• Software
    • 3.0
    • 4.0
    • 4.1
  • Hardware
  • Q&A
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  • Software
    • 3.0
    • 4.0
    • 4.1
  • Hardware
  • Q&A
  1. Documentation
  2. SOMANET Software 4.0
  3. Software Manual - SOMANET Servo Node EtherCAT
  4. CiA 402 Object Dictionary
  5. Communication Area
  • Hardware
    • Servo Nodes
      • SOMANET Servo Node 400/1000 EtherCAT
        • Contents of your Evaluation Kit
        • Attaching the cables
        • Powering up the Servo Drive
        • Additional Resources
    • Core (Processor Modules)
      • SOMANET Core C2X A3/4
        • Overview
        • Technical Specs
          • General Specifications
          • Absolute Maximum Ratings
        • Connectors
        • IF1 Board to Board Connector
        • IF2 Board to Board Connector
        • Power Supply
        • Programming the Board
        • Geometry & Dimensions
        • Revisions
      • SOMANET Core C2X A5
        • Overview
        • Technical Specs
          • General Specifications
          • Absolute Maximum Ratings
        • Connectors
        • IF1 Board to Board Connector
        • IF2 Board to Board Connector
        • Programming the Board
        • Geometry & Dimensions
        • Revisions
    • Com (Communication Modules)
      • SOMANET Com EtherCAT
        • SOMANET Com EtherCAT A.4
          • Overview
          • Technical Specs
            • General Specifications
            • Absolute Maximum Ratings
          • Connectors
            • EtherCAT 1
            • EtherCAT 2
          • Ports Definition
          • Geometry & Dimensions
          • Revisions
        • SOMANET Com EtherCAT B.1
          • Overview
          • Technical Specs
            • General Specifications
            • Absolute Maximum Ratings
          • Connectors
            • EtherCAT IN Port
            • EtherCAT OUT Port
          • Ports Definition
          • Geometry & Dimensions
          • Revisions
    • Drive & IO
      • SOMANET Drive 400 and Drive 1000
        • SOMANET Drive 1000 C.4
          • Overview
            • Hardware Diagram
          • Technical Specs
          • Connectors
            • Power Terminal
            • Encoder Port 1
            • Encoder Port 2
            • Encoder Port 3 / Digital IO
            • Analog IN
          • Connector types and mating parts numbers
          • On-board Chopper
          • Wiring and Grounding the Board
          • Connecting a Brake
          • Geometry & Dimensions
          • Revisions
        • SOMANET Drive 400 D.4 and Drive 1000 D.3/D.4
          • Overview
            • Hardware Diagram
          • Technical Specs
          • Connectors
            • Power Terminal
            • Encoder Port 1
            • Encoder Port 2
            • Encoder Port 3 / Digital IO
            • Analog IN
          • Wiring and Grounding the Board
          • Connecting a Brake
          • Connector types and mating parts numbers
          • Warning about usage of contactors behind the power supply
          • Geometry & Dimensions
          • Revisions
    • Accessories
      • SOMANET Proto Board
        • SOMANET IO Proto Board IF1
          • Overview
          • Technical Specs
            • General Specifications
          • Port Mapping
            • SOMANET Core C2X
            • SOMANET Core C4X
          • Geometry & Dimensions
          • Revisions
        • SOMANET IO Proto Board IF2
          • Overview
          • Technical Specs
            • General Specifications
          • Port Mapping
          • Power Supply
          • Geometry & Dimensions
          • Revisions
      • SOMANET Sense REM 16 MT
        • Overview
        • Technical Specification
        • Electrical installation
          • SPI connectors
        • Mechanical assembling manual
          • Mounting Scheme
          • Mechanical Dimensions
        • Readout Mode
          • Timing Diagram
          • Data Format
        • Configuration Mode
          • Timing Diagram
          • Data Format
          • Configuration Commands
      • SOMANET Braking Chopper 48V 500W
        • 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
    • Legacy Products
      • SOMANET Drive 100
        • Overview
          • Block Diagram
        • Technical Specs
          • General Specifications
          • Absolute Maximum Ratings
        • Connectors
        • Ports Definition
        • Power Supply
        • Heat Dissipation
        • Geometry & Dimensions
      • SOMANET Drive 300
        • Overview
          • Block Diagram
        • Technical Specs
          • General Specifications
          • Absolute Maximum Ratings
        • Connectors
        • Ports Definition
        • Power Supply
        • Heat Disipation
        • Geometry & Dimensions
        • Revisions
      • SOMANET Com Ethernet
        • Overview
        • Technical Specs
          • General Specifications
          • Absolute Maximum Ratings
        • Connectors
          • Ethernet 1
          • Ethernet 2
        • Ports Definition
        • Revisions
      • SOMANET Com Serial
        • Overview
          • Block Diagram
        • Technical Specs
          • General Specifications
          • Absolute Maximum Ratings
        • CAN Interface
        • RS-485 Interface
        • LIN Interface
        • Geometry & Dimensions
        • Revisions
      • SOMANET Core C22
        • Overview
          • Block Diagram
        • Technical Specs
          • General Specifications
          • Absolute Maximum Ratings
        • Connectors
          • FLASH SPI Pads
          • Auxiliar Power Connector
        • Ports Definition
        • Power Supply
        • Programming the Board
          • xSCOPE
        • Geometry & Dimensions
        • Revisions
      • SOMANET Core C21 DX
        • Overview
        • Technical Specs
          • General Specifications
          • Absolute Maximum Ratings
        • Connectors
          • DX connector
          • Auxiliar Power Connector
        • Ports Definition
        • Power Supply
        • Programming the Board
        • Revisions
  • SOMANET Software 4.0
    • SOMANET Applications
      • Software Manual - SOMANET Servo Node EtherCAT
        • Functional Overview
          • Functionality description
        • CANopen over EtherCAT (CoE)
          • PDO
          • SDO
        • Actuator Configuration
          • Motor Configuration
            • Motor Control Objects
          • Brake
            • Brake Parameter Object
        • Sensor Configuration
          • Sensor Objects
          • Description of commonly used specifications
            • Function
            • Resolution
            • Velocity calculation period
            • Polarity
            • Multiturn resolution
        • Motion Control via CoE
          • Drive State Machine (CiA 402)
          • Modes of Operation
            • Cyclic Synchronous Torque Control (CST)
            • Cyclic Synchronous Velocity Control (CSV)
            • Cyclic Synchronous Position Control (CSP)
            • Switching modes
          • Extended Control Functionalities
            • Cogging Compensation
            • Dynamic Offset Torque for Feedforward Control
            • Field Weakening
            • Anti-Windup Control
        • Errors and Warnings
          • Supported error codes from the CiA402 Standard
          • Manufacturer Specific error codes
        • Object Dictionary
          • All Objects
            • 0x1000
            • 0x1001
            • 0x1008
            • 0x100A
            • 0x1010
            • 0x1011
            • 0x1018
            • 0x1600
            • 0x1A00
            • 0x1C00
            • 0x1C10
            • 0x1C11
            • 0x1C12
            • 0x1C13
            • 0x2000
            • 0x2001
            • 0x2002
            • 0x2003
            • 0x2004
            • 0x2005
            • 0x2006
            • 0x2008
            • 0x2009
            • 0x2010
            • 0x2011
            • 0x2012
            • 0x2012
            • 0x20F0
            • 0x20F1
            • 0x20F2
            • 0x2100
            • 0x2201
            • 0x2202
            • 0x2203
            • 0x2204
            • 0x2205
            • 0x2206
            • 0x2207
            • 0x2208
            • 0x2210
            • 0x230A
            • 0x230B
            • 0x2401
            • 0x2402
            • 0x2403
            • 0x2404
            • 0x2501
            • 0x2502
            • 0x2503
            • 0x2504
            • 0x2601
            • 0x2602
            • 0x2603
            • 0x2604
            • 0x2701
            • 0x2702
            • 0x2703
            • 0x2704
            • 0x2705
            • 0x603F
            • 0x6040
            • 0x6041
            • 0x6060
            • 0x6061
            • 0x6064
            • 0x606C
            • 0x6071
            • 0x6072
            • 0x6073
            • 0x6075
            • 0x6076
            • 0x6077
            • 0x6079
            • 0x607A
            • 0x607B
            • 0x607C
            • 0x607D
            • 0x607E
            • 0x607F
            • 0x6080
            • 0x6081
            • 0x6083
            • 0x6084
            • 0x6085
            • 0x6086
            • 0x60B2
            • 0x60C5
            • 0x60FF
            • 0x6502
          • Communication Area
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
          • Manufacturer Specific Area
          • Profile Specific Area
        • Process Data Objects
          • TxPDO: Inputs
          • RxPDO: Outputs
        • Device Information
    • SOMANET SDK
      • Migration to v4
        • Upgrading from v3.2
        • Upgrading from v3.0
      • SOMANET Base
        • Modules
          • Board Support Module
            • How to use
            • Content
          • COM Recognition Module
            • API
          • Locks Module
            • Hardware lock API
            • Software lock API
          • Reboot Module
            • How to use
            • API
          • Flash Service Module
            • API
          • SPI Flash File System Module
            • How to use
            • API
        • Examples
          • XScope Test
            • Hardware setup
            • Quick how-to
          • COM-detect Test
      • EtherCAT
        • Hardware Compatibility
        • Modules
          • EtherCAT Slave Library
            • How to Use
            • API
        • Examples
        • Dependencies
      • Ethernet
        • Hardware Compatibility
        • Modules
        • Examples
          • Ping demo
            • Quick How-to
          • Loopback demo
            • Quick How-to
          • Ethernet hub demo
            • Quick How-to
        • Dependencies
      • Motion Control
        • Hardware Compatibility
        • Modules
          • PWM Module
            • How to use
            • API
          • Position Feedback Module
            • How to use
            • API
          • Hall Sensor Feedback Module
            • How to use
            • API
          • Incremental Encoder Feedback Module
            • How to use
            • API
          • BiSS / SSI Encoder Feedback Module
            • How to use
            • API
          • REM 14 Module
            • How to use
            • API
          • REM 16MT Module
            • How to use
            • API
          • Serial Encoder Module
            • How to use
            • API
          • SPI Master Module
            • How to use
            • API
          • ADC Module
            • How to use
            • API
          • Watchdog Module
            • How to use
            • API
          • GPIO Server Module
            • How to use
            • API
          • Miscellaneous Module
            • How to use
            • API
          • Controllers Implementation Module
            • How to use
            • API
          • Profile Module
            • How to use
            • API
          • Motion Control Module
            • How to use
            • API
            • Cogging Torque Feature
          • Shared Memory Module
            • How to use
            • API
        • Examples
          • PWM Demo
            • Quick How-to
          • Hall Sensor Test
            • Quick How-to
          • Incremental Encoder Test
            • Quick How-to
          • BiSS Absolute Encoder Test
            • Quick How-to
          • SSI Encoder Test
            • Quick How-to
          • REM 14 Absolute Encoder Test
            • Quick How-to
          • REM 16MT Absolute Encoder Test
            • Quick How-to
          • Position Feedback Service Test
            • Quick How-to
          • BLDC Control Tuning Demo
            • Console commands
            • XScope display
            • Quick How-to
          • BLDC Motion Control Demo
            • Introduction
            • Quick How-to
        • Motor Control Quick Guides
          • Motion Control Library configuration
        • Dependencies
      • Network Drive
        • Hardware Compatibility
        • Modules
          • Drive Module
            • How to use
            • API
          • Canopen Interface Service
            • How to use CANopen Interface Service
            • Implementation Notes
            • API
        • Examples
          • Cyclic Position/Velocity/Torque Control Demo
            • Hardware setup
            • Build the application
            • Run the application
            • Commands
            • Examine the code
          • Special Tuning Mode Application
            • Hardware setup
            • Build the application
            • Commands
            • Run the application
            • Examine the code
          • SDO Handling Demo Slave
            • Quick How-to
          • SDO Handling Demo Master
            • Prerequisites
            • Usage
        • Dependencies
  • Assembling your SOMANET hardware
    • What do I need?
    • Assembling
  • Getting started with IgH EtherCAT® Master for Linux
    • Installing IgH EtherCAT master
      • Installing EtherCAT Master driver
      • Starting and stopping the driver
    • Firmware update via FoE
      • Preparing an upgrade binary image
      • Deploying your update image
    • SII/EEPROM Update
    • Siitool
      • Overview
        • Key Features
      • How to use it
        • Examples
          • sii_example.bin
          • Somanet_CiA402-multi.xml
          • Somanet_CiA402-single.xml
          • Somanet_CtrlProto.xml
  • Getting started with SOMANET SDK
    • Downloading the SOMANET SDK
    • Importing a SOMANET SDK Libraries into xTIMEcomposer
    • Building an application on xTIMEcomposer (recomended)
    • Building an application from linux terminal (optional alternative)
    • Generating binary files from xTIMEcomposer (recomended)
    • Generating binary files from a terminal (optional alternative)
  • Getting started with XMOS development tools
    • Installing Java SE Runtime Environment
    • Installing XMOS xTIMEcomposer
  • Developing motion applications with C++ and IgH EttherCAT master on Linux
    • Requirements
  • Guideline for mounting Servo Nodes
  • Programming your SOMANET
    • Running an application from xTIMEcomposer
    • Running an application from the Command-Line Tools
    • Flashing a node from the xTIMEcomposer
    • Flashing a node from the Command-Line Tools
    • Flashing a node using EtherCAT
  • 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
  • OBLAC Drives
    • OBLAC Drives Box
      • Connectors
      • Installation
      • Connect to the GUI
      • Accessing the internet
    • OBLAC Drives VM
      • System Requirements
      • Getting started
      • Connecting to OBLAC Drives
      • Shutting down the Virtual Machine
      • Troubleshooting
    • Set up your drive system
    • Tune your Drives
      • Auto-Tuning
        • System Identification
          • Prerequisites
          • Limitations
          • How to use
          • F.A.Q.
        • Position Auto-tuning
          • Prerequisites
          • Limitations
          • How to use
          • F.A.Q.
        • Velocity Auto-tuning
          • Prerequisites
          • Limitations
          • How to use
          • 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
    • Tutorial: Motion Control System
      • Prerequisites
      • Rotate your motor at a defined torque
      • Rotate your motor to defined positions
    • OBLAC Drives Update Service
    • Troubleshooting
      • Setup Issues
      • Memory Warning
      • Runtime Issues
      • Other Issues
  • Resources

Communication Area¶

Index Name
0x1000 Device Type
0x1001 Error Register
0x1008 Manufacturer Device Name
0x100A Manufacturer Software Version
0x1010 Store parameters
0x1010:1 save all parameters
0x1011 Restore default parameters
0x1011:1 restore all default parameters
0x1018 Identity
0x1018:1 Vendor ID
0x1018:2 Product Code
0x1018:3 Revision
0x1018:4 Serialnumber
0x1600 Rx PDO Mapping
0x1600:1 Controlword
0x1600:2 Op Mode
0x1600:3 Target Torque
0x1600:4 Target Position
0x1600:5 Target Velocity
0x1600:6 Torque offset
0x1600:7 Tuning command
0x1600:8 Digital Output 1
0x1600:10 Digital Output 2
0x1600:12 Digital Output 3
0x1600:14 Digital Output 4
0x1600:16 User MOSI
0x1A00 Tx PDO Mapping
0x1A00:1 Statusword
0x1A00:2 Op Mode Display
0x1A00:3 Position Value
0x1A00:4 Velocity Value
0x1A00:5 Torque Value
0x1A00:6 Secondary position value
0x1A00:7 Secondary velocity value
0x1A00:8 Analog input 1
0x1A00:9 Analog input 2
0x1A00:10 Analog input 3
0x1A00:11 Analog input 4
0x1A00:12 Tuning status
0x1A00:13 Digital Input 1
0x1A00:15 Digital Input 2
0x1A00:17 Digital Input 3
0x1A00:19 Digital Input 4
0x1A00:21 User MISO
0x1A00:22 Timestamp
0x1C00 Sync Manager
0x1C00:1 SyncMan 0
0x1C00:2 SyncMan 1
0x1C00:3 SyncMan 2
0x1C00:4 SyncMan 3
0x1C10 SM 0 Assignment
0x1C11 SM 1 Assignment
0x1C12 SM 2 Assignment
0x1C12:1 SubIndex 001
0x1C13 SM 3 Assignment
0x1C13:1 SubIndex 001

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
420 Chun Dong Lu
Shanghai 201108
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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Version: 1.2.0 | Build: 2019-01-24