The new docs page can be found at synapticon.com/documentation. This page is no longer maintained and will be shut down by 01.07.2023. Backup the PDF using this link
  • Hardware Manuals
    • SOMANET Circulo
    • SOMANET Node
    • SOMANET Accessories
    • Samples & Legacy Products
  • Commissioning and Tuning Guide
  • Software Reference
    • v5.0
    • v4.4
    • v4.2
    • v4.1
    • v4.0
  • Resources
    • System integration guidelines
    • Tutorials
    • About this documentation
Synapticon Logo
  • Hardware Manuals
    • SOMANET Circulo
    • SOMANET Node
    • SOMANET Accessories
    • Samples & Legacy Products
  • Commissioning and Tuning Guide
  • Software Reference
    • v5.0
    • 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 v4.4
  4. CiA 402 Object Dictionary
  5. Process Data Objects
  6. Standard TxPDO mapped Objects
  • Hardware Manuals
    • Handling instructions
      • Electrostatic discharge
      • Magnetic sensitive devices
    • SOMANET Circulo
      • Overview
        • Technical specifications
          • Power Specification
          • General Specification
          • Optional Integrated Encoders
            • Accuracy and repeatability of the integrated encoders
              • Functions
              • Magnetic data
          • Optional Integrated Brake
          • Ordering information
        • Load cycle
        • Downloads
          • Documents
          • CAD Files
      • Installation Guide
        • Wiring instructions
          • Power and brake
            • Supply and phases
              • Warning about using contactors behind the power supply
            • Connecting a brake
          • Encoders and IO
            • Encoder overview
            • Analog Input
            • Encoder ports
              • Encoder port 1
              • Encoder port 2
            • Digital IO
              • Voltage Levels of the Digital Inputs/Outputs
            • EtherCAT / STO-SBC IN & OUT
              • Voltage level of the Safety Inputs
          • Analog In Specification
            • Differential
            • Single-ended
          • Temperature sensor
            • Specification for the single-ended temperature sensor input
          • Battery for Multi-Turn
            • Suitable batteries
            • Power consumption of multi-turn
          • 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
        • Mechanical integration
          • Mounting Example
            • Mounting the encoder disc
            • Mounting a hollow-shaft secondary bearing
            • Routing the motor phase cables
          • Dimensions
            • Dimensions
            • Weight and inertia of the encoder rings
            • Drilling patterns
            • Mounting a bearing
            • Side view with phase connectors
          • Mounting encoder rings
            • Axial distance tolerances
            • Planar displacements
              • Radial displacement (r)
              • Tangential displacement (t)
              • Mounting eccentricity or radial runout (e)
          • Thermal Mounting Considerations
            • Current as a function of mounting temperature
            • Ambient air
        • Encoder calibration
          • Encoder accuracy
            • Narrow angle errors (encoder system-specific non-linearity)
              • Analogue signals errors
              • Magnetic ring magnetization errors
            • Wide angle error (installation-dependent non-linearity)
            • Detecting the encoder non-linearity
          • Analog Calibration Procedure
            • Prerequisite
            • Performing the procedure
              • Starting the Internal Encoder Calibration
              • Limited Range Calibration (Available from OBLAC Drives v21.3.0)
              • Calibration in Progress
            • Troubleshooting
              • The magnetic ring is too close to the encoder chip
              • The magnetic ring is too far from the encoder chip
              • The magnetic ring is damaged
            • Encoder system diagnostic
              • Magnetic ring distance checker
              • Check encoder system
              • Check encoder errors
      • 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 Node
      • Overview
        • Technical specifications
          • Power Specifications
          • General specifications
        • Load cycle
        • Thermal considerations
        • Downloads
          • Documents
          • CAD Files
        • Hardware diagrams
          • EtherCAT module
          • Processor module
          • Drive module
      • Installation guide
        • Wiring instructions
          • Power and brake
            • Pinout Power Terminal
              • Notes about choosing the supply voltage
              • Using a PELV or SELV power supply
              • Warning about using contactors behind the power supply
            • Connecting a Brake
          • Encoders and IO
            • Encoder Port 1
            • Encoder Port 2
            • Encoder Port 3 / Digital IO
            • Analog IN
              • Analog input specification
              • Analog input resistance
              • Attaching a voltage divider
            • EtherCAT port
              • EtherCAT IN Port
              • EtherCAT OUT Port
          • Connectors and mating parts
          • Overview of connectors
        • Mounting instructions
          • Heat dissipation
          • Dimensions
          • Interference with magnetic fields
        • On-site installation guide (UL)
          • Branch fuse required
          • Field wiring terminal marking
          • Downloads
      • 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
              • Manual switch
              • Safety PLC (plus-minus output)
              • Safety PLC (plus-plus output)
          • 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
    • 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
        • Attaching the adapter
      • ABI/BiSS Encoder Cable Adapter
        • Overview
        • Block Diagram
        • Connectors
          • Encoder Connector Top
          • Encoder Connector Bottom
          • Interface Connector
        • Mounting remarks
        • Strain relief
        • Soldered cables
        • Downloads
    • Samples & Legacy Products
      • SOMANET Circulo Sample A.2
        • Technical specifications
          • Power Specification
          • General Specification
          • Optional Integrated Encoders
            • Accuracy and repeatability of the encoder rings
              • 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 batteries
            • Overview of connectors
          • Dimensions and mechanical mounting
            • Dimensions
            • Drilling patterns for mounting
            • Heat dissipation
              • Downloads
          • Mounting encoder rings
            • 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 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 and brake
              • Supply and phases
              • Connecting a brake
            • Encoders and IO
              • Encoder overview
              • Analog Input
              • External Encoder
              • Digital IO
              • EtherCAT / STO-SBC IN & OUT
            • Temperature sensor
            • 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 encoder rings
            • Aligning the encoder discs
            • Mounting tolerances
              • Radial displacement (r)
              • Tangential displacement (t)
              • Axial distance
              • Tilt angle
              • Mounting eccentricity (rotation axis offset)
            • Battery for Multi-Turn
              • Suitable 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 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
  • Commissioning and Tuning with OBLAC Drives
    • OBLAC Drives Setup
      • OBLAC Drives Box
        • Connectors
        • Installation
        • Network Connection to the OBLAC box
          • Connection Host-PC ↔ Box by Wi-Fi
            • Host-PC connected to Internet by LAN connection
            • Box connected to internet by LAN connection
            • Host-PC and Box not connected to Internet
          • Connection Host-PC ⇿ PC by LAN cable
            • LAN connection via Switch and connection to a network with DHCP server
            • LAN connection Peer to Peer
          • No connection to OBLAC update server
          • Offline Updates
        • Open OBLAC Drives
        • 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
      • Applying torque to a motor
      • Rotate a motor at defined velocities
      • Rotate a motor to defined positions
    • Update or downgrade OBLAC Drives
    • Troubleshooting
      • Virtualization not activated
      • Memory Warning
      • Runtime Issues
      • Other Issues
  • Software Reference
    • Software Reference v5.0
      • Overview
        • Functionality description
      • CANopen over EtherCAT (CoE)
        • Drive State Machine (CiA 402)
        • PDO
        • PDO Configuration
        • SDO
      • Actuator Configuration
        • Motor and Gear settings
          • Motor Configuration
            • Pole pairs
            • Torque constant
            • Phase resistance
              • Phase resistance of delta winding motors
              • Phase to phase resistance of delta winding motors
            • Phase inductance
              • Phase to phase inductance of delta winding motors
            • Errors in phase resistance and inductance
            • Motor phases inverted
          • PWM frequency
          • Gear Ratio
          • Advanced configurations
          • Parameters
        • Generic brake output voltage
          • Overview
          • Usage
          • Limitations
            • Parameters
        • Brake release
          • Pin-brake Mode
            • Timing diagram
            • Brake PWM frequency
            • Custom brake modes
            • Parameters
        • User defined velocity units
          • Overview
          • Usage
          • Objects affected
          • Example
          • Parameters
        • Commutation Offset Detection
          • Overview
          • Basic Principles
          • Requirements
            • Load requirements
          • Autophasing methods
            • Method 0
            • Method 1
            • Method 2
              • Comparison of methods
            • Common Use Cases
              • Motion is allowed
              • Motion is not allowed
          • Usage
            • Tuning gains (method 1)
          • Parameters
        • Power limit
          • Overview
          • Requirements
          • Detailed Description
          • Parameters
      • Encoders and I/O
        • Analog In
          • Using single-ended sensors on differential inputs
          • Nonlinear conversion
          • Parameters
        • Analog Input Scaling
          • Requirements
          • Usage
            • Wiring
            • Software configuration
            • Thresholds
            • Polynomial
              • Parameters
        • Digital I/O
          • Configuration of Digital I/Os as Input or Output
          • Using Digital I/Os for input actions or output events
          • Parameters
        • Digital GPIO
          • Overview
          • Usage
            • Manual configuration
          • Description of features
            • General purpose In- and Output (GPIO)
            • Using Digital GPIO with Home switches and limit switches
              • Driving out of the limit switch
            • Input actions
            • Output events
          • Parameters
        • Encoder Configuration
          • Parameter description
            • Function
            • Resolution
            • Zero velocity threshold
            • Polarity
            • Multiturn resolution
          • Parameters
        • Commutation with Hall and ABI combined
          • Overview
          • Requirements
          • Usage
          • Detailed description
            • Startup
            • Error Detection
            • Runtime
        • Input counter
          • Overview
          • Limitations
          • Parameters
      • Protection
        • Overview
        • Usage
        • Parameters
      • 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
              • Tuning of the current controller
            • Parameters
          • Velocity Control Loop
            • Parameters
          • Position Control Loops
            • Cascaded PID Controller
              • Parameters
            • Simple PID Controller
              • Parameters
          • Dual Loop Cascaded Position Control
            • Overview
            • Usage
            • Parameters
        • Modes of Operation
          • Cyclic modes
            • Cyclic Synchronous Torque Control (CST)
              • Operation Mode dependent Bits of the Statusword
              • Parameters
            • Cyclic Synchronous Velocity Control (CSV)
              • Operation Mode dependent Bits of the Statusword
              • Parameters
            • Cyclic Synchronous Position Control (CSP)
              • Operation Mode dependent Bits of the Statusword
              • Parameters
          • Profile modes
            • Profile position mode
              • Objects configuration
              • Trajectory generator
              • Enable Profile position mode
              • Setting set-points
              • Operation Mode dependent Bits of Status- and Controlword
              • Parameters
            • Profile velocity mode
              • Objects configuration
              • Enable Profile velocity mode
              • Operation Mode dependent Bits of Status- and Controlword
              • Parameters
            • Profile torque mode
              • Objects configuration
              • Enable Profile torque mode
              • Starting/Stopping Torque
              • Operation Mode dependent Bits of Status- and Controlword
              • Parameters r
          • Homing modes
            • Overview
            • Homing methods
              • Homing methods 1-14 (Homing on limit switches)
              • Homing method 33/34 (move to next or previous single-turn position or “index pulse”)
              • Homing method 35/37 (zero the current position)
            • Settings for homing mode
              • State for homing modes
              • Homing method
              • Homing speeds
              • Homing acceleration
              • Setting digital I/Os for Homing
            • How to perform homing
              • Using the Halt bit
              • Status of the homing process
              • Hitting a limit switch in homing mode
            • Operation Mode dependent Bits of Status- and Controlword
              • Controlword
              • Statusword
            • Parameters
          • Diagnostics opmode
          • 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
            • Parameters
          • Field Weakening
          • Anti-Windup Control
            • Parameters
          • 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
              • Parameters
            • Torque loop input shaping filter
              • Parameters
            • Overview
            • Methods
              • Definitions
              • Low-pass filter
              • Torque loop input shaping filter
            • Application Guide
            • Parameters
          • Command smoothing and Interpolation
            • Overview
            • Side Effects
            • Applications
              • Input interpolation
              • Jerk limiting
              • Communication jitter mitigation
            • Detailed Description
              • Command smoothing
              • Usage
              • Parameters
          • 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
            • Parameters
          • Distributed clocks (DC clocks)
            • Overview
            • Distributed Clock configuration
            • Parameters
          • OS Command
            • Overview
            • Usage
              • 0x1023: OS command
              • 0x1024: OS command mode
              • OS command behavior
              • Flowchart of the Command
            • Available commands
              • Command 0: Encoder register communication
              • Command 1: iC-MU calibration mode
              • Command 2: Open Loop Field Mode (OLFM)
              • Command 3: HRD streaming
              • Command 4: Motor phase order detection
              • Command 5: Commutation offset detection
              • Command 6: Open phase detection
              • Command 7: Pole pair detection
              • Command 8: Phase resistance measurement
              • Command 9: Phase inductance measurement
              • Command 10: Torque constant measurement
              • Command 13: Skipped cycles counter
              • Command 14: Ignore BiSS status bits
            • Parameters
          • Quick stop
            • Overview
            • Usage
              • Position and velocity control modes
              • Torque control mode
            • Parameters
      • 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
          • 0x1023 OS command
          • 0x1024 OS command mode
          • 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
          • 0x2006 Protection
          • 0x2008 Cogging torque compensation
          • 0x2009 Commutation offset
          • 0x200A I2t
          • 0x200B Max power
          • 0x2010 Torque controller
          • 0x2011 Velocity 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
          • 0x2110 Encoder 1 configuration
          • 0x2111 Encoder 1 feedback
          • 0x2112 Encoder 2 configuration
          • 0x2113 Encoder 2 feedback
          • 0x2210 GPIO pin configuration
          • 0x2211 GPIO output events
          • 0x2212 GPIO input actions
          • 0x2213 GPIO position trigger
          • 0x2214 GPIO global options
          • 0x2401 Analog input 1
          • 0x2402 Analog input 2
          • 0x2403 Analog input 3
          • 0x2404 Analog input 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
          • 0x605A Quick stop option code
          • 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
          • 0x60F4 Following error actual value
          • 0x60FA Control effort
          • 0x60FC Position demand internal value
          • 0x60FD Digital inputs
          • 0x60FE Digital outputs
          • 0x60FF Target velocity
          • 0x6502 Supported drive modes
          • 0x6621 Safety statusword
        • Communication Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
          • Configuring custom PDO mappings
            • Changing the content of a mapping object
        • Manufacturer Specific Area
        • Profile Specific Area
      • Device Information
        • Saving and restoring configurations
          • Overview
          • Usage
            • Restore configuration
            • Save configuration
              • User defaults - config.csv
              • Limitations
          • Parameters
    • 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 frequency
          • Gear Ratio
            • Parameters related to Gear Ratio
        • Manually controlling phase D voltage
          • Overview
          • Usage
          • Limitations
            • Parameters related to Controlling the brake output voltage
        • 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
          • Analog Input Scaling
            • Requirements
            • Specifications
              • Parameters related to Analog Input Scaling
          • 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
              • Parameters related to Cascaded PID Controller
            • Simple PID Controller
              • Parameters related to Simple PID Controller
          • Dual Loop Cascaded Position Control
            • Overview
            • Usage
            • Parameters related to 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
            • Parameters related to Cogging Torque Compensation
          • Field Weakening
          • Anti-Windup Control
            • Parameters related to 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
              • Parameters related to feedback low-pass filters
            • Torque loop input shaping filter
              • Parameters related to 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
              • Parameters related to 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
            • Parameters related to 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
          • 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
          • Configuring custom PDO mappings
            • Changing the content of an object
        • Manufacturer Specific Area
        • CiA 402 Specific Area
      • 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 frequency
          • Gear Ratio
            • Parameters related to Gear Ratio
        • Manually controlling phase D voltage
          • Overview
          • Usage
          • Limitations
            • Parameters related to Controlling the brake output voltage
        • 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
          • Analog Input Scaling
            • Requirements
            • Specifications
              • Parameters related to Analog Input Scaling
          • 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
              • Parameters related to Cascaded PID Controller
            • Simple PID Controller
              • Parameters related to Simple PID Controller
          • Dual Loop Cascaded Position Control
            • Overview
            • Usage
            • Parameters related to 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
            • Parameters related to Cogging Torque Compensation
          • Field Weakening
          • Anti-Windup Control
            • Parameters related to 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
              • Parameters related to feedback low-pass filters
            • Torque loop input shaping filter
              • Parameters related to 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
            • Parameters related to 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
          • 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
          • Configuring custom PDO mappings
            • Changing the content of an object
        • Manufacturer Specific Area
        • CiA 402 Specific Area
      • 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
              • Parameters related to Cascaded PID Controller
            • Simple PID Controller
              • Parameters related to Simple PID Controller
          • Dual Loop Cascaded Position Control
            • Overview
            • Usage
            • Parameters related to 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
          • 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
          • Configuring custom PDO mappings
        • Manufacturer Specific Area
        • CiA 402 Specific Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
          • Configuring custom PDO mappings
      • 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
              • Parameters related to Cascaded PID Controller
            • Simple PID Controller
              • Parameters related to 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
          • 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
      • Device Information
  • Resources
    • System integration guidelines
      • Drive Sizing
        • Requirements of the application
          • Application Requirements
          • Servo Drive Output
          • Servo Drive Consumption
        • Calculating the phase current
          • Nonlinearity buffer
      • Choosing a power supply
        • Supply voltage definitions
        • Regenerated voltage
        • Bus capacitance
        • Power supply sizing
        • Calculating the amperage
        • Contactors behind the power supply
      • Wiring Guidelines
        • DC bus
        • EtherCAT cable
        • Encoder wiring
      • Earthing
        • Overview
          • What is earthing or grounding in an electrical system?
          • Hazards of electricity
        • Earthing concepts
          • Protective Earth
          • Functional Earth
        • Extra Low Voltage systems
        • SELV, PELV, FELV power supplies
        • Earthing connections in SOMANET Products
        • Earthing consideration (guidelines)
      • Regenerative energy
        • Estimation of regenerated energy
        • Restoring or dissipating regenerated power
        • Braking chopper
      • Measuring the brake output voltage
        • Non-safety brake output
        • Safety brake output
      • Configuring analog inputs
        • Overview
        • Measuring analog input voltages
          • Single-ended input
          • Differential input
            • Example for normal values (On SOMANET Node)
            • Examples of faulty values
          • Temperature Sensor input
          • Internal Resistance
      • CANopen over EtherCAT CiA 402
        • Overview
        • EtherCAT
        • CANopen over EtherCAT (CoE)
          • CANopen basic Principles
          • CANopen Device Profile CiA 402 for drives and motion control
          • EtherCAT state machine
          • Drive state machine
          • PDO-Mapping
          • Communication Frequency and DC-Clock Synchronization
      • Using Statusword and Controlword
        • Overview
          • What are Control- and Statusword?
          • How are they used?
          • Manufacturer and Operation mode specific bits
        • Bits in Status- and Controlword
        • Statusword
          • General structure
          • Mode specific bits of the Statusword
          • Internal limit Active bit
        • Controlword
          • General structure
          • Mode specific bits of the Controlword
        • Timing Diagram
      • Temperature sensors
        • Types of temperature sensors
          • Thermocouple
          • Thermistors
          • Resistance temperature detectors
        • Pull-up resistor selection
        • Polynomial or Quintic function
          • Polynomial coefficients
      • Replacing a SOMANET Drive
        • Overview
        • Availability of the configuration file
        • SOMANET Node and SOMANET Circulo with external Encoders
          • Save configuration file
          • Replace the node
          • Update firmware
          • Load the configuration file
          • Run offset detection
          • Save the configuration to the drive
        • SOMANET Circulo with at least one internal encoder
          • Save the configuration file
          • Mark a Reference position on your axis
          • Replace Circulo
          • Load Calibration Firmware
          • Load the configuration file
          • Run offset detection
          • Re-tune the drive
          • Run calibration
          • Load production firmware
          • Run offset detection and save offset to device
          • Test stable operation
          • Check Zero Position
    • 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
      • Drive operations through File Access over EtherCAT (FoE)
        • Overview
        • Updating the firmware
          • Prerequisite
          • Setup Information
          • Preparation
          • Steps of Operation
        • Uploading a drive configuration
          • Setup Information
          • Steps of Operation
    • About this documentation
      • Warnings
      • Reporting errors
      • Using offline documentation
      • Versioning

Standard TxPDO mapped Objects¶

Index Name
0x6041 Statusword
0x6061 Modes of operation display
0x6064 Position actual value
0x606C Velocity actual value
0x6077 Torque actual value
0x230A Secondary position value
0x230B Secondary velocity value
0x2401 Analog input 1
0x2402 Analog input 2
0x2403 Analog input 3
0x2404 Analog input 4
0x2702 Tuning status
0x2501 Digital input 1
0x2502 Digital input 2
0x2503 Digital input 3
0x2504 Digital input 4
0x2704 User MISO
0x20F0 Timestamp
0x60FC Position demand internal value
0x606B Velocity demand value
0x6074 Torque demand

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

+86 400 1600 229

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.

© 2022 Synapticon GmbH. All Rights Reserved. Imprint. Data Privacy.
Version: 4.20.18 | Built 2022-11-11