Camozzi DRCS Series User manual

SERIES DRCS
DRIVE
FOR STEPPER MOTORS
CANOPEN USER MANUAL

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

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User manual DRCS - CanOpen
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Drive configuration
Introduction
1.
2.
CanOpen may only be used with the following models:
• DRCS-A05-8-C-0-A
• DRCS-A05-8-C-0-B
The CanOpen function must be enabled via the “QSet” Camozzi configurator (see manual), through which the “Node-id”
and the “baudrate” must be set. The following speeds are allowed:
• 10 Kbit/s • 250 Kbit/s
• 20 Kbit/s • 500 Kbit/s
• 50 Kbit/s • 800 Kbit/s
• 125 Kbit/s • 1 Mbit/s
After configuring the drive in CanOpen mode, the drive must be switched off and on for the new management to be
enabled, the USB cable must also be disconnected from the device, otherwise serial communication remains active and
CanOpen communication suspended.
The two serial communications (USB) and CanOpen do not work simultaneously: when the drive is switched on, with the
USB cable connected to the PC, serial communication is activated and the CanOpen communication is suspended, which
will be activated as soon as the serial connection is interrupted by removing the cable.
The operating modes supported by the Camozzi drive are:
• Position profile
• Velocity profile
• Homing
For all the connections necessary for the correct working of the driver, for the description of all the connectors, you refer
to the manual “DRCS_manual.pdf”.
This manual describes the implementation of the Cia 301 and Cia 402 profiles of the CanOpen for the DRCS Camozzi drive.
With this information, the customer can configure and use the drive through the CanOpen commands, and then implement
the movements through the available profiles.
Information regarding the CanOpen standard was taken from the official website http://www.can-cia.com
For all drive information, not concerning the CanOpen, refer to the Camozzi manual:
- 5000002102_DRCS Manual.docx
- 5000002010_Foglio Istruzioni DRCS.pdf
For the CanOpen wiring it is to use the Camozzi cables. When the device is the last into the CanOpen line it is to use the
terminal resistor.
It is very importanto to activate the hardware enable with the pin 4 “ENB” of the connector I/O, this pin is referred to the
pin 14 “EXCOM”. Look the manual “DRCS_manual.pdf” for this connection.
The products are in compliance with the requirements stated in the following directives:
- 2004/108/CE
The products comply either fully, or for the applicable parts, with the following standards:
- CEI EN 61131-2
Made in Italy
Encoder / Step
e direzione
USB
CanOpen
Brake
Logic 24V
Power 48V
Motor
NFC
Bluetooth
Inside
I/O

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The object dictionary is at the heart of every CanOpen device, it is defined in the EDS configuration file “drcs_rev102.eds”
which can be downloaded from the Camozzi website. The objects are defined by the Cia 301 profile, the Cia 401 profile
and the manufacturer’s specifications.
Object dictionary
3.
ID Sub Description Type Access PDO
mapping
Default
value
1000 0 Device Type U32 RO 0xFF7C0192
1001 0 Error register U8 RO Yes
1002 0 Manufacturer status register U32 RO Yes
1003 Pre defined error list
0 Number of error U32 RO
1 Standard error field U32 RO
2 Standard error field U32 RO
3 Standard error field U32 RO
4 Standard error field U32 RO
5 Standard error field U32 RO
6 Standard error field U32 RO
7 Standard error field U32 RO
8 Standard error field U32 RO
1005 0 COB_ID sync U32 RW 0x00000080
1006 0 Communication Cycle Period U32 RW 0
1007 0 Syncronous Window Lenght U32 RW 0
1008 0 Manufacturer device name STR CONST DRCS
1009 0 Manufacturer hardware version STR CONST 1
100A 0 Manufacturer software version STR CONST 1.18
100C 0 Guard time U16 RW 0 ms
100D 0 Life time factor U16 RW 0
1010 Store parameter field
0 Highest sub-index supported U32 RO
1 Save all parameters U32 RW
1011 Restore default parameters
0 Highest sub-index supported U32 RO
1 Restore all default parameters U32 RW
1012 0 COB-ID time stamp U32 RW 0x80000100
1014 0 COB_ID emcy U32 RO 0x00000080
1015 0 Inhibit time emergency U16 RW 0
1017 0 Producer heartbeat time U16 RW 0 ms
1018 Identity object
0 Number of entries U8 RO 4
1 Vendor id U8 RO 0x151
2 Product code U32 RO 0x5A
3 Revision number U32 RO 1
4 Serial number U32 RO 0
1019 0 Synchronous counter overflow value U8 RW 0
1020 Verify configuration
0 Highest sub-index supported U32 RO 2
1 Configuration date U32 RW -
1200 Server SDO parameter
0 Highest sub-index supported U8 RO 2
1 COIB-ID client->server U32 RO 0x00000600
2 COIB-ID server->client U32 RO 0x00000580
1400 Rx PDO communication parameter 1
0 Highest sub-index supported U8 RO 2
1 COB-ID U32 RW 0x00000200
2 Trasmission type U8 RW 0xFF
1401 Rx PDO communication parameter 2
0 Highest sub-index supported U8 RO 2
1 COB-ID U32 RW 0x80000300
2 Trasmission type U8 RW 0xFF
1402 Rx PDO communication parameter 3
0 Highest sub-index supported U8 RO 2
1 COB-ID U32 RW 0x80000400
2 Trasmission type U8 RW 0xFF
3.1 CIA301 profile objects

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ID Sub Description Type Access PDO
mapping
Default
value
1403 Rx PDO communication parameter 4
0 Highest sub-index supported U8 RO 2
1 COB-ID U32 RW 0x80000500
2 Trasmission type U8 RW 0xFF
1404 Rx PDO communication parameter 5
0 Highest sub-index supported U8 RO 2
1 COB-ID U32 RW 0x80000000
2 Trasmission type U8 RW 0xFF
1405 Rx PDO communication parameter 6
0 Highest sub-index supported U8 RO 2
1 COB-ID U32 RW 0x80000000
2 Trasmission type U8 RW 0xFF
1406 Rx PDO communication parameter 7
0 Highest sub-index supported U8 RO 2
1 COB-ID U32 RW 0x80000000
2 Trasmission type U8 RW 0xFF
1407 Rx PDO communication parameter 8
0 Highest sub-index supported U8 RO 2
1 COB-ID U32 RW 0x80000000
2 Trasmission type U8 RW 0xFF
1600 Rx PDO mapping parameter 1
0 Number of mapped object U8 RW 1
1 Mapping entry 1 U32 RW 0x60400010
2 Mapping entry 2 U32 RW -
3 Mapping entry 3 U32 RW -
4 Mapping entry 4 U32 RW -
5 Mapping entry 5 U32 RW -
6 Mapping entry 6 U32 RW -
7 Mapping entry 7 U32 RW -
8 Mapping entry 8 U32 RW -
1601 Rx PDO mapping parameter 2
1602 Rx PDO mapping parameter 3
1603 Rx PDO mapping parameter 4
1604 Rx PDO mapping parameter 5
1605 Rx PDO mapping parameter 6
1606 Rx PDO mapping parameter 7
1607 Rx PDO mapping parameter 8
1800 Tx PDO communication parameter 1
0 Sub-index supported U8 RO 5
1 COIB-ID U32 RW 0x00000180
2 Tranmission type U8 RW 0xFF
3 Inhibit time U16 RW 0
4 Compatibility entry U8 RW 0
5 Event timer U16 RW 0
1801 Tx PDO communication parameter 2
0 Sub-index supported U8 RO 5
1 COIB-ID U32 RW 0x80000280
2 Tranmission type U8 RW 0xFF
3 Inhibit time U16 RW 0
4 Compatibility entry U8 RW 0
5 Event timer U16 RW 0
1802 Tx PDO communication parameter 3
0 Sub-index supported U8 RO 5
1 COIB-ID U32 RW 0x80000380
2 Tranmission type U8 RW 0xFF
3 Inhibit time U16 RW 0
4 Compatibility entry U8 RW 0
5 Event timer U16 RW 0
1803 Tx PDO communication parameter 4
0 Sub-index supported U8 RO 5
1 COIB-ID U32 RW 0x80000480
2 Tranmission type U8 RW 0xFF
3 Inhibit time U16 RW 0
4 Compatibility entry U8 RW 0
5 Event timer U16 RW 0

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ID Sub Description Type Access PDO
mapping
Default
value
1804 Tx PDO communication parameter 5
0 Sub-index supported U8 RO 5
1 COIB-ID U32 RW 0x80000000
2 Tranmission type U8 RW 0xFF
3 Inhibit time U16 RW 0
4 Compatibility entry U8 RW 0
5 Event timer U16 RW 0
1805 Tx PDO communication parameter 6
0 Sub-index supported U8 RO 5
1 COIB-ID U32 RW 0x80000000
2 Tranmission type U8 RW 0xFF
3 Inhibit time U16 RW 0
4 Compatibility entry U8 RW 0
5 Event timer U16 RW 0
1806 Tx PDO communication parameter 7
0 Sub-index supported U8 RO 5
1 COIB-ID U32 RW 0x80000000
2 Tranmission type U8 RW 0xFF
3 Inhibit time U16 RW 0
4 Compatibility entry U8 RW 0
5 Event timer U16 RW 0
1807 Tx PDO communication parameter 8
0 Sub-index supported U8 RO 5
1 COIB-ID U32 RW 0x80000000
2 Tranmission type U8 RW 0xFF
3 Inhibit time U16 RW 0
4 Compatibility entry U8 RW 0
5 Event timer U16 RW 0
1A00 Tx PDO mapping parameter 1
0 Number of mapped object U8 RW 1
1 Mapping entry 1 U32 RW 0x60410010
2 Mapping entry 2 U32 RW -
3 Mapping entry 3 U32 RW -
4 Mapping entry 4 U32 RW -
5 Mapping entry 5 U32 RW -
6 Mapping entry 6 U32 RW -
7 Mapping entry 7 U32 RW -
8 Mapping entry 8 U32 RW -
1A01 Tx PDO mapping parameter 0
1A02 Tx PDO mapping parameter 1
1A03 Tx PDO mapping parameter 2
1A04 Tx PDO mapping parameter 3
1A05 Tx PDO mapping parameter 4
1A06 Tx PDO mapping parameter 5
1A07 Tx PDO mapping parameter 6
1F80 0 NMT startup U32 RW 0x00000004
3.2.1 1000h Device time
This object contains information on the device type and its functions. It consists of a first 16-bit field describing the profile
used, and a second 16-bit field containing specific additional information.
3.2.2 1001h Error register
This object contains the device’s internal error mapping, it is a mandatory object for all devices and forms part of the
emergency objects.
The defined values are:
3.2 CIA 301 profile object description
Bit Optional Description
0 Mandatory Generic error
1 Optional Current
2 Optional Voltage
3 Optional Temperature
4 Optional Communication error
5 Optional Profile-specific
6 Optional Reserved
7 Optional Reserved

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3.2.3 1002h Manufacturer status register
This object contains the device status, it is manufacturer-specific.
3.2.4 1003h Pre-defined error field
This object contains errors that have occurred on the device and have been reported by emergency messages.
It provides an error history.
Sub-index 0 contains the number of errors that are currently saved from sub-index 1 to sub-index 8.
When there are no errors it contains the value zero. Each new error is saved to index 1 and former ones are moved to
higher indices.
Entering zero into sub-index 0 deletes the error history , resetting all saved errors.
Each error consists of a 16-bit field with the error code, defined by the CanOpen, and another 16-bit field with additional
manufacturer information.
3.2.6 1006h Communication cycle period
This object contains the cyclic communication period for SYNC messages in milliseconds, when its value is zero the device
does not send synchronism messages.
3.2.7 1007h Syncronous Window Length
This object contains the synchronous window length for PDO messages i.e. the time from the synchronism message within
which the synchronous PDOs must arrive in order to be valid.
If the value is set to zero, the synchronization window is disabled.
3.2.8 1008h Manufacturer hardware name
This object contains the device name given by the manufacturer.
3.2.9 1009h Manufacturer hardware version
This object contains the hardware version of the device.
3.2.10 100Ah Manufacturer software version
This object contains the firmware version of the device.
3.2.11 100Ch Guard time
This object, together with the next 100Dh, represent the configuration of the “life guarding “ protocol. The Guard time
contains the period in which the “guarding” message is sent , it is expressed in ms, if set to zero the “life guarding” protocol
is disabled.
3.2.12 100Dh Life time factor
This object contains the number of “guarding“ messages that can be lost. This value multiplied by the “Guard time” is
the maximum amount of time within which the guarding messages must arrive in order to avoid an error and reset the
communication.
3.2.13 1010h Store parameter field
This object stores the parameters in eprom.
Sub- index 1 refers to saving all objects supported by the device.
To avoid unintentionally saving data, saving is only performed if the “save” signature is written in the object:
3.2.5 1005h COB-ID sync
This object contains the COB-ID configuration of the synchronization message (SYNC), indicating whether or not the device
generates the message.
Manufacturer info Error type
0x2310 Overcurrent error
0x3120 Power voltage absent/too low error
0x4210 Temperature too high error
0x7305 Position, step loss (if external encoder present) error
0x8613 Homing procedure timeout error
0x6320 Motor configuration error
0x7320 Positioning out of software limits error
0xFF13 Operation without reset
0x5530 Flash data lost
MSB LSB
Character e v a s
Hex 65h 76h 61h 73h
Bit Value Description
31(MSB) X Not used
30 0
1
Device not generating SYNC message
Device generating SYNC message
29 0
1
11-bit CAN-ID
29-bit CAN-ID
28-0 X 29 bit extended address
11-0 X 11 bit standard address

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3.2.15 1014h COIB-ID EMCY
This object contains the EMCY service configuration
3.2.16 1015h Inhibit time emergency
This object contains the EMCY message inhibit time, it must be a multiple of 100 useconds. Inhibit time will disable if set
to zero.
3.2.17 1017h Producer hearbeat time
This object contains the heartbeat protocol configuration, indicating the period in which the heartbeat message is
produced. The period must be a multiple of 1msecond, heartbeat management will disable if set to zero.
3.2.18 1018h Identity object
This object contains information about the device:
3.2.19 1019h Synchronous counteroverflow value
This object contains the SYNC message configuration, if the value is set to zero the SYNC message will have no parameter, if the
value is between 2 and 240 then the SYNC message will have a parameter byte, which will contain a counter.
3.2.20 1020h Verify configuration
This object contains the date and time of the last configuration. The device supports saving in eprom , the date and time
may be set on the PLC that saves to the device in order to have this information available for subsequent power ups.
Bit Value Description
31(MSB) 0
1
Device does not consume the TIME message
Device consumes the TIME message
30 0
1
Device does not produce the TIME message
Device produces the TIME message
29 0
1
11-bit CAN-ID
29-bit CAN-ID
28-0 X 29 bit extended address
11-0 X 11 bit standard address
Bit Value Description
31(MSB) 0
1
EMCY present / valid
EMCY absent / invalid
30 0 Reserved
29 0
1
11-bit CAN-ID
29-bit CAN-ID
28-0 X 29 bit extended address
11-0 X 11 bit standard address
Sub-index Description Value
0Sub-index number 4
1Vendor ID 151h
2Product code 05Ah
3Revision number 001h
4Serial number 000h
3.2.14 1012h COIB-ID time stamp
This object contains the time stamp (TIME) message configuration, indicating whether the device consumes or produces
the message.
When the correct signature is received, the device saves it in eprom and when this has been completed successfully it responds
with confirmation of the SDO transmission , whereas in the event of an error, the device responds with the SDO transmission failure.
Below is the list of stored objects:
• 1005h – COB-ID sync
• 1006h- Communication cycle period
• 1007h – Sincrhronous window length
• 100Ch – Guard time
• 100Dh – Life time factor
• 1012h – COB-ID time stamp
• 1015h – Inhibit time emergency
• 1017h – Producer heartbeat time
• 1019h – Synchronous counter overflow value
• 1020h – Verify configuration
• 1400h-14007h – Rx PDO communication parameter
• 1600h-16007h – Rx PDO mapping parameter
• 1800h-18007h – TxPDO communication parameter
• 1A00h-1A007h – Tx PDO mapping parameter
• 1F80h – NMT startup
• 2001h – Feed converter
• 606Dh – Velocity window
• 606Eh – Velocity window time
• 606Fh – Velocity threshold
• 6070h – Velocity threshold time
• 607Ch – Home offset
• 607Eh - Polarity
• 6081h – Profile velocity in pp mode
• 6083h – Profile acceleration
• 6984h – Profile deceleration
• 6098h – Homing method
• 6099h – Homing speed
• 60FFh – Target velocity

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3.2.21 1400h – 1407h Rx PDO communication parameter
These objects contain the configuration of the PDO communication that the device can receive. The PDO transmission
parameters are described in the CIA301 document, section 7.4.8.1.
The PDO COB-ID is contained in sub-index 1:
Transmission type is contained in sub-index 2:
• Value = 0 Synchronous transmission (with SYNC messages)
• Value = 1-240 Synchronous transmission every N SYNC messages
• Value = 252-253 Transmission only upon transmission request (RTR)
• Value = 254 Manufacturer-specific asynchronous transmission
• Value = 255 Device profile-specific asynchronous transmission
RPDOs with transmission type set to 255 require the immediate updating of all mapped objects, as foreseen by the Cia
drive specifications.
3.2.22 1600h – 1607h Rx PDO mapping parameter
These objects contain the PDO mapping that the device is able to receive.
The sub-index 0 contains the number of objects mapped in the PDO, no object is mapped if the value is set to zero.
Each sub-index from 1 to the previously specified number, contains information on the object mapped in the PDO:
Below is the sequence to change PDO mapping:
• Disable the Rx PDO by setting the bit 31, in sub-index 1 of the RPDO communication parameter, to the value 1
• Disable the existing mapping by setting sub-index 0 to zero
• Change the mapping by adjusting the value of the corresponding sub-index
• Enable mapping by setting the sub-index 0 to the number of mapped objects
• Enable the Rx PDO by setting the bit 31, in sub-index 1 of the RPDO communication parameter, to the value 0
3.2.23 1800h – 1807h Tx PDO communication parameter
These objects contain the configuration of the PDO communication that the device can transmit. The PDO transmission
parameters are described in the CIA301 document, section 7.4.8.1.
The PDO COB-ID is contained in sub-index 1:
Transmission type is contained in sub-index 2:
• Value = 0 Synchronous transmission (with SYNC messages)
• Value = 1-240 Synchronous transmission every N SYNC messages
• Value = 252-253 Transmission only upon transmission request (RTR)
• Value = 254 Manufacturer-specific asynchronous transmission
• Value = 255 Device profile-specific asynchronous transmission
TPDOs with transmission type set to to 255 are only transmitted when the “status word” object is mapped and has changed,
all other mapped objects do not lead to transmission, as foreseen by the CIA drive specifications.
Sub-index 3 contains the minimum time interval for which the TPDO can be transmitted when the transmission type set
is 255 or 254.
This value is a multiple of 100usec, the minimum interval is disabled if set to zero.
Sub-index 4 is reserved.
Sub-index 5 contains the maximum time interval for which the TPDO can be transmitted when the transmission type set
is 255 or 254.
This value is a multiple of 1msec, the maximum interval is disabled if set to zero.
3.2.24 1A00h – 1A07h Tx PDO mapping parameter
See RxPDO mapping.
Bit Value Description
31(MSB) 0
1
PDO present / valid
PDO absent / invalid
30 X Reserved
29 0
1
11 bit CAN-ID
29 bit CAN-ID
28-0 29 bit CAN-ID (extended address)
11-0 11 bit CAN-ID (standard address)
Bit Value Description
31(MSB) 0
1
PDO present / valid
PDO absent / invalid
30 0
1
RTR supported
RTR unsupported
29 0
1
11 bit CAN-ID
29 bit CAN-ID
29-11 29 bit CAN-ID (extended address)
10-0 11 bit CAN-ID (standard address)
31 16 15 8 7 0
Index Sub-index Lenght
MSB LSB

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The drive allows the modification of bit 2 “NMT master start”:
- 0 = Allows the device to go into “operating status” automatically at startup
- 1 = Does not allow the device to go into the “operating status” automatically.
And change bit 3 “Start node”:
- 0 = The master must put the device into “operating status”
- 1 = the device immediately goes into “operating status” at startup
Attempting to set a bit that is not managed by the device, returns an object writing abort error.
3.2.25 1F80h NMT Startup
This object contains the drive startup behaviour configuration, the bit description of its value is described in the following
image:
31 24 23 16 15 8 7 0
Reserved
0000 00hConfiguration
MSB LSB
76543210
Reserved
0b
Stop
all nodes
Flying
master
Reset
all nodes
Start
node
NMT
master start
Start
all nodes
NMT
master
MSB LSB
ID Sub Description Type Access PDO
mapping
Default
value
603Fh 0 Error code U16 RO Yes
6040h 0 Controlword U16 WO Yes
6041h 0 Statusword U16 RO Yes
6060h 0 Modes of operatoin S8 RW Yes 0
6061h 0 Modes of operation display S8 RO Yes 0
6062h 0 Position demand value S32 RO
6064h 0 Position actual value S32 RO Yes 0 mm
606Bh 0 Velocity demand value S32 RO 0 mm/s
606Ch 0 Velocity actual value S32 RO Yes 0 mm/s
606Dh 0 Velocity window U16 RW 0 mm/s
606Eh 0 Velocity window time U16 RW 0 ms
606Fh 0 Velocity threshold U16 RW 0 mm/s
6070h 0 Velocity threshold time U16 RW 0 ms
607Ah 0 Target position S32 RW Yes 0 mm
607Ch 0 Home offset S32 RW Yes 0 mm
607Dh Software position limit
0 Sub-index support U32 CONST
1 Min software position limit S32 RO QSet
2 Max software position limit S32 RO Qset
607Eh 0 Polarity U8 RW Yes 0
6081h 0 Profile velocity in pp-mode U32 RW Yes 0 mm/s
6083h 0 Profile acceleration U32 RW Yes 0 mm/s2
6084h 0 Profile deceleration U32 RW Yes 0 mm/s2
608Fh Position encoder resolution
0 Sub-index supported U32 CONST 2
1 Encoder increments U32 RO 1000
2 Motor revolutions U32 RO 1
6091h Gear ratio
0 Sub-index supported U32 RO 2
1 Motor revolutions U32 RO Qset
2 Shaft revolutions U32 RO Qset
6092h Feed constant
0 Sub-index supported U32 RO 2
1 Feed U32 RO QSet
2 Shaft revolutions U32 RO QSet
6098h 0 Homing metod U8 RW Yes 17
6099h Homing speed
0 Sub-index supported U32 RO 2
1 Fast homing speed U32 RW Yes 0 mm/s
2 Slow homing speed U32 RW Yes 0 mm/s
60FFh 0 Target velocity S32 RW Yes 0 mm/s
6402h 0 Motor type U16 RO 0x09
6402h 0 Motor manufacturer STR RO Camozzi
6502h 0 Supported drive modes U32 RO 0x25
67FFh 0 Single device type U32 RO 0x00440192
3.3 CIA 402 profile objects

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15 11 10 9 8 7 6 4 3210
ms r oms h fr oms eo qs ev so
MSB LSB
3.4.1 603Fh Error code
This object contains the last error code that occurred on the drive, it is the same information present in object 1003h
sub-index 1.
3.4.2 6040h Controlword
This object checks the drive status and function. It is used to enable / disable power and start / stop a movement.
This object together with the “status word” are used for the management of the state machine of the Cia402 profile, refer
to the relative manual Cia402-2.
The word is subdivided into bits with the following meanings:
The possible commands to change the drive status are summarised in the following table:
Bit 8, the halt function , interrupts the command in execution, but as soon as it is reset, the command resumes if possible,
depending on the operating mode.
- ms = manufacturer specifications
- r = reserved
- oms = dependant on operating mode
- h = halt
- fr = error reset
- eo = enable command
- qs = quick stop
- ev = enable power
- so = startup
3.4 CIA 402 profile object descriptions
Command fr (bit7) eo (bit3) qs (bit2) ev (bit1) so (bit0) FSA
Shutdown 0 x 1 1 0 2,6,8
Switch on 001113
Enable operation 011114,16
Disable voltage 0 x x 0 x 7,9,10,12
Quick stop 0 x 0 1 x 7,10,11
Disable operation 001115
Fault reset | xxxx15
Not ready to
switch on
Ready to
switch on
Switch on
disabled Fault
Fault reaction
active
Power-off or reset
Start
0
1
2
3
4
7
6
5
8 9
15
13
10
12
11
16
Switched on
Operation
enabled
Quick stop
active

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3.4.3 6041h Statusword
This read-only object represents the current status of the drive.
The word is subdivided into bits with the following meanings:
15 14 13 12 11109876543210
ms oms ila tr rm ms w sod qs ve f oe so rtso
MSB LSB
- ms = manufacturer specifications
- oms = dependant on operating mode
- ila = internal limits active
- tr = target reached
- rm = remote
- w = warning (drive status does not change)
- sod = operation disabled
- qs = quick stop
- ve = Power enabled
- f = error (drive in error status)
- oe = command enabled
- so = active operation
- rtso = ready for operation
The below table shows the bit configurations according to drive status:
3.4.4 6060h Mode of operation
This object contains the drive operating mode request.
The operating modes are specified in the following table:
statusword (bit15…bit0) drive status
xxxx xxxx x0xx 0000 Not ready to operate
xxxx xxxx x1xx 0000 Operation disabled
xxxx xxxx x01x 0001 Ready for operation
xxxx xxxx x01x 0011 Operation active
xxxx xxxx x01x 0111 Command active
xxxx xxxx x00x 0111 Quick stop active
xxxx xxxx x0xx 1111 Error during command
xxxx xxxx x0xx 1000 Drive in error status
Value Operating mode
0No mode requested
1Profile position
3Velocity profile
6 Homing
For the profile descriptions, see chapters 4,5 and 6.
3.4.5 6061h Mode of operation display
This object contains the operating mode value in which the drive is located. It can be one of the profiles listed above.
3.4.6 6064h Position actual value
This object contains the current position value measured by the drive, expressed in the set unit of measurement.
3.4.7 606Ch Velocity actual value
This object contains the actual velocity value measured by the drive, expressed in the set unit of measurement.
3.4.8 606Dh Velocity window
This object contains the value within which the measured velocity must be in comparison to the required velocity, in order
for the velocity condition to be reached , and set the bit number 10 “target reached” of the statusword.
The specified minimum time condition for the next object must be respected to set the bit.
acceptance velocity range
velocity window velocity window
velocity
velocity not reachedvelocity not reached velocity reached
target velocity

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Value Direction
0x00 Forwards
0x80 Reverse
Sub-index 1 Encoder increments 1000
Sub-index 2 Motor revolutions 1
3.4.9 606Eh velocity window time
This object contains the minimum time in which the measured velocity must remain within the window specified by the
previous object, in order for it to be in the velocity reached condition, and set the bit 10 “target reached” of the statusword.
3.4.10 606Fh Velocity threashold
This object contains the zero velocity threshold value. When the current velocity is lower than the minimum time threshold
set in the next object, the motor is considered stationary and bit 12 of the statusword is set .
3.4.11 6070h velocity threashold time
This object contains the minimum time in which the current velocity must remain below the threshold value specified in
the previous object, for the motor to be considered stationary, and then set bit 12 of the statusword.
3.4.12 697Ah Target position
This object contains the position that the motor must reach when the operation is in the position profile, using the velocity
and acceleration parameters specified by the designated objects. The target position can be considered as an absolute or
relative value according to the bit “ abs / rel” of the controlword (specific bits for the profile).
Upon reaching the position, bit 10 “target reached” of the statusword is set.
3.4.13 607Ch Homeoffset
This object contains the offset to apply to the physical zero position (imposed by the proximity position) to obtain the zero
position of the motor.
During the homing procedure, the proximity is found and then the motor is moved until the offset is reached and this
position is set as the motor zero.
3.4.14 607Dh Software position limit
This object contains two parameters, the minimum and maximum limit of the absolute motor position.
If the target position reached is not within the set limits, an error is generated and the motor will not move.
The limits are expressed in the set unit of measurement and refer to the homing position.
3.4.15 607Eh Polarity
This object allows the motor rotation direction to be reversed, in order to change the movement direction based on the
physical mounting of the motor without intervening in the phase wiring.
Setting bit 7 reverses the rotation direction.
3.4.16 6081h Profile velocity in pp-mode
This object contains the value of the velocity reached after the acceleration phase, during the position profile movement,
valid for both directions. If the velocity is higher than the set maximum, the drive is limited.
3.4.17 6083h Profile acceleration
This object contains the acceleration value used during the position profile movement, which determines the ramp with
which the velocity set in the previous object will be reached.
3.4.18 6084h Profile deceleration
This object contains the deceleration value used during the position profile movement, which determines the ramp with
which the zero velocity will be reached.
3.4.19 608Fh Position encoder Resolution
This object contains two read-only parameters, the number of pulses per revolution and the number of revolutions per
turn of the optional encoder.
3.4.20 6091h Gear ratio
This object contains two read-only parameters that provide the reduction ratio (if present) between the motor and the
connected cylinder / axis.
These parameters are set by the QSet, when the axis is configured.
Reduction ratio = motor revolution / shaft revolution
3.4.21 6092h Feed constant
This object contains two read-only parameters that provide the linear motion ratio in mm / pulley revolution, these
parameters are set by the QSet at configuration, based on the code of the cylinder or axis on which the motor is mounted.
Linear ratio = feed / shaft revolutions
3.4.22 6098h Homing metod
This object contains the zeroing method used by the device for the homing procedure, the permitted values are:
- 17 = Homing with zero proximity search in the positive direction.
- 18 = Homing with zero proximity search in the negative direction.
- 37 = Homing without zero proximity, the actual position will be zero position
For a description of this procedure, see chapter 7 of this document.

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3.4.23 6099h Homing speed
This object contains the speed values used during the zero procedure.
- Fast homing speed = speed used to search for the zero proximity.
- Slow homing speed = speed used to depart from the zero proximity.
3.4.24 60FFh Target velocity
This object contains the target velocity during the velocity profile operation.
3.4.25 6402h Motor type
This read-only object contains the motor type that can be used with the drive:
- 9 = microstep stepper motor
3.4.26 6502h Supported drive modes
This read-only object specifies the operating modes supported by the drive, its value is described below:
For a detailed description of this procedure, see chapter 7 of this document.
31 16 15 11 109876543210
manufactured-specific reserved cstca cst csv csp ip hm r tq pv vl pp
MSB LSB
Bit number Operation supported
0Profile position Yes
1Speed operation -
2Velocity profile Yes
3Torque profile -
4 Reserved
5 Homing Yes
6 Interpolation. -
7 Reserved
8 Reserved
9 Reserved
10…15 Reserved
16…31 Manufacturer specifications
ID Sub Description Type Access PDO mapping
2001h Feed converter
0Sub-index supported U32 RO -
1 Numerator U32 RW -
2 Denominator U32 RW -
2002h 0 Input status U32 RO Yes
2003h 0 Output status U32 RO Yes
2004h 0 Homing status U8 RO Yes
2005h 0 Brake U8 RW Yes (R)
3.5 Manufacturer custom objects
3.6.1 2001h Feed converter
This parameter changes the unit of measurement used for the position, the speed and acceleration used to read and write
dictionary objects and PDOs.
The default units of measurement are:
- Position [mm]
- velocity [mm/s]
- Acceleration [mm/s2]
It is possible to change the unit of measurement to that required with this object:
New unit = default unit * Numerator / Denominator
For example, to set the unit of measurement to inches:
- Numerator = 100
- Denominator = 254
3.6.2 2002h Input status
This read-only parameter contains the status of the inputs present in the drive . The bit representation is described below:
3.6 Description of manufacturer custom objects
Bit 11-31 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Reserved Proxy
ext
Proxy
home Strobe Enable In 8 In 7 In 6 In 5 In 4 In 3 In 2 In 1

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Bit 6-31 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Reserved Ready Homing ok Pos ok Out Busy Alarm
3.6.3 2003h Output status
This read-only object contains the status of the outputs present in the drive .
The bit representation is described below:
Bit 2 contains the programmable output status via the Qset . See the relative manual.
3.6.4 2004h Homing status
This read-only object contains the reset homing status.
- 1 = Homing present
- 0 = Homing not performed
3.6.5 2005h Brake
This object contains the motor brake status, when present. The motor brake is automatically controlled by the drive, with
a torqueless motor, the brake is active, with a torque motor, the brake is disabled.
The brake status can only be changed with a torqueless motor, in this case the brake can be deactivated to move the
engine manually.
3.6.6 2100h Total time off
This read-only object contains the total time that the drive has been torqueless while powered on, since it left the factory.
The time is expressed in seconds.
3.6.7 2101h Total time on
This read-only object contains the total time that the drive has been torque while switched on, but in stop status, since it
left the factory. The time is expressed in seconds.
3.6.8 2102h Total time run
This read-only object contains the total time that the drive has been torque while switched on and in action, since it left
the factory. The time is expressed in seconds.
3.6.9 2103h Total stroke
This read-only object contains the total stroke performed by the drive, considering each movement in absolute value
excluding the rotation direction. The stroke is expressed in motor revolutions.
Unit of measurement
4.
The units of measurement with the default drive settings (when use of a Camozzi axis / cylinder is configured by QSet) are:
- Position [mm]
- Velocity [mm/s]
- Acceleration [mm/s2]
Furthermore, the minimum and maximum software limits are set to zero and the full scale of the selected actuator
(axis / cylinder).
Therefore, all of the dictionary objects such as position target, velocity target and the movement profiles are expressed
through these units of measurement.
To customise the unit of measurement, configure object 2001h “feed converter“ in the object dictionary, composed of
two parameters: parameter 1 “numerator” and parameter 2 “denominator”. The conversion consists of the following
formula:
New unit = default unit * “numerator” / “denominator”
For example, to set the unit of measurement to inches, adjust the “feed converter” as follows:
- Numerator = 100
- Denominator = 254
In doing so, the units of measurement become:
- Position [Inch]
- Velocity [Inch/s]
- Acceleration [Inch/s2]
When the drive is configured (from QSet) to be used without a Camozzi axis / cylinder, but just with motor, the software limits
are not set, and the units of measurement are:
- Position [°]
- Velocity [°/s]
- Acceleration [°/s2]
This unit of measure can be changed via the 2001h “feed converter” object, for example to change to the drive µstep
(3200µstep / revolution) you have to set:
- Numerator = 888
- Denominator = 100
In doing so, the units of measurement become:
- Position [µstep]
- Velocity [µstep/s]
- Acceleration [µstep/s2]
To perform a complete motor revolution, set a position of 3200µstep.

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The drive provides the operation with the velocity profile specified in the Cia 402 specifications.
This drive operation mode requires a specific movement profile, setting the velocity and accelerations, with which to reach
the position target. The target cannot be changed during a movement, the movement in progress must be terminated or
interrupted before being able to set a new target.
To enable this operation, set the operating mode to value 1 via object 6060h “Modes of operation” and check that the
drive is effectively in the correct status with object 6061h “Modes of operation display”.
In this operating mode the controlword (profile-specific) bits become:
- Bit 4 “new set point” = this bit must be raised to indicate the start of the movement to the set target, the drive response
on the statusword is through bit 12, afterwards, bit 4 must be reset.
- Bit 6 “abs / rel” = this bit is used to indicate the target type to be reached, if absolute with the bit to zero, or relative
with the bit set.
At the end of the movement the statusword bits become:
- Bit 10 “target reached” = this bit indicates the achievement of the target at the end of the positioning.
- Bit 12 “Set-point reached” = this bit indicates the positioning is in progress and remains high until the end of the
command, when it is low it indicates the driver is ready to receive a new command.
The dictionary objects related to this operating profile are:
- 6060h “mode of operation” to be set to value 1 to select the operating mode
- 607Ah “target position” to set the position to be reached
- 6081h “profile velocity in pp.mode” to set the velocity of the movement
- 6083h “profile acceleration” to set the acceleration of the movement
- 6084h “profile Deceleration” to set the deceleration of the movement
The start of the movement is always controlled by bit 4 of the “Controlword”.
Profile position
5.
Actual
speed
t
t
t
t
t
t
New
set-point
(bit 4)
Target
position
(set-point)
Set-point
acknowledge
(bit 12)
Target
reached
(bit 10)

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The drive requires operation with the velocity profile specified in the Cia 402 specifications.
This operation mode provides for the operation of the motor at velocity, after setting the accelerations, once the velocity
target is set, the motor accelerates until the target is reached and then maintains the required velocity until a new request
is made.
To enable this operation, set the operating mode to value 3 via object 6060h “Modes of operation” and check that the
drive is effectively in the correct status with object 6061h “Modes of operation display”.
Velocity profile
6.
Bit 8 of the “controlword” (halt bit) stops the motor with the set deceleration ramp.
Bit 12 of the “statusword” (target reached) is set by the drive when the difference between the target velocity and the
actual velocity is within the value specified in the “velocity window” (606Dh) for at least the time equal to or higher than
the value set in the “velocity window time” (606Eh).
To set this operating mode, set the value 3 in object 6060h “modes of operation” and check the effective status of the drive
with object 6061h “modes of operation display”.
In this operating mode, the motor is moving when the halt bit, bit 8 of the “controlword” is not set and the velocity target
value, 60FFh is different to zero.
The statusword is updated as follows:
- Bit 10 “target reached” = with the “halt” bit equal to zero this bit indicates the achievement of the velocity target, with
the “halt” bit equal to one this bit indicates if motor is stopped: 1=motor stopped 0= motor being decelerated
- Bit 12 “Speed” this bit indicates if motor is stopped: 1= zero speed 0= in movement
The dictionary objects related to this operating profile are:
- 60FFh “Target velocity” to set a velocity target and then start the movement
- 6083h “Profile acceleration” to set the acceleration profile
- 6084h “Profile deceleration” to set the deceleration profile
- 606Dh “Velocity window time” to set the minimum target validation time
- 606Eh “Velocity window time” per impostare il tempo minimo di validazione del target
- 606Fh “Velocity threshold” to set the zero velocity threshold (motor stopped)
- 6070h “Velocity threshold time” to set the minimum time for zero velocity.
Homing
7.
Homing requires operation with the reset profile set out in the Cia 402 specifications.
Homing is the procedure by which the motor searches for the zero position, identified by the zero proximity position, from
this position the counting of all movements starts.
This is the procedure that must be performed immediately after startup to move the motor.
To enable this operation, set the operating mode to value 6 via object 6060h “Modes of operation” and check that the
drive is effectively in the correct status with object 6061h “Modes of operation display”.
To start the reset procedure, set bit 4 of the “controlword”, during the zero search the drive sets bit 12 of the “statusword”
and at the end of the procedure sets bit 10.
Bit 10 of the “statusword” identifies the correct homing execution, but only when the drive is in the reset operating mode,
in the other operating modes this bit changes its functionality.
This is why the 2004h “Homing Ok” dictionary object contains the drive homing status:
- 0: drive without homing
- 1: drive with homing (ready for movement commands)
velocty
time
Target
velocity
Target R.

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To configure the execution movement of the homing procedure, the following objects must be configured:
- 6099h “Homing velocity”
parameter 1 “fast speed ” velocity for proximity search
parameter 2 “slow speed” proximity output velocity
- 6083h “Profile acceleration” acceleration to be used in the movement startup
- 6984h “Profile deceleration” deceleration to be used when stopping the movement
- 607Ch “Home offset” offset to be applied to the physical zero position to move the motor zero
The drive includes three possible resetting methods, two based on the search direction of the zero proximity, and one
without the zero proximity:
- Method 17: Proximity search in a negative direction
- Method 37: Without zero proximity:
In this reset mode, the motor searches for
the zero proximity in the positive direction
of the movement, with the speed set to
“fast velocity”, as soon as the proximity is
detected, the motor stops and exits the
proximity in the opposite direction with the
speed set to “slow velocity “ .
If the proximity is not detected within the
maximum motor stroke or after a timeout,
the reset procedure is interrupted with the
indication of an error.
In this reset mode, the external proximity
to find the zero position is not required,
but the reset setting consists of adjusting
the current position (without moving the
motor) to zero position.
This mode is convenient when the drive
is used without a Camozzi linear actuator
(axis / cylinder), but is configured as “only
motor” via QSet and when only the velocity
profile is wanted, therefore, where the
absolute zero position is not required.
During the homing procedure the “statusword” bits are updated as foolows:
Bit 13
“Homing error”
Bit 12
“Homing atteined”
Bit 10
“Target reached”
Definition
000Homing in progress
001Homing stopped or not started
010Homing stopped
011Homing complited successfully
100Homing in error
101Homing terminated with error
1 1 x Reserved
- Method 18: Proximity search in a positive direction:
In this reset mode, the motor searches for
the zero proximity in the negative direction
of the movement, with the velocity set to
“fast velocity”, as soon as the proximity is
detected, the motor stops and exits the
proximity in the opposite direction with the
velocity set to “slow velocity “ .
If the proximity is not detected within the
maximum motor stroke or after a timeout,
the reset procedure is interrupted with the
indication of an error.
motore
18
proximity
di zero
motore
37
proximity
di zero
17
motore

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Programming examples
8.
The following are the commands to be sent to the drive, configured with address 3, to perform the main functions:
- Enable the motor to execute the commands
ID size data description
$603 $8 $2B 40 60 00 06 00 00 00 “ready to switch on
$603 $8 $2B 40 60 00 07 00 00 00 “Switched on”
$603 $8 $2B 40 60 00 0F 00 00 00 “Operation enabled”
- Switch to the Homing mode profile
$603 $8 $2F 60 60 00 06 00 00 00 “set homing mode”
$603 $8 $2F 98 60 00 11 00 00 00 “set homing metod to 17”
- Setting the homing profile
$603 $8 $23 83 60 00 64 00 00 00 “set acceleration to 100mm/s2”
$603 $8 $23 84 60 00 64 00 00 00 “set deceleration to 100mm/s2”
$603 $8 $23 99 60 01 32 00 00 00 “set fast velocity home to 50mm/s”
$603 $8 $23 99 60 02 32 00 00 00 “set slow velocity home to 50mm/s”
- Start homing procedure
$603 $8 $2B 40 60 00 1F 00 00 00 “set start homing”
$603 $8 $2B 40 60 00 0F 00 00 00 “reset start command”
- Switch to position profile
$603 $8 $2F 60 60 00 01 00 00 00 “set profile position mode”
- Setting the motion profile
$603 $8 $23 81 60 00 32 00 00 00 “set velocity to 50mm/s”
$603 $8 $23 83 60 00 64 00 00 00 “set acceleration to 100mm/s2”
$603 $8 $23 84 60 00 64 00 00 00 “set deceleration to 100mm/s2”
- Command for movement to an absolute position
$603 $8 $23 7A 60 00 2C 01 00 00 “set target to 300mm”
$603 $8 $2B 40 60 00 1F 00 00 00 “set start command”
$603 $8 $2B 40 60 00 0F 00 00 00 “clear command”
- Command for movement to a relative position
$603 $8 $23 7A 60 00 2C 01 00 00 “set target to 300mm”
$603 $8 $2B 40 60 00 5F 00 00 00 “set start command”
$603 $8 $2B 40 60 00 0F 00 00 00 “clear command”
- Switch to the velocity profile
$603 $8 $2B 40 60 00 0F 01 00 00 “set motion halted”
$603 $8 $2F 60 60 00 03 00 00 00 “set profile velocity”
- Setting the motion profile
$603 $8 $23 FF 60 00 32 00 00 00 “set target velocity to 50mm/s”
$603 $8 $23 83 60 00 64 00 00 00 “set acceleration to 100mm/s2”
$603 $8 $23 84 60 00 64 00 00 00 “set deceleration to 100mm/s2”
- Speed movement start / stop command
$603 $8 $2B 40 60 00 0F 00 00 00 “set motion start”
$603 $8 $23 FF 60 00 64 00 00 00 “change target velocity to 100mm/s”
$603 $8 $2B 40 60 00 0F 01 00 00 “set motion halted”
$603 $8 $23 FF 60 00 00 00 00 00 “change target velocity to 0mm/s”

A Camozzi Group Company
www.camozzi.com
MIX COMUNICAZIONE - MI
5000016671 01/2019
Contacts
Camozzi Automation S.p.A.
Via Eritrea, 20/I
25126 Brescia - Italy
Tel.[phone]
www.camozzi.com
Technical assistance
Product inquiries
and requests for support:
Tel.[phone]
[email protected]
Product Certification
Information concerning
product certifications, EC standards,
conformity declarations and instructions
[email protected]