• Hardware Manuals
    • SOMANET Circulo
    • SOMANET Node
    • SOMANET Accessories
  • Commissioning and Tuning Guide
  • Software Reference
    • v4.4
    • v4.2
    • v4.1
    • v4.0
  • Resources
    • System integration guidelines
    • Tutorials
    • About this documentation
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  • Hardware Manuals
    • SOMANET Circulo
    • SOMANET Node
    • SOMANET Accessories
  • Commissioning and Tuning Guide
  • Software Reference
    • v4.4
    • v4.2
    • v4.1
    • v4.0
  • Resources
    • System integration guidelines
    • Tutorials
    • About this documentation
  1. Documentation
  2. Software Reference
  3. Software Reference Manual v4.2
  4. CiA 402 Object Dictionary
  5. Process Data Objects
  6. Standard TxPDO mapped Objects
  • Hardware Manuals
    • Handling instructions
      • Electrostatic sensitive devices
      • Magnetic sensitive devices
    • SOMANET Circulo
      • Technical specifications
        • Power Specification
        • General Specification
        • Optional Integrated Encoders
          • Accuracy and repeatability of the integrated encoders
            • Functions
            • Magnetic data
        • Optional Integrated Brake
        • Ordering information
        • Downloads
      • Installation Guide
        • Wiring instructions
          • Power supply, phases and brake
            • Power Terminal and Motor phases
              • Warning about using contactors behind the power supply
            • Connecting a brake
          • Encoders and IO
            • Encoder overview
            • Analog Input
              • Analog input specification
              • Analog input resistance
            • Encoder ports
              • Encoder port 1
              • Encoder port 2
              • Using an external encoder on port 2 and the internal encoder 2 at the same time
            • Digital IO
            • EtherCAT / STO-SBC IN & OUT
          • Temperature sensor
          • Hybrid EtherCAT-STO Cable
            • Overview
            • Pinout of the connectors
              • Hybrid connector (JST GHR-08V-S)
              • STO/SBC Connections
              • EtherCAT Connection
            • Instructions for manufacturing the cables
              • General Cable and Wire Specifications
              • Drive-to-Drive Cable
              • Y-Splitter Cable
          • Maximum cable lengths
          • Mating parts
            • Connector details and mating part numbers
        • Dimensions and mechanical mounting
          • Dimensions
          • Drilling patterns for mounting
          • Heat dissipation
            • Downloads
        • Mounting the encoder disks
          • Aligning the encoder discs
          • Selecting and attaching a battery for Multi-Turn
            • Suitable encoder batteries
          • Mounting tolerances
            • Radial displacement (r)
            • Tangential displacement (t)
            • Axial distance
            • Tilt angle
            • Mounting eccentricity (rotation axis offset)
        • Mounting a bearing
        • Encoder accuracy
          • Wide angle error (long wave error, integral nonlinearity)
          • Narrow angle error (short wave error, differential nonlinearity, Sub Divisional Error)
        • Encoder calibration
          • Overview
          • Prerequisite
          • Encoder system diagnostic
            • Magnetic ring distance checker
            • Check encoder system
            • Check encoder errors
          • Calibration Procedure
      • LED signals
        • Overview
          • Legend
        • Status LED
          • Firmware
          • Bootloader
        • EtherCAT LED
      • Safety functions (STO-SBC)
        • Safety specifications
          • System requirements
          • Technical specifications
        • Safety connectors
        • Wiring the safety inputs
          • Cabling lenghts
          • Connection diagrams for the STO inputs
            • Manual switch + drives
            • Safety PLC PM (Plus-Minus output) + drives
            • Safety PLC PP (Plus-Plus output) + drives
          • Connection diagram for the brake
        • Using the safety functions
          • Timing diagrams
            • Timing diagram for STO-function without connected brake
            • Timing diagram for STO-function with SBC-function
          • Truth table for digital inputs
          • Diagnostic functions
            • Software diagnostics
          • STO-SBC status register
        • Examples for realising safety functions
          • Emergency stop
          • Stop category 1 emergency stop (Safe stop 1)
            • Prerequisites
            • Wiring
            • Configuration
            • Verification
          • Prevention of unexpected start-up
        • Commissioning and maintenance
          • Commissioning
          • Maintenance
        • Changelog of the safety-related documentation
      • SOMANET Circulo (Sample B.1)
        • Technical specifications
          • Power Specification
          • General Specification
          • Optional Integrated Encoders
            • Accuracy and repeatability of the integrated encoders
              • Functions
              • Magnetic data
          • Optional Integrated Brake
          • Ordering information
        • Installation Guide
          • Wiring instructions
            • Power supply, phases and brake
              • Power Terminal and Motor phases
              • Connecting a brake
            • Encoders and IO
              • Encoder overview
              • Analog Input
              • External Encoder
              • Digital IO
              • EtherCAT / STO-SBC IN & OUT
            • Temperature sensor
            • Hybrid EtherCAT-STO Cable
              • Overview
              • Pinout of the connectors
              • Instructions for manufacturing the cables
            • Mating parts
              • Connector details and mating part numbers
          • Dimensions and mechanical mounting
            • Dimensions
            • Drilling patterns for mounting
            • Heat dissipation
              • Downloads
          • Mounting the encoder disks
            • Aligning the encoder discs
            • Mounting tolerances
              • Radial displacement (r)
              • Tangential displacement (t)
              • Axial distance
              • Tilt angle
              • Mounting eccentricity (rotation axis offset)
            • Selecting and attaching a battery for Multi-Turn
              • Suitable encoder batteries
          • Mounting a bearing
          • Encoder accuracy
            • Wide angle error (long wave error, integral nonlinearity)
            • Narrow angle error (short wave error, differential nonlinearity, Sub Divisional Error)
          • Encoder calibration
            • Overview
            • Prerequisite
            • Encoder system diagnostic
              • Magnetic ring distance checker
              • Check encoder system
              • Check encoder errors
            • Calibration Procedure
        • LED signals
          • Overview
            • Legend
          • Status LED
            • Firmware
            • Bootloader
          • EtherCAT LED
        • Safety functions (STO-SBC)
          • Safety specifications
            • System requirements
            • Technical specifications
          • Safety connectors
          • Wiring the safety inputs
            • Cabling lenghts
            • Connection diagrams for the STO inputs
              • Manual switch + drives
              • Safety PLC PM (Plus-Minus output) + drives
              • Safety PLC PP (Plus-Plus output) + drives
            • Connection diagram for the brake
          • Using the safety functions
            • Timing diagrams
              • Timing diagram for STO-function without SBC
              • Timing diagram for STO-function with SBC-function
            • Truth table for digital inputs
            • Diagnostic functions
              • Software diagnostics
              • Hardware diagnostics
            • STO-SBC status register
          • Examples for realising safety functions
            • Emergency stop
            • Stop category 1 emergency stop (Safe stop 1)
              • Prerequisites
              • Wiring
              • Configuration
              • Verification
            • Prevention of unexpected start-up
          • Commissioning and maintenance
            • Commissioning
            • Maintenance
          • Changelog of the safety-related documentation
      • SOMANET Circulo (Sample A.2)
        • Technical specifications
          • Power Specification
          • General Specification
          • Optional Integrated Encoders
            • Accuracy and repeatability of the encoder disks
              • Functions
              • Magnetic data
          • Optional Integrated Brake
        • Installation Guide
          • Wiring instructions
            • Power supply and motor brake
              • Power Terminal
              • Motor phases
              • Connecting a brake
            • Encoders and IO
              • Connector overview
              • Analog Input
              • External Encoder
              • Digital IO
              • Safety STO-SBC
              • Encoder Battery (for multi-turn)
              • EtherCAT In/Out
            • Temperature sensor
            • Mating parts and encoder battery
              • Connector details and mating part numbers
              • Suitable encoder batteries
            • Overview of connectors
          • Dimensions and mechanical mounting
            • Dimensions
            • Drilling patterns for mounting
            • Heat dissipation
              • Downloads
          • Mounting the encoder disks
            • Aligning the encoder discs
            • Mounting tolerances
              • Radial displacement (r)
              • Tangential displacement (t)
              • Axial distance
              • Tilt angle
              • Mounting eccentricity (rotation axis offset)
          • Encoder accuracy
            • Wide angle error (long wave error, integral nonlinearity)
            • Narrow angle error (short wave error, differential nonlinearity, Sub Divisional Error)
        • LED signals
          • Overview
            • Legend
          • Core LED
            • Firmware
            • Bootloader
          • Drive LED
          • EtherCAT LED
        • Safety functions (STO-SBC)
          • Safety specifications
            • System requirements
            • Technical specifications
            • Block diagram
          • Wiring the safety inputs
            • Connection diagrams for the STO inputs
              • Manual switch + drive
              • Manual switch + drive (single-channel)
              • Manual switch + multiple drives
              • Safety PLC PM (Plus-Minus output) + drive
              • Safety PLC PM (Plus-Minus output) + multiple drives
              • Safety PLC PP (Plus-Plus output) + drive
              • Safety PLC PP (Plus-Plus output) + multiple drives
            • Connection diagrams for the STO/SBC feedback output
              • High side driver
              • Low side driver
            • Connection diagram for the brake
          • Using the safety functions
            • Timing diagrams
              • Timing diagram for STO-function without SBC
              • Timing diagram for STO-function with SBC-function
            • Truth table for digital inputs
            • Diagnostic functions
              • Software diagnostics
              • Hardware diagnostics
            • STO-SBC status register
            • Use cases
              • Emergency stop
              • Prevention of unexpected start-up
          • Commissioning and maintenance
            • Commissioning
            • Maintenance
    • SOMANET Node
      • SOMANET Node Revisions
      • SOMANET Node rev. E.1
        • Technical specifications
          • Power Specifications
          • General specifications
          • Maximum values
          • Load cycle
        • Hardware diagrams
          • EtherCAT module
          • Processor module
          • Drive module
        • Installation guide
          • Wiring instructions
            • Power supply, phases and brake
              • Pinout Power Terminal
              • Connecting a Brake
            • Encoders and IO
              • Encoder Port 1
              • Encoder Port 2
              • Encoder Port 3 / Digital IO
              • Analog IN
              • EtherCAT port
            • Connectors and mating parts
            • Overview of connectors
          • Mounting instructions
            • Heat dissipation
            • Thermal mounting considerations
            • Dimensions
            • Interference with magnetic fields
            • Downloads
          • On-site installation guide
            • Branch fuse required
            • Field wiring terminal marking
        • LED signals
          • Overview
            • Legend
          • Core LED
            • Firmware
            • Bootloader
          • Drive LED
          • Com LED
        • Safety functions (STO-SBC)
          • Specifications of the safety functions
            • System requirements
            • Technical specifications
            • Block diagram
          • Setup of the safety functions
            • Connecting the STO/SBC inputs
              • STO/SBC input port
              • Wiring examples for the STO/SBC inputs
            • Connection diagram for the brake
              • Brake power output (STO/SBC)
            • Connector mating parts and cable lengths
          • Using the safety functions
            • Timing diagrams
              • Timing diagram for STO-function without connected brake
              • Timing diagram for STO-function with SBC-function
            • Truth table for digital inputs
            • Diagnostic functions
              • Fault diagnostics
              • Fault reaction
              • Resetting diagnostic faults
            • STO-SBC status register
          • Examples for realising safety functions
            • Prevention of unexpected start-up
            • Stop category 0 (STO)
            • Stop category 1 (SS1)
              • Prerequisites
              • Wiring
              • Configuration
              • Verification
          • Commissioning and maintenance
            • Commissioning
            • Maintenance
          • Changelog of the safety-related documentation
          • Dimensions
          • CAD File
          • Downloads
      • SOMANET Node rev. D.3/4
        • Technical specifications
          • Power Specifications
          • General specifications
        • Hardware diagrams
          • EtherCAT module
          • Processor module
          • Drive module
        • Installation guide
          • Wiring Instructions
            • Warning about using contactors behind the power supply
          • Connector Pinouts
            • Power Terminal
            • Encoder Port 1
            • Encoder Port 2
            • Encoder Port 3 / Digital IO
            • Analog IN
            • EtherCAT port
              • EtherCAT IN Port
              • EtherCAT OUT Port
            • Connector types and mating parts numbers
          • Grounding and connecting a brake
            • Connecting a Brake
          • Mounting instructions
            • Heat dissipation
            • Dimensions
            • Interference with magnetic fields
          • Downloads
        • LED signals
          • Overview
            • Legend
          • Core LED
            • Firmware
            • Bootloader
          • Drive LED
          • Com LED
      • SOMANET Node rev. C.4
        • Technical specifications
          • Power Specifications
          • General specifications
        • Hardware diagrams
          • EtherCAT module
          • Processor module
          • Drive module
        • Installation guide
          • Wiring Instructions
            • Warning about using contactors behind the power supply
          • Connector Pinouts
            • EtherCAT IN/OUT
            • Power Terminal
            • Encoder Port 1
            • Encoder Port 2
            • Encoder Port 3 / Digital IO
            • Analog IN
            • EtherCAT port
              • EtherCAT IN Port
              • EtherCAT OUT Port
            • Connector types and mating parts numbers
          • Grounding and connecting a brake
            • Connecting a Brake
          • Mounting instructions
            • Heat dissipation
            • Dimensions
            • Interference with magnetic fields
        • LED signals
          • Overview
            • Legend
          • Core LED
            • Firmware
            • Bootloader
          • Drive LED
          • Com LED
    • SOMANET Accessories
      • SOMANET Braking Chopper
        • Overview
        • Technical Specs
        • Installing the module and setting the threshold voltage
        • Connecting the Board to DC-BUS
          • Suitable cables
          • Wiring
        • Failsafe Behavior
        • Multi-board option
        • LED
        • Dimensions
      • SOMANET Sin/Cos Cable Adapter
        • Overview
        • Block Diagram
        • Connectors
          • Encoder Connector Top
          • Encoder Connector Bottom
          • Interface Connector
        • Mounting remarks
        • Strain relief
        • Soldered cables
      • Industrial I/O Cable Adapter
        • Overview
        • Block diagram
        • Pinouts
        • Connector details and mating parts
        • Strain relief
        • Soldered cables
      • ABI/BiSS Encoder Cable Adapter
        • Overview
        • Block Diagram
        • Connectors
          • Encoder Connector Top
          • Encoder Connector Bottom
          • Interface Connector
        • Mounting remarks
        • Strain relief
        • Soldered cables
        • Downloads
  • Commissioning and Tuning with OBLAC Drives
    • OBLAC Drives Setup
      • OBLAC Drives Box
        • Connectors
        • Installation
        • Powering the box off and resetting
        • Open OBLAC Drives
        • Using OBLAC Drives Box with WiFi
        • Sharing a connection with your Host-PC
        • Connecting to the internet
        • Update OBLAC Drives
      • OBLAC Drives Virtual Machine
        • Prerequisite
        • Getting started
        • Connecting to OBLAC Drives
          • Update OBLAC Drives
        • Troubleshooting
    • Using OBLAC Drives
      • Installing the latest version
      • User Interface Overview
        • Save to device
        • Update Firmware
        • Launch Setup Wizard
        • Download Device Description XML
        • Load Configuration File
        • Save Configuration File
        • Download log
        • Factory Reset
      • Using keyboard shortcuts
      • Quick Open
    • Set up your servo drive
    • Motion Control Tuning
      • Auto-Tuning
        • System Identification
          • Prerequisites
          • Limitations
          • How to use
          • F.A.Q.
        • Position Auto-tuning
          • Prerequisites
          • Limitations
          • How to use
          • Next steps
          • F.A.Q.
        • Velocity Auto-tuning
          • Prerequisites
          • Limitations
          • How to use
          • Next steps
          • F.A.Q.
        • Concept of Auto-Tuning
        • Goal of Position Auto-tuning
        • Goal of Velocity Auto-tuning
      • Manual Tuning
        • Manual Tuning of the current controller
          • Manual tuning guide
        • Manual Tuning of the velocity control loop
        • Manual Tuning of the position control loop: Cascaded controller
      • Overview of the Tools
    • Test your drive at the playground
      • Prerequisites
      • Apply a defined torque to your motor
      • Rotate your motor at defined velocities
      • Rotate your motor to defined positions
    • Update or downgrade OBLAC Drives
    • Troubleshooting
      • Virtualization not activated
      • Memory Warning
      • Runtime Issues
      • Other Issues
  • Software Reference
    • Software Reference v4.4
      • Overview
        • Functionality description
      • CANopen over EtherCAT (CoE)
        • Drive State Machine (CiA 402)
        • PDO
        • PDO Configuration
        • SDO
      • Actuator Configuration
        • Motor and Gear settings
          • Motor Configuration
            • Parameters related to the Motor
            • Selecting the PWM fequency
          • Gear Ratio
            • Parameters related to Gear Ratio
        • Manually controlling phase D voltage
          • Overview
          • Usage
          • Limitations
            • Parameters related to Brake
        • Brake release
          • Pin-brake Mode
            • Timing diagram
            • Selecting the PWM frequency of the brake
            • Custom brake modes
            • Parameters related to Brake
        • User defined velocity units
          • Overview
          • Usage
          • Objects affected by changes of the velocity unit
          • Example
          • Parameters related to User defined velocity units
      • Encoders and I/O
        • Analog In
          • External scaled measurement
            • Requirements
            • Specifications
              • Parameters related to External scaled measurement
          • Using differential inputs for single-ended sensors
          • Nonlinear conversion of an analog voltage
          • Parameters related to Analog Inputs
        • Digital I/O
          • Configuration of Digital I/Os as Input or Output
          • Parameters related to GPIO
        • Encoder Configuration
          • Description of common encoder parameters
            • Function
            • Resolution
            • Zero velocity threshold
            • Polarity
            • Multiturn resolution
          • Encoder related parameters
        • Commutation with Hall and ABI combined
          • Overview
          • Requirements
          • Usage
          • Detailed description
            • Startup
            • Error Detection
            • Runtime
        • Input counter
          • Overview
          • Limitations
          • Parameters related to Input counter
      • Protection
        • Overview
        • Usage
        • Parameters related to protection
      • Errors and Warnings
        • Error codes thrown by the firmware
        • Error Report Object
        • Remedies for protection errors
          • Remedy for over-current
          • Remedy for over-voltage
          • Remedy for under-voltage
          • Remedy for over-temperature
      • Logging
        • Overview
        • Types
        • Format
      • Motion Control
        • Control Loops
          • Current and Torque Control Loop
            • Torque control loop
              • General Scope of the Torque Controller
              • Reference Torque Generation
              • Functional Description and Controller Structure
            • Parameters related to Current and Torque Control Loop
          • Velocity Control Loop
            • Parameters related to the Velocity Control Loop
          • Position Control Loops
            • Cascaded PID Controller
              • Objects used for Cascaded PID Controller
            • Simple PID Controller
              • Objects used for Simple PID Controller
          • Dual Loop Cascaded Position Control
            • Overview
            • Usage
            • Objects used for Dual Loop Cascaded Position Control
        • Modes of Operation
          • Cyclic modes
            • Cyclic Synchronous Torque Control (CST)
              • Parameters related to Cyclic Synchronous Torque Control
            • Cyclic Synchronous Velocity Control (CSV)
              • Parameters related to Cyclic Synchronous Velocity Mode
            • Cyclic Synchronous Position Control (CSP)
              • Parameters related to Cyclic Synchronous Position Control
          • Profile modes
            • Profile position mode
              • Trajectory generator
              • Enable Profile position mode
              • Setting set-points
            • Profile velocity mode
              • Enable Profile velocity mode
            • Profile torque mode
              • Enable Profile torque mode
              • Starting/Stopping Torque
          • Homing modes
            • Overview
              • Homing method 33/34
              • Homing method 35/37
            • Settings for homing mode
              • Homing method
              • Homing speeds
              • Homing acceleration
            • How to perform homing
              • Using the Halt bit
              • Communications
            • Objects used
          • Switching modes
            • Dynamic Op-Mode switching
        • Extended Control Functionalities
          • Cogging Torque Compensation
            • Overview
            • Procedure
              • Prerequisites
              • Overview of the GUI
              • Recording
              • Automatic recording
              • Testing the compensation table
              • Manual configuration for the cogging recording
              • Using the compensation table
            • Controlling the feature via EtherCAT
            • Subitems:
              • 1 State
              • 2 Enabled
            • Objects used for Cogging Torque Compensation
          • Field Weakening
          • Anti-Windup Control
            • Objects used for Anti-Windup Control
          • Gain Scheduling
          • Motor Overload Protection (i2t)
            • Overview
            • Requirements
            • Description of Subitems for 0x200A:
            • Operating principle
          • Velocity feed forward
            • Usage
            • Using a velocity offset additionally
            • Object used for Velocity feed forward
          • Torque Offset
          • Velocity Offset
          • Filtering
            • Position and Velocity Feedback Low-pass filters
              • A practical guide to low-pass filter design
              • Objects used for feedback low-pass filters
            • Torque loop input shaping filter
              • Objects used for notch filter
            • Overview
            • Methods
              • Definitions
              • Low-pass filters
              • Torque loop input shaping filter
            • Application Guide
          • Command smoothing and Interpolation
            • Overview
            • Side Effects
            • Applications
              • Input interpolation
              • Jerk limiting
              • Communication jitter mitigation
            • Detailed Description
              • Command smoothing
              • Usage
              • Objects used for Finite impulse response Filter
          • Control supervision
            • Timing diagram of the supervision objects
            • Following error
            • Following error window
              • Definitions
              • Configuring the Following error window
              • Result
            • Target reached function
              • Definitions
              • Configuring the position window (CSP)
              • Configuring the velocity window (CSV)
              • Configuring the torque window (CST)
              • Result
            • Monitoring the internal variables
            • Control Effort
            • Objects used for Control supervision
          • Distributed clocks (DC clocks)
            • Overview
            • Distributed Clock configuration
            • Parameters related to Distributed Clocks
      • Object Dictionary
        • All Objects
          • 0x1000 Device type
          • 0x1001 Error register
          • 0x1005 COB-ID SYNC
          • 0x1006 Communication cycle period
          • 0x1008 Manufacturer device name
          • 0x100A Manufacturer software version
          • 0x100C Guard time
          • 0x100D Life time factor
          • 0x1010 Store parameters
          • 0x1011 Restore default parameters
          • 0x1016 Consumer heartbeat time
          • 0x1017 Producer heartbeat time
          • 0x1018 Identity object
          • 0x1019 Synchronous counter overflow value
          • 0x1400 Receive PDO1 parameter
          • 0x1401 Receive PDO2 parameter
          • 0x1402 Receive PDO3 parameter
          • 0x1403 Receive PDO4 parameter
          • 0x1600 Receive PDO1 mapping
          • 0x1601 Receive PDO2 mapping
          • 0x1602 Receive PDO3 mapping
          • 0x1603 Receive PDO4 mapping
          • 0x1800 Transmit PDO1 parameter
          • 0x1801 Transmit PDO2 parameter
          • 0x1802 Transmit PDO3 parameter
          • 0x1803 Transmit PDO4 parameter
          • 0x1A00 Transmit PDO1 mapping
          • 0x1A01 Transmit PDO2 mapping
          • 0x1A02 Transmit PDO3 mapping
          • 0x1A03 Transmit PDO4 mapping
          • 0x1C00 Sync Manager
          • 0x1C10 SM 0 Assignment
          • 0x1C11 SM 1 Assignment
          • 0x1C12 SM 2 Assignment
          • 0x1C13 SM 3 Assignment
          • 0x2000 Command object (disabled)
          • 0x2001 Commutation angle offset
          • 0x2002 Position control strategy
          • 0x2003 Motor specific settings
          • 0x2004 Brake options
          • 0x2005 Recuperation
          • 0x2006 Protection
          • 0x2008 Cogging torque compensation
          • 0x2009 Commutation offset
          • 0x200A I2t
          • 0x2010 Torque controller
          • 0x2011 Velocity controller
          • 0x2012 Position controller
          • 0x2012 Position controller
          • 0x2013 Gain scheduling
          • 0x2014 Torque window
          • 0x2015 Velocity feed forward
          • 0x2021 Velocity feedback filter
          • 0x2022 Position feedback filter
          • 0x2023 Notch filter
          • 0x2027 Control input FIR filter
          • 0x2030 Core temperature
          • 0x2031 Drive temperature
          • 0x2038 External scaled measurement
          • 0x203F Error report
          • 0x2040 Input counter
          • 0x20E1 High resolution data
          • 0x20F0 Timestamp
          • 0x20F2 Assigned name
          • 0x20F3 DC synchronization
          • 0x2100 Feedback sensor ports
          • 0x2201 BiSS encoder 1
          • 0x2202 BiSS encoder 2
          • 0x2203 REM 16MT encoder
          • 0x2205 Incremental encoder 1
          • 0x2206 Incremental encoder 2
          • 0x2207 Hall sensor 1
          • 0x2208 Hall sensor 2
          • 0x2209 SSI encoder 1
          • 0x220A SSI encoder 2
          • 0x220B A Format encoder
          • 0x220C Fast ABI module
          • 0x220E SinCos module
          • 0x2210 GPIO pin configuration
          • 0x2214 GPIO global options
          • 0x230A Secondary position value
          • 0x230B Secondary velocity value
          • 0x2401 Analog input 1
          • 0x2402 Analog input 2
          • 0x2403 Analog input 3
          • 0x2404 Analog input 4
          • 0x2501 Digital input 1
          • 0x2502 Digital input 2
          • 0x2503 Digital input 3
          • 0x2504 Digital input 4
          • 0x2601 Digital output 1
          • 0x2602 Digital output 2
          • 0x2603 Digital output 3
          • 0x2604 Digital output 4
          • 0x2611 Safety digital input diagnostics
          • 0x2701 Tuning command
          • 0x2702 Tuning status
          • 0x2703 User MOSI
          • 0x2704 User MISO
          • 0x2705 Setup wizard completed
          • 0x603F Error code
          • 0x6040 Controlword
          • 0x6041 Statusword
          • 0x6060 Modes of operation
          • 0x6061 Modes of operation display
          • 0x6062 Position demand value
          • 0x6064 Position actual value
          • 0x6065 Following error window
          • 0x6066 Following error time out
          • 0x6067 Position window
          • 0x6068 Position window time
          • 0x606B Velocity demand value
          • 0x606C Velocity actual value
          • 0x606D Velocity window
          • 0x606E Velocity window time
          • 0x606F Velocity threshold
          • 0x6070 Velocity threshold time
          • 0x6071 Target torque
          • 0x6072 Max torque
          • 0x6073 Max current
          • 0x6074 Torque demand
          • 0x6075 Motor rated current
          • 0x6076 Motor rated torque
          • 0x6077 Torque actual value
          • 0x6079 DC link circuit voltage
          • 0x607A Target position
          • 0x607B Position range limit
          • 0x607C Home offset
          • 0x607D Software position limit
          • 0x607E Polarity
          • 0x6080 Max motor speed
          • 0x6081 Profile velocity
          • 0x6083 Profile acceleration
          • 0x6084 Profile deceleration
          • 0x6085 Quick stop deceleration
          • 0x6086 Motion profile type
          • 0x6087 Torque slope
          • 0x6088 Torque profile type
          • 0x6091 Gear ratio
          • 0x6098 Homing method
          • 0x6099 Homing speeds
          • 0x609A Homing acceleration
          • 0x60A9 SI unit velocity
          • 0x60B1 Velocity offset
          • 0x60B2 Torque offset
          • 0x60E3 Supported homing methods
          • 0x60F4 Following error actual value
          • 0x60FA Control effort
          • 0x60FC Position demand internal value
          • 0x60FF Target velocity
          • 0x6502 Supported drive modes
          • 0x6621 Safety statusword
        • Communication Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
          • Advanced PDO mapping
            • Changing the content of an object
        • Manufacturer Specific Area
        • CiA 402 Specific Area
      • Drive operations through FoE
        • Overview
        • Updating the firmware
          • Prerequisite
          • Setup Information
          • Preparation
          • Steps of Operation
        • Uploading a drive configuration
          • Setup Information
          • Steps of Operation
      • Device Information
    • Software Reference v4.2
      • Overview
        • Functionality description
      • CANopen over EtherCAT (CoE)
        • Drive State Machine (CiA 402)
        • PDO
        • PDO Configuration
        • SDO
      • Actuator Configuration
        • Motor and Gear settings
          • Motor Configuration
            • Parameters related to the Motor
            • Selecting the PWM fequency
          • Gear Ratio
            • Parameters related to Gear Ratio
        • Manually controlling phase D voltage
          • Overview
          • Usage
          • Limitations
            • Parameters related to Brake
        • Brake release
          • Pin-brake Mode
            • Timing diagram
            • Selecting the PWM frequency of the brake
            • Custom brake modes
            • Parameters related to Brake
        • User defined velocity units
          • Overview
          • Usage
          • Objects affected by changes of the velocity unit
          • Example
          • Parameters related to User defined velocity units
      • Encoders and I/O
        • Analog In
          • External scaled measurement
            • Requirements
            • Specifications
              • Parameters related to External scaled measurement
          • Using differential inputs for single-ended sensors
          • Nonlinear conversion of an analog voltage
          • Parameters related to Analog Inputs
        • Digital I/O
          • Configuration of Digital I/Os as Input or Output
          • Parameters related to GPIO
        • Encoder Configuration
          • Description of common encoder parameters
            • Function
            • Resolution
            • Zero velocity threshold
            • Polarity
            • Multiturn resolution
          • Encoder related parameters
        • Commutation with Hall and ABI combined
          • Overview
          • Requirements
          • Usage
          • Detailed description
            • Startup
            • Error Detection
            • Runtime
        • Input counter
          • Overview
          • Limitations
          • Parameters related to Input counter
      • Protection
        • Overview
        • Usage
        • Parameters related to protection
      • Errors and Warnings
        • Error codes thrown by the firmware
        • Error Report Object
        • Remedies for protection errors
          • Remedy for over-current
          • Remedy for over-voltage
          • Remedy for under-voltage
          • Remedy for over-temperature
      • Logging
        • Overview
        • Types
        • Format
      • Motion Control
        • Control Loops
          • Current and Torque Control Loop
            • Torque control loop
              • General Scope of the Torque Controller
              • Reference Torque Generation
              • Functional Description and Controller Structure
            • Parameters related to Current and Torque Control Loop
          • Velocity Control Loop
            • Parameters related to the Velocity Control Loop
          • Position Control Loops
            • Cascaded PID Controller
              • Objects used for Cascaded PID Controller
            • Simple PID Controller
              • Objects used for Simple PID Controller
          • Dual Loop Cascaded Position Control
            • Overview
            • Usage
            • Objects used for Dual Loop Cascaded Position Control
        • Modes of Operation
          • Cyclic modes
            • Cyclic Synchronous Torque Control (CST)
              • Parameters related to Cyclic Synchronous Torque Control
            • Cyclic Synchronous Velocity Control (CSV)
              • Parameters related to Cyclic Synchronous Velocity Mode
            • Cyclic Synchronous Position Control (CSP)
              • Parameters related to Cyclic Synchronous Position Control
          • Profile modes
            • Profile position mode
              • Trajectory generator
              • Enable Profile position mode
              • Setting set-points
            • Profile velocity mode
              • Enable Profile velocity mode
            • Profile torque mode
              • Enable Profile torque mode
              • Starting/Stopping Torque
          • Homing modes
            • Overview
              • Homing method 33/34
              • Homing method 35/37
            • Settings for homing mode
              • Homing method
              • Homing speeds
              • Homing acceleration
            • How to perform homing
              • Using the Halt bit
              • Communications
            • Objects used
          • Switching modes
        • Extended Control Functionalities
          • Cogging Torque Compensation
            • Overview
            • Procedure
              • Prerequisites
              • Overview of the GUI
              • Recording
              • Automatic recording
              • Testing the compensation table
              • Manual configuration for the cogging recording
              • Using the compensation table
            • Controlling the feature via EtherCAT
            • Subitems:
              • 1 State
              • 2 Enabled
            • Objects used for Cogging Torque Compensation
          • Field Weakening
          • Anti-Windup Control
            • Objects used for Anti-Windup Control
          • Gain Scheduling
          • Motor Overload Protection (i2t)
            • Overview
            • Requirements
            • Description of Subitems for 0x200A:
            • Operating principle
          • Velocity feed forward
            • Usage
            • Using a velocity offset additionally
            • Object used for Velocity feed forward
          • Torque Offset
          • Velocity Offset
          • Filtering
            • Position and Velocity Feedback Low-pass filters
              • A practical guide to low-pass filter design
              • Objects used for feedback low-pass filters
            • Torque loop input shaping filter
              • Objects used for notch filter
            • Overview
            • Methods
              • Definitions
              • Low-pass filters
              • Torque loop input shaping filter
            • Application Guide
          • Control supervision
            • Timing diagram of the supervision objects
            • Following error
            • Following error window
              • Definitions
              • Configuring the Following error window
              • Result
            • Target reached function
              • Definitions
              • Configuring the position window (CSP)
              • Configuring the velocity window (CSV)
              • Configuring the torque window (CST)
              • Result
            • Monitoring the internal variables
            • Control Effort
            • Objects used for Control supervision
          • Distributed clocks (DC clocks)
            • Overview
            • Distributed Clock configuration
            • Parameters related to Distributed Clocks
      • Object Dictionary
        • All Objects
          • 0x1000 Device type
          • 0x1001 Error register
          • 0x1005 COB-ID SYNC
          • 0x1006 Communication cycle period
          • 0x1008 Manufacturer device name
          • 0x100A Manufacturer software version
          • 0x100C Guard time
          • 0x100D Life time factor
          • 0x1010 Store parameters
          • 0x1011 Restore default parameters
          • 0x1016 Consumer heartbeat time
          • 0x1017 Producer heartbeat time
          • 0x1018 Identity object
          • 0x1019 Synchronous counter overflow value
          • 0x1400 Receive PDO1 parameter
          • 0x1401 Receive PDO2 parameter
          • 0x1600 Receive PDO1 mapping
          • 0x1601 Receive PDO2 mapping
          • 0x1602 Receive PDO3 mapping
          • 0x1603 Receive PDO4 mapping
          • 0x1800 Transmit PDO1 parameter
          • 0x1801 Transmit PDO2 parameter
          • 0x1A00 Transmit PDO1 mapping
          • 0x1A01 Transmit PDO2 mapping
          • 0x1A02 Transmit PDO3 mapping
          • 0x1A03 Transmit PDO4 mapping
          • 0x1C00 Sync Manager
          • 0x1C10 SM 0 Assignment
          • 0x1C11 SM 1 Assignment
          • 0x1C12 SM 2 Assignment
          • 0x1C13 SM 3 Assignment
          • 0x2000 Command object (disabled)
          • 0x2001 Commutation angle offset
          • 0x2002 Position control strategy
          • 0x2003 Motor specific settings
          • 0x2004 Brake options
          • 0x2005 Recuperation
          • 0x2006 Protection
          • 0x2008 Cogging torque compensation
          • 0x2009 Commutation offset
          • 0x200A I2t
          • 0x2010 Torque controller
          • 0x2011 Velocity controller
          • 0x2012 Position controller
          • 0x2012 Position controller
          • 0x2013 Gain scheduling
          • 0x2014 Torque window
          • 0x2015 Velocity feed forward
          • 0x2021 Velocity feedback filter
          • 0x2022 Position feedback filter
          • 0x2023 Notch filter
          • 0x2030 Core temperature
          • 0x2031 Drive temperature
          • 0x2038 External scaled measurement
          • 0x203F Error report
          • 0x2040 Input counter
          • 0x20E1 High resolution data
          • 0x20F0 Timestamp
          • 0x20F2 Assigned name
          • 0x20F3 DC synchronization
          • 0x2100 Feedback sensor ports
          • 0x2201 BiSS encoder 1
          • 0x2202 BiSS encoder 2
          • 0x2203 REM 16MT encoder
          • 0x2205 Incremental encoder 1
          • 0x2206 Incremental encoder 2
          • 0x2207 Hall sensor 1
          • 0x2208 Hall sensor 2
          • 0x2209 SSI encoder 1
          • 0x220A SSI encoder 2
          • 0x220B A Format encoder
          • 0x220C Fast ABI module
          • 0x220E SinCos module
          • 0x2210 GPIO pin configuration
          • 0x2214 GPIO global options
          • 0x230A Secondary position value
          • 0x230B Secondary velocity value
          • 0x2401 Analog input 1
          • 0x2402 Analog input 2
          • 0x2403 Analog input 3
          • 0x2404 Analog input 4
          • 0x2501 Digital input 1
          • 0x2502 Digital input 2
          • 0x2503 Digital input 3
          • 0x2504 Digital input 4
          • 0x2601 Digital output 1
          • 0x2602 Digital output 2
          • 0x2603 Digital output 3
          • 0x2604 Digital output 4
          • 0x2611 Safety digital input diagnostics
          • 0x2701 Tuning command
          • 0x2702 Tuning status
          • 0x2703 User MOSI
          • 0x2704 User MISO
          • 0x2705 Setup wizard completed
          • 0x603F Error code
          • 0x6040 Controlword
          • 0x6041 Statusword
          • 0x6060 Modes of operation
          • 0x6061 Modes of operation display
          • 0x6062 Position demand value
          • 0x6064 Position actual value
          • 0x6065 Following error window
          • 0x6066 Following error time out
          • 0x6067 Position window
          • 0x6068 Position window time
          • 0x606B Velocity demand value
          • 0x606C Velocity actual value
          • 0x606D Velocity window
          • 0x606E Velocity window time
          • 0x606F Velocity threshold
          • 0x6070 Velocity threshold time
          • 0x6071 Target torque
          • 0x6072 Max torque
          • 0x6073 Max current
          • 0x6074 Torque demand
          • 0x6075 Motor rated current
          • 0x6076 Motor rated torque
          • 0x6077 Torque actual value
          • 0x6079 DC link circuit voltage
          • 0x607A Target position
          • 0x607B Position range limit
          • 0x607C Home offset
          • 0x607D Software position limit
          • 0x607E Polarity
          • 0x6080 Max motor speed
          • 0x6081 Profile velocity
          • 0x6083 Profile acceleration
          • 0x6084 Profile deceleration
          • 0x6085 Quick stop deceleration
          • 0x6086 Motion profile type
          • 0x6087 Torque slope
          • 0x6088 Torque profile type
          • 0x6091 Gear ratio
          • 0x6098 Homing method
          • 0x6099 Homing speeds
          • 0x609A Homing acceleration
          • 0x60A9 SI unit velocity
          • 0x60B1 Velocity offset
          • 0x60B2 Torque offset
          • 0x60E3 Supported homing methods
          • 0x60F4 Following error actual value
          • 0x60FA Control effort
          • 0x60FC Position demand internal value
          • 0x60FF Target velocity
          • 0x6502 Supported drive modes
          • 0x6621 Safety statusword
        • Communication Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
          • Advanced PDO mapping
            • Changing the content of an object
        • Manufacturer Specific Area
        • CiA 402 Specific Area
      • Drive operations through FoE
        • Overview
        • Updating the firmware
          • Prerequisite
          • Setup Information
          • Preparation
          • Steps of Operation
        • Uploading a drive configuration
          • Setup Information
          • Steps of Operation
      • Device Information
    • Software Reference v4.1
      • Overview
        • Functionality description
      • CANopen over EtherCAT (CoE)
        • Drive State Machine (CiA 402)
        • PDO
        • PDO Configuration
        • SDO
      • Actuator Configuration
        • Motor Configuration
          • Motor Control Objects
        • Brake Configuration
          • Brake Parameter Object
        • Gear Ratio
      • Sensor Configuration
        • Sensor Objects
        • Description of commonly used specifications
          • Function
          • Resolution
          • Velocity calculation period
          • Polarity
          • Multiturn resolution
      • Protection
        • Overview
        • Usage
        • Parameters related to protection
      • Errors and Warnings
        • Errors thrown by the firmware
        • Error Report Object
      • Logging
        • Overview
        • Types
        • Format
      • Motion Control
        • Control Loops
          • Current and Torque Control Loop
            • Torque control loop
              • General Scope of the Torque Controller
              • Reference Torque Generation
              • Functional Description and Controller Structure
            • Parameters related to Current and Torque Control Loop
          • Velocity Control Loop
            • Parameters related to the Velocity Control Loop
          • Position Control Loops
            • Cascaded PID Controller
              • Objects used for Cascaded PID Controller
            • Simple PID Controller
              • Objects used for Simple PID Controller
          • Dual Loop Cascaded Position Control
            • Overview
            • Usage
            • Objects used for Dual Loop Cascaded Position Control
        • Modes of Operation
          • Cyclic Synchronous Torque Control (CST)
            • Parameters related to Cyclic Synchronous Torque Control
          • Cyclic Synchronous Velocity Control (CSV)
            • Parameters related to Cyclic Synchronous Velocity Mode
          • Cyclic Synchronous Position Control (CSP)
            • Parameters related to Cyclic Synchronous Position Control
          • Switching modes
        • Extended Control Functionalities
          • Cogging Torque Compensation
            • Overview
            • Procedure
              • Prerequisites
              • Overview of the GUI
              • Recording
              • Automatic recording
              • Testing the compensation table
              • Manual configuration for the cogging recording
              • Using the compensation table
            • Controlling Cogging Torque Compensation and Recording Feature via EtherCAT
            • Subitems:
              • 1 State
              • 2 Enabled
          • Field Weakening
          • Anti-Windup Control
          • Gain Scheduling
          • Motor Overload Protection (i2t)
            • Overview
            • Requirements
            • Description of Subitems for 0x200A:
            • Operating principle
          • Torque Offset
          • Velocity Offset
      • Object Dictionary
        • All Objects
          • 0x1000 Device Type
          • 0x1001 Error Register
          • 0x1008 Manufacturer Device Name
          • 0x100A Manufacturer Software Version
          • 0x1010 Store parameters
          • 0x1011 Restore default parameters
          • 0x1018 Identity
          • 0x1600 RxPDO Mapping 1
          • 0x1A00 TxPDO Mapping 1
          • 0x1C00 Sync Manager
          • 0x1C10 SM 0 Assignment
          • 0x1C11 SM 1 Assignment
          • 0x1C12 SM 2 Assignment
          • 0x1C13 SM 3 Assignment
          • 0x2000 Command Object (disabled)
          • 0x2001 Commutation Angle Offset
          • 0x2002 Position control strategy
          • 0x2003 Motor Specific Settings
          • 0x2004 Brake Options
          • 0x2005 Recuperation
          • 0x2006 Protection
          • 0x2008 Cogging Torque Compensation
          • 0x2009 Commutation Offset
          • 0x200A I2t
          • 0x2010 Torque Controller
          • 0x2011 Velocity Controller
          • 0x2012 Position Controller
          • 0x2012 Position Controller
          • 0x2013 Gain Scheduling
          • 0x2021 Velocity Feedback Filter
          • 0x2022 Position Feedback Filter
          • 0x2031 Drive temperature
          • 0x203F Error report
          • 0x20F0 Timestamp
          • 0x20F1 Real Time Clock
          • 0x20F2 Assigned Name
          • 0x2100 Feedback sensor ports
          • 0x2201 BISS Encoder 1
          • 0x2202 BISS Encoder 2
          • 0x2203 REM 16MT Encoder
          • 0x2204 REM 14 Encoder
          • 0x2205 Incremental Encoder 1
          • 0x2206 Incremental Encoder 2
          • 0x2207 HALL Sensor 1
          • 0x2208 HALL Sensor 2
          • 0x2209 SSI Encoder 1
          • 0x220A SSI Encoder 2
          • 0x2210 GPIO
          • 0x230A Secondary position value
          • 0x230B Secondary velocity value
          • 0x2401 Analog input 1
          • 0x2402 Analog input 2
          • 0x2403 Analog input 3
          • 0x2404 Analog input 4
          • 0x2501 Digital Input 1
          • 0x2502 Digital Input 2
          • 0x2503 Digital Input 3
          • 0x2504 Digital Input 4
          • 0x2601 Digital Output 1
          • 0x2602 Digital Output 2
          • 0x2603 Digital Output 3
          • 0x2604 Digital Output 4
          • 0x2701 Tuning command
          • 0x2702 Tuning status
          • 0x2703 User MOSI
          • 0x2704 User MISO
          • 0x2705 Setup Wizard Completed
          • 0x603F Error code
          • 0x6040 Controlword
          • 0x6041 Statusword
          • 0x6060 Op Mode
          • 0x6061 Op Mode Display
          • 0x6064 Position Value
          • 0x606C Velocity Value
          • 0x6071 Target Torque
          • 0x6072 Max torque
          • 0x6073 Max current
          • 0x6075 Motor Rated Current
          • 0x6076 Motor Rated Torque
          • 0x6077 Torque Value
          • 0x6079 DC link circuit voltage
          • 0x607A Target Position
          • 0x607B Position Range Limits
          • 0x607C Home offset
          • 0x607D Software position limit
          • 0x607E Polarity
          • 0x607F Max profile velocity
          • 0x6080 Max motor speed
          • 0x6081 Profile velocity
          • 0x6085 Quick stop deceleration
          • 0x6086 Motion profile type
          • 0x6091 Gear ratio
          • 0x60B1 Velocity offset
          • 0x60B2 Torque offset
          • 0x60FF Target Velocity
          • 0x6502 Supported Drive Modes
        • Communication Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
          • Advanced PDO mapping
        • Manufacturer Specific Area
        • CiA 402 Specific Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
          • Advanced PDO mapping
      • Drive operations through FoE
        • Overview
        • Updating the firmware
          • Prerequisite
          • Setup Information
          • Preparation
          • Steps of Operation
        • Uploading a drive configuration
          • Setup Information
          • Steps of Operation
      • Device Information
    • Software Reference v4.0
      • Overview
        • Functionality description
      • CANopen over EtherCAT (CoE)
        • Drive State Machine (CiA 402)
        • PDO
        • PDO Configuration
        • SDO
      • Actuator Configuration
        • Motor Configuration
          • Motor Control Objects
        • Brake Configuration
          • Brake Parameter Object
      • Sensor Configuration
        • Sensor Objects
        • Description of commonly used specifications
          • Function
          • Resolution
          • Velocity calculation period
          • Polarity
          • Multiturn resolution
      • Motion Control
        • Control Loops
          • Current and Torque Control Loop
            • Torque control loop
              • General Scope of the Torque Controller
              • Reference Torque Generation
              • Functional Description and Controller Structure
            • Parameters related to Current and Torque Control Loop
          • Velocity Control Loop
            • Parameters related to the Velocity Control Loop
          • Position Control Loops
            • Cascaded PID Controller
              • Objects used for Cascaded PID Controller
            • Simple PID Controller
              • Objects used for Simple PID Controller
        • Modes of Operation
          • Cyclic Synchronous Torque Control (CST)
            • Parameters related to Cyclic Synchronous Torque Control
          • Cyclic Synchronous Velocity Control (CSV)
            • Parameters related to Cyclic Synchronous Velocity Mode
          • Cyclic Synchronous Position Control (CSP)
            • Parameters related to Cyclic Synchronous Position Control
          • Switching modes
        • Extended Control Functionalities
          • Cogging Torque Compensation
            • Overview
            • Procedure
              • Prerequisites
              • Overview of the GUI
              • Recording
              • Automatic recording
              • Testing the compensation table
              • Manual configuration for the cogging recording
              • Using the compensation table
            • Controlling Cogging Torque Compensation and Recording Feature via EtherCAT
            • Subitems:
              • 1 State
              • 2 Enabled
          • Field Weakening
          • Anti-Windup Control
          • Torque Offset
      • Errors and Warnings
      • Object Dictionary
        • All Objects
          • 0x1000 Device Type
          • 0x1001 Error Register
          • 0x1008 Manufacturer Device Name
          • 0x100A Manufacturer Software Version
          • 0x1010 Store parameters
          • 0x1011 Restore default parameters
          • 0x1018 Identity
          • 0x1600 Rx PDO Mapping
          • 0x1A00 Tx PDO Mapping
          • 0x1C00 Sync Manager
          • 0x1C10 SM 0 Assignment
          • 0x1C11 SM 1 Assignment
          • 0x1C12 SM 2 Assignment
          • 0x1C13 SM 3 Assignment
          • 0x2000 Command Object (disabled)
          • 0x2001 Commutation Angle Offset
          • 0x2002 Position control strategy
          • 0x2003 Motor Specific Settings
          • 0x2004 Brake Options
          • 0x2005 Recuperation
          • 0x2006 Protection
          • 0x2008 Cogging Torque Compensation
          • 0x2009 Commutation Offset
          • 0x2010 Torque Controller
          • 0x2011 Velocity Controller
          • 0x2012 Position Controller
          • 0x2012 Position Controller
          • 0x20F0 Timestamp
          • 0x20F1 Real Time Clock
          • 0x20F2 Assigned Name
          • 0x2100 Feedback sensor ports
          • 0x2201 BISS Encoder 1
          • 0x2202 BISS Encoder 2
          • 0x2203 REM 16MT Encoder
          • 0x2204 REM 14 Encoder
          • 0x2205 Incremental Encoder 1
          • 0x2206 Incremental Encoder 2
          • 0x2207 HALL Sensor 1
          • 0x2208 HALL Sensor 2
          • 0x2210 GPIO
          • 0x230A Secondary position value
          • 0x230B Secondary velocity value
          • 0x2401 Analog input 1
          • 0x2402 Analog input 2
          • 0x2403 Analog input 3
          • 0x2404 Analog input 4
          • 0x2501 Digital Input 1
          • 0x2502 Digital Input 2
          • 0x2503 Digital Input 3
          • 0x2504 Digital Input 4
          • 0x2601 Digital Output 1
          • 0x2602 Digital Output 2
          • 0x2603 Digital Output 3
          • 0x2604 Digital Output 4
          • 0x2701 Tuning command
          • 0x2702 Tuning status
          • 0x2703 User MOSI
          • 0x2704 User MISO
          • 0x2705 Setup Wizard Completed
          • 0x603F Error code
          • 0x6040 Controlword
          • 0x6041 Statusword
          • 0x6060 Op Mode
          • 0x6061 Op Mode Display
          • 0x6064 Position Value
          • 0x606C Velocity Value
          • 0x6071 Target Torque
          • 0x6072 Max torque
          • 0x6073 Max current
          • 0x6075 Motor Rated Current
          • 0x6076 Motor Rated Torque
          • 0x6077 Torque Value
          • 0x6079 DC link circuit voltage
          • 0x607A Target Position
          • 0x607B Position Range Limits
          • 0x607C Home offset
          • 0x607D Software position limit
          • 0x607E Polarity
          • 0x607F Max profile velocity
          • 0x6080 Max motor speed
          • 0x6081 Profile velocity
          • 0x6083 Profile acceleration
          • 0x6084 Profile deceleration
          • 0x6085 Quick stop deceleration
          • 0x6086 Motion profile type
          • 0x60B2 Torque offset
          • 0x60C5 Max acceleration
          • 0x60FF Target Velocity
          • 0x6502 Supported Drive Modes
        • Communication Area
        • Manufacturer Specific Area
        • CiA 402 Specific Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
      • Drive operations through FoE
        • Overview
        • Updating the firmware
          • Prerequisite
          • Setup Information
          • Preparation
          • Steps of Operation
        • Uploading a drive configuration
          • Setup Information
          • Steps of Operation
      • Device Information
  • Resources
    • System integration guidelines
      • Drive Sizing
        • Considering the requirements of the application
          • What the Application Requires
          • What the Servo Drive has to Provide
          • What the Servo Drive Consumes
        • Calculating the phase current
          • Estimating the required nonlinearity buffer
      • Choosing a power supply
        • Regenerated voltage
        • Bus capacitance
          • Calculating the Capacitance
        • Power supply sizing
        • Calculating the amperage
        • Contactors behind the power supply
      • Regenerative energy
        • Estimation of regenerated energy
        • Braking chopper
      • Measuring the brake output voltage
        • Non-safety brake output
        • Safety brake output
    • Tutorials
      • 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
    • About this documentation
      • Warnings
      • Reporting errors
      • Using offline documentation
      • Versioning

Standard TxPDO mapped Objects¶

Index Name Bit Length Bit Offset
0x6041 Statusword 16 0
0x6061 Modes of operation display 8 16
0x6064 Position actual value 32 24
0x606C Velocity actual value 32 56
0x6077 Torque actual value 16 88
0x230A Secondary position value 32 104
0x230B Secondary velocity value 32 136
0x2401 Analog input 1 16 168
0x2402 Analog input 2 16 184
0x2403 Analog input 3 16 200
0x2404 Analog input 4 16 216
0x2702 Tuning status 32 232
0x2501 Digital input 1 1 264
0x2502 Digital input 2 1 265
0x2503 Digital input 3 1 266
0x2504 Digital input 4 1 267
0x2704 User MISO 32 268
0x20F0 Timestamp 32 300
0x60FC Position demand internal value 32 332
0x606B Velocity demand value 32 364
0x6074 Torque demand 16 396

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 Co. Ltd.
1588 Zhuguang Road
201700 Shanghai
China

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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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