necessary when your hall sensors aren't precisely mounted, and without the ability to adjust them mechanically.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2207
SubIndex 6
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2207:7 State angle 1

Optional: only necessary when your hall sensors aren't precisely mounted, and without the ability to adjust them mechanically.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2207
SubIndex 7
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2207:8 State angle 2

Optional: only necessary when your hall sensors aren't precisely mounted, and without the ability to adjust them mechanically.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2207
SubIndex 8
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2207:9 State angle 3

Optional: only necessary when your hall sensors aren't precisely mounted, and without the ability to adjust them mechanically.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2207
SubIndex 9
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2207:10 State angle 4

Optional: only necessary when your hall sensors aren't precisely mounted, and without the ability to adjust them mechanically.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2207
SubIndex 10
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2207:11 State angle 5

Optional: only necessary when your hall sensors aren't precisely mounted, and without the ability to adjust them mechanically.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2207
SubIndex 11
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2208:0 HALL Sensor 2

Configuration parameter for second HALL sensor.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2208
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2208:1 Type

For internal purposes only!

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2208
SubIndex 1
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2208:2 Function

Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback and monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A & #0x230B.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2208
SubIndex 2
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2208:3 Resolution

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2208
SubIndex 3
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit Inc/Revolution
Access readonly (default)
Category mandatory
PDO Mapping

0x2208:4 Velocity calculation period

The time period between two position samples. This value is used to calculate the velocity.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2208
SubIndex 4
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit μs
Access readwrite
Category mandatory
PDO Mapping

0x2208:5 Polarity

Altering the default values is recommended for expert users only!

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2208
SubIndex 5
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2208:6 State angle 0

Optional: only necessary when your hall sensors aren't precisely mounted, and without the ability to adjust them mechanically.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2208
SubIndex 6
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2208:7 State angle 1

Optional: only necessary when your hall sensors aren't precisely mounted, and without the ability to adjust them mechanically.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2208
SubIndex 7
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2208:8 State angle 2

Optional: only necessary when your hall sensors aren't precisely mounted, and without the ability to adjust them mechanically.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2208
SubIndex 8
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2208:9 State angle 3

Optional: only necessary when your hall sensors aren't precisely mounted, and without the ability to adjust them mechanically.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2208
SubIndex 9
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2208:10 State angle 4

Optional: only necessary when your hall sensors aren't precisely mounted, and without the ability to adjust them mechanically.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2208
SubIndex 10
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2208:11 State angle 5

Optional: only necessary when your hall sensors aren't precisely mounted, and without the ability to adjust them mechanically.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2208
SubIndex 11
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2210:0 GPIO

Configurable General Purpose Input Output with 1kHz update rate.

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2210
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2210:1 Pin 1

This Pin can be set to the following:

- Disabled

- Input (without pull-down)

- Input active high (pull-down resistor activated)

- Output

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2210
SubIndex 1
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2210:2 Pin 2

This Pin can be set to the following:

- Disabled

- Input (without pull-down)

- Input active high (pull-down resistor activated)

- Output

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2210
SubIndex 2
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2210:3 Pin 3

This Pin can be set to the following:

- Disabled

- Input (without pull-down)

- Input active high (pull-down resistor activated) 

- Output

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2210
SubIndex 3
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2210:4 Pin 4

This Pin can be set to the following:

- Disabled

- Input (without pull-down)

- Input active high (pull-down resistor activated)

- Output

Object Content
Object Type OBJECT_TYPE_RECORD
Index 0x2210
SubIndex 4
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x230A:0 Secondary position value

Position value of encoder configured to function "Feedback display only".

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x230A
SubIndex 0
Type DINT
Bit Size 32
Deftype DEFTYPE_INTEGER32
Min Data
Max Data
Default Data 0
Unit
Access readonly (default)
Category optional (default)
PDO Mapping Transmit PDO (Inputs)

0x230B:0 Secondary velocity value

Calculated velocity value of encoder configured to function "Feedback display only".

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x230B
SubIndex 0
Type DINT
Bit Size 32
Deftype DEFTYPE_INTEGER32
Min Data
Max Data
Default Data 0
Unit rpm
Access readonly (default)
Category optional (default)
PDO Mapping Transmit PDO (Inputs)

0x2401:0 Analog input 1

Analog Input value of SOMANET Drive if available.

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2401
SubIndex 0
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data 0
Unit
Access readonly (default)
Category optional (default)
PDO Mapping Transmit PDO (Inputs)

0x2402:0 Analog input 2

Analog Input value of SOMANET Drive if available.

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2402
SubIndex 0
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data 0
Unit
Access readonly (default)
Category optional (default)
PDO Mapping Transmit PDO (Inputs)

0x2403:0 Analog input 3

Analog Input value of SOMANET Drive if available.

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2403
SubIndex 0
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data 0
Unit
Access readonly (default)
Category optional (default)
PDO Mapping Transmit PDO (Inputs)

0x2404:0 Analog input 4

Analog Input value of SOMANET Drive if available.

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2404
SubIndex 0
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data
Max Data
Default Data 0
Unit
Access readonly (default)
Category optional (default)
PDO Mapping Transmit PDO (Inputs)

0x2501:0 Digital Input 1

Status of Digital IO of SOMANET Drive. Only available if is not used otherwise, e.g. for SPI.

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2501
SubIndex 0
Type BOOL
Bit Size 1
Deftype DEFTYPE_BOOLEAN
Min Data 0
Max Data 1
Default Data 0
Unit
Access readonly (default)
Category optional (default)
PDO Mapping Transmit PDO (Inputs)

0x2502:0 Digital Input 2

Status of Digital IO of SOMANET Drive. Only available if is not used otherwise, e.g. for SPI.

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2502
SubIndex 0
Type BOOL
Bit Size 1
Deftype DEFTYPE_BOOLEAN
Min Data 0
Max Data 1
Default Data 0
Unit
Access readonly (default)
Category optional (default)
PDO Mapping Transmit PDO (Inputs)

0x2503:0 Digital Input 3

Status of Digital IO of SOMANET Drive. Only available if is not used otherwise, e.g. for SPI.

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2503
SubIndex 0
Type BOOL
Bit Size 1
Deftype DEFTYPE_BOOLEAN
Min Data 0
Max Data 1
Default Data 0
Unit
Access readonly (default)
Category optional (default)
PDO Mapping Transmit PDO (Inputs)

0x2504:0 Digital Input 4

Status of Digital IO of SOMANET Drive. Only available if is not used otherwise, e.g. for SPI.

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2504
SubIndex 0
Type BOOL
Bit Size 1
Deftype DEFTYPE_BOOLEAN
Min Data
Max Data
Default Data 0
Unit
Access readonly (default)
Category optional (default)
PDO Mapping Transmit PDO (Inputs)

0x2601:0 Digital Output 1

Command value for Digital IO of SOMANET Drive. Only available if not used otherwise, e.g. for SPI.

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2601
SubIndex 0
Type BOOL
Bit Size 1
Deftype DEFTYPE_BOOLEAN
Min Data 0
Max Data 1
Default Data 0
Unit
Access readwrite
Category optional (default)
PDO Mapping Receive PDO (Outputs)

0x2602:0 Digital Output 2

Command value for Digital IO of SOMANET Drive. Only available if not used otherwise, e.g. for SPI.

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2602
SubIndex 0
Type BOOL
Bit Size 1
Deftype DEFTYPE_BOOLEAN
Min Data 0
Max Data 1
Default Data 0
Unit
Access readwrite
Category optional (default)
PDO Mapping Receive PDO (Outputs)

0x2603:0 Digital Output 3

Command value for Digital IO of SOMANET Drive. Only available if not used otherwise, e.g. for SPI.

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2603
SubIndex 0
Type BOOL
Bit Size 1
Deftype DEFTYPE_BOOLEAN
Min Data 0
Max Data 1
Default Data 0
Unit
Access readwrite
Category optional (default)
PDO Mapping Receive PDO (Outputs)

0x2604:0 Digital Output 4

Command value for Digital IO of SOMANET Drive. Only available if not used otherwise, e.g. for SPI.

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2604
SubIndex 0
Type BOOL
Bit Size 1
Deftype DEFTYPE_BOOLEAN
Min Data 0
Max Data 1
Default Data 0
Unit
Access readwrite
Category optional (default)
PDO Mapping Receive PDO (Outputs)

0x2A00:0 Applied tuning torque percent

Defines the amount of torque to be applied during the offset detection process. Specify this value in percent of rated torque.

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2A00
SubIndex 0
Type INT
Bit Size 16
Deftype DEFTYPE_INTEGER16
Min Data 0
Max Data 100
Default Data 60
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2A01:0 Tuning command

This object is used in tuning mode to specify the parameter that is configured. Altering the default values is recommended for expert users only!

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2A01
SubIndex 0
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data 0
Unit
Access readwrite
Category mandatory
PDO Mapping Receive PDO (Outputs)

0x2A03:0 Tuning status

For internal purposes only!

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2A03
SubIndex 0
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data 0
Unit
Access readwrite
Category mandatory
PDO Mapping Transmit PDO (Inputs)

0x2D00:0 Assigned Name

Lets the user assign a unique name. This is not used by the firmware, but stored in config.csv

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2D00
SubIndex 0
Type STRING(50)
Bit Size 400
Deftype DEFTYPE_VISIBLE_STRING
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional (default)
PDO Mapping

0x2D01:0 Setup Wizard Completed

For internal purposes only!

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2D01
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data 0
Max Data 3
Default Data 0
Unit
Access readwrite
Category optional (default)
PDO Mapping

0x2D02:0 Real Time Clock

Set device Real Time Clock value. A write sets the new time value of the Real Time Clock.

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2D02
SubIndex 0
Type TIME_OF_DAY
Bit Size 48
Deftype DEFTYPE_TIME_OF_DAY
Min Data
Max Data
Default Data 0
Unit
Access writeonly
Category optional (default)
PDO Mapping

0x2FFD:0 Timestamp

Position signal measurement timestamp. Unsigned 32bit integer, resets after 4,294,967,295 (2^32 - 1) µs.

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2FFD
SubIndex 0
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data 0
Max Data 4294967295
Default Data 0
Unit μs
Access readonly (default)
Category optional (default)
PDO Mapping Transmit PDO (Inputs)

0x2FFE:0 User MOSI

Reserved for SDK users.

Object Content
Object Type OBJECT_TYPE_VAR
Index 0x2FFE
SubIndex 0
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data 0
Unit
Access readwrite
Category optional (default)
PDO Mapping Receive PDO (Outputs)

0x2FFF:0 User MISO

Reserved for SDK users.