2
Contents
1. Introduction 3
2. Drive configuration 3
3. Object dictionary 4
3.1 Cia301 profile objects 4
3.2 Cia 301 profile object description 6
3.2.1 1000h Device time 6
3.2.2 1001h Error register 6
3.2.3 1002h Manufacturer status register 7
3.2.4 1003h Pre-defined error field 7
3.2.5 1005h COB-ID sync 7
3.2.6 1006h Communication cycle period 7
3.2.7 1007h Syncronous Window Length 7
3.2.8 1008h Manufacturer hardware name 7
3.2.9 1009h Manufacturer hardware version 7
3.2.10 100Ah Manufacturer software version 7
3.2.11 100Ch Guard time 7
3.2.12 100Dh Life time factor 7
3.2.13 1010h Store parameter field 7
3.2.14 1012h COIB-ID time stamp 8
3.2.15 1014h COIB-ID EMCY 8
3.2.16 1015h Inhibit time emergency 8
3.2.17 1017h Producer hearbeat time 8
3.2.18 1018h Identity object 8
3.2.19 1019h Synchronous counteroverflow value 8
3.2.20 1020h Verify configuration 8
3.2.21 1400h – 1407h Rx PDO communication parameter 9
3.2.22 1600h – 1607h Rx PDO mapping parameter 9
3.2.23 1800h – 1807h Tx PDO communication parameter 9
3.2.24 1A00h – 1A07h Tx PDO mapping parameter 9
3.2.25 1F80h NMT Startup 10
3.3 Cia 402 profile objects 10
3.4 Cia 402 profile object descriptions 11
3.4.1 603Fh Error code 11
3.4.2 6040h Controlword 11
3.4.3 6041h Statusword 12
3.4.4 6060h Mode of operation 12
3.4.5 6061h Mode of operation display 12
3.4.6 6064h Position actual value 12
3.4.7 606Ch Velocity actual value 12
3.4.8 606Dh Velocity window 12
3.4.9 606Eh velocity window time 13
3.4.10 606Fh Velocity threashold 13
3.4.11 6070h velocity threashold time 13
3.4.12 697Ah Target position 13
3.4.13 607Ch Homeoffset 13
3.4.14 607Dh Software position limit 13
3.4.15 607Eh Polarity 13
3.4.16 6081h Profile velocity in pp-mode 13
3.4.17 6083h Profile acceleration 13
3.4.18 6084h Profile deceleration 13
3.4.19 608Fh Position encoder Resolution 13
3.4.20 6091h Gear ratio 13
3.4.21 6092h Feed constant 13
3.4.22 6098h Homing metod 13
3.4.23 6099h Homing speed 14
3.4.24 60FFh Target velocity 14
3.4.25 6402h Motor type 14
3.4.26 6502h Supported drive modes 14
3.5 Manufacturer custom objects 14
3.6 Description of manufacturer custom objects 14
3.6.1 2001h Feed converter 14
3.6.2 2002h Input status 14
3.6.3 2003h Output status 15
3.6.4 2004h Homing status 15
3.6.5 2005h Brake 15
3.6.6 2100h Total time off 15
3.6.7 2101h Total time on 15
3.6.8 2102h Total time run 15
3.6.9 2103h Total stroke 15
4. Unit of measurement 15
5. Profile position 16
6. Velocity profile 17
7. Homing 17
8. Programming examples 19
