Faulhaber MCLM 300x CO Series Parts list manual

WE CREATE MOTION
Communication /
Function Manual
Motion Control
MCLM 300x CO
EN

Imprint
2
Version:
2nd edition, 9-11-2018
Copyright
by Dr. Fritz Faulhaber GmbH & Co. KG
Daimlerstr. 23 / 25 · 71101 Schönaich
All rights reserved, including those to the translation.
No part of this description may be duplicated, reproduced,
stored in an information system or processed or
transferred in any other form without prior express written
permission of Dr. Fritz Faulhaber GmbH & Co. KG.
This document has been prepared with care.
Dr. Fritz Faulhaber GmbH & Co. KG cannot accept any
liability for any errors in this document or for the
consequences of such errors. Equally, no liability can be
accepted for direct or consequential damages resulting
from improper use of the equipment.
The relevant regulations regarding safety engineering
and interference suppression as well as the requirements
specified in this document are to be noted and followed
when using the software.
Subject to change without notice.
The respective current version of this technical manual is
available on FAULHABER's internet site:
www.faulhaber.com
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Content
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1 About this document ....................................................................................................... 6
1.1 Validity of this document ...................................................................................... 6
1.2 Associated documents ............................................................................................ 6
1.3 Using this document .............................................................................................. 7
1.4 List of abbreviations ............................................................................................... 7
1.5 Symbols and markers ............................................................................................. 7
2 Quick start ......................................................................................................................... 8
2.1 Start with unconfigured controller ....................................................................... 8
2.2 Setting node number and baud rate .................................................................... 9
2.3 Operation using FAULHABER Motion Manager ................................................. 10
2.4 Operation using own host application ............................................................... 12
2.4.1 Activate CANopen nodes...................................................................... 12
2.4.2 Configure the drives ............................................................................. 13
2.4.3 Operation in one of the CANopen CiA 402 drive profiles.................. 13
3 CANopen protocol description ...................................................................................... 14
3.1 Introduction .......................................................................................................... 14
3.2 Communication services ....................................................................................... 15
3.3 Identifier distribution ........................................................................................... 16
3.4 PDO (Process Data Object) ................................................................................... 17
3.4.1 PDO configuration ................................................................................ 17
3.4.2 PDO mapping in the standard configuration (status as delivered) ... 19
3.4.3 Dealing with mapping errors ............................................................... 20
3.5 SDO (Service Data Object) .................................................................................... 21
3.5.1 Expedited transfer ................................................................................ 21
3.5.2 SDO error description ........................................................................... 23
3.6 Emergency object (error message) ...................................................................... 24
3.7 SYNC object .......................................................................................................... 26
3.7.1 Triggering synchronous PDOs .............................................................. 26
3.8 NMT (Network Management) ............................................................................. 27
3.8.1 Boot up .................................................................................................. 29
3.8.2 Monitoring functions............................................................................ 29
3.8.2.1 Node guarding....................................................................... 30
3.8.2.2 Heartbeat ............................................................................... 31
3.8.3 Settings for the monitoring functions ................................................. 32
3.9 Entries in the object dictionary ........................................................................... 32
3.10 Error handling ...................................................................................................... 33
3.10.1 CAN error............................................................................................... 33
3.10.2 Equipment faults................................................................................... 33

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4 Functional description .................................................................................................... 35
4.1 Drive data ............................................................................................................. 35
4.2 Device Control ...................................................................................................... 37
4.2.1 State machine of the drive ................................................................... 37
4.2.2 Controlword .......................................................................................... 39
4.2.2.1 Example: Enable Operation .................................................. 40
4.2.2.2 Example: Resetting the fault state ....................................... 40
4.2.3 Quick Stop ............................................................................................. 41
4.2.4 Statusword ............................................................................................ 41
4.2.5 Selecting the operating mode ............................................................. 43
4.3 Factor Group ......................................................................................................... 44
4.4 Profile Position Mode and Position Control Function ........................................ 47
4.4.1 Overview of operating mode............................................................... 47
4.4.2 Notification of the higher level control .............................................. 48
4.4.3 Basic settings ......................................................................................... 48
4.4.4 Query current values / Position Control Function ............................... 49
4.4.5 Additional settings................................................................................ 49
4.4.5.1 Incremental encoder as position sensor ............................... 49
4.4.5.2 Ramp generator..................................................................... 49
4.4.5.3 Velocity controller / current limitation................................. 50
4.4.5.4 Motion control commands.................................................... 50
4.5 Homing Mode ....................................................................................................... 52
4.5.1 Homing methods .................................................................................. 52
4.5.2 Homing reference run .......................................................................... 59
4.6 Profile Velocity Mode ........................................................................................... 60
4.6.1 Overview of operating mode............................................................... 60
4.6.2 Notification of the higher level control .............................................. 60
4.6.3 Basic settings ......................................................................................... 61
4.6.4 Actual velocity value ............................................................................. 61
4.6.5 Additional settings................................................................................ 61
4.6.5.1 Movement limits .................................................................... 61
4.6.5.2 Ramp generator..................................................................... 61
4.6.5.3 Current limitation .................................................................. 61
4.6.6 Motion control commands ................................................................... 62
4.6.7 Complex motion profiles ...................................................................... 62
4.7 Cyclic Synchronous Position Mode ...................................................................... 63
4.7.1 Overview of operating mode............................................................... 63
4.7.2 Inputs and outputs................................................................................ 63
4.7.3 Statusword and Controlword............................................................... 64
4.7.4 Settings .................................................................................................. 65
4.8 Inputs/outputs ...................................................................................................... 66
4.8.1 Limit switch connections and switching level ..................................... 66
4.8.1.1 Digital input configuration ................................................... 66
4.8.2 Special functions of the fault pin......................................................... 68
4.8.2.1 Fault pin as error output ....................................................... 68
4.8.2.2 Fault pin as digital output..................................................... 68
4.8.2.3 Fault pin as reference input .................................................. 69
4.8.2.4 Fault pin as “Position reached” output................................ 69
4.8.3 Query the input states .......................................................................... 69

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4.9 Query of the device state ..................................................................................... 70
4.10 Technical information .......................................................................................... 71
4.10.1 Ramp generator .................................................................................... 71
4.10.1.1 Basic settings .......................................................................... 71
4.10.1.2 Ramp generator in Profile Velocity Mode ........................... 72
4.10.1.3 Ramp generator in Profile Position Mode ........................... 73
4.10.2 Sinus commutation ............................................................................... 74
4.10.3 Current controller and I2t current limitation ...................................... 74
4.10.4 Overtemperature protection................................................................ 76
4.10.5 Under-voltage monitoring ................................................................... 76
4.10.6 Overvoltage regulation ........................................................................ 76
4.10.7 Setting the controller parameters ....................................................... 76
4.10.7.1 Default behaviour.................................................................. 76
4.10.7.2 Available controller parameters ........................................... 77
4.10.7.3 Possible procedure................................................................. 78
5 Commissioning ............................................................................................................... 79
5.1 Communication settings ...................................................................................... 79
5.1.1 Setting via the CAN network ............................................................... 79
5.1.1.1 Setting the node number...................................................... 80
5.1.1.2 Setting the Baud rate ............................................................ 80
5.1.2 Reading the node number ................................................................... 80
5.2 Basic settings ......................................................................................................... 81
5.3 Configuration using the Motion Manager ......................................................... 82
5.3.1 Setting the connection ......................................................................... 82
5.3.2 Selecting the motor .............................................................................. 84
5.3.3 Configuring the drive ........................................................................... 84
5.3.3.1 Performing the basic settings ............................................... 85
5.3.3.2 Factor Group .......................................................................... 86
5.3.3.3 Setting the controller parameters ........................................ 86
5.3.3.4 Error handling........................................................................ 87
5.3.3.5 Setting inputs/outputs and homing ..................................... 88
5.3.4 Managing the data set ......................................................................... 89
5.3.5 Diagnosis ............................................................................................... 89
5.3.5.1 Status display ......................................................................... 89
5.3.5.2 Trace function ........................................................................ 89
6 Parameter description .................................................................................................... 90
6.1 Communication objects acc. to CiA 301 .............................................................. 90
6.2 Manufacturer-specific objects ............................................................................. 98
6.3 Objects of the drive profile acc. to CiA 402 ...................................................... 104

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About this document
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1 About this document
1.1 Validity of this document
This document describes:
Quick start:
Initial commissioning and operation of the device with CANopen interface
Communication:
Communication with the drive via CANopen
Basic services provided by the Communication structure
Methods for accessing the parameters
Drive from the viewpoint of the communication system
Function:
Principle of the device controller
Commissioning and configuring the device
Operating modes and functions
This document is intended for following persons:
Users who are commissioning a motor on the FAULHABER Motion Controller for the
first time
Software developers and project engineers with experience of interfaces
Technicians and engineers in the application of controlled electrical drives and indus-
trial communications systems
All data in this document relate to the standard versions of the drives. Changes relating to
customer-specific versions can be found in the according data sheet.
1.2 Associated documents
For certain actions during commissioning and operation of FAULHABER products additional
information from the following manuals is useful:
These manuals can be downloaded in pdf format from the web page www.faulhaber.com/
manuals.
Manual Description
Motion Manager 6 Operating instructions for FAULHABER Motion Manager PC software
Technical manual Instructions for installation and use of the FAULHABER Motion Controller

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1.3 Using this document
Read the document carefully before undertaking configuration.
Retain the document throughout the entire working life of the product.
Keep the document accessible to the operating personnel at all times.
Pass the document on to any subsequent owner or user of the product.
1.4 List of abbreviations
1.5 Symbols and markers
CAUTION!
Hazards to persons. Disregard may lead to minor injuries.
Measures for avoidance
NOTICE!
Risk of damage.
Measures for avoidance
Pre-requirement for a requested action
1. First step for a requested action
Result of a step
2. Second step of a requested action
Result of an action
Request for a single-step action
Abbreviation Meaning
EEPROM Electrically Erasable Programmable Read-Only Memory
MOSFET Metal-Oxide Semiconductor Field-Effect Transistor
PWM Pulse Width Modulation
PLC Programmable Logic Controller
TTL Transistor Transistor Logic
Instructions for understanding or optimising the operational procedures

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Quick start
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2 Quick start
To facilitate introduction, this chapter highlights the initial steps for commissioning and
operation of FAULHABER Motion Controllers with CANopen interface. Additionally, the
detailed documentation must be read and taken into account, particularly chap. 5.3.3.1,
p. 85.
2.1 Start with unconfigured controller
In the unconfigured state, node number 255 is set as the default in the Motion Control sys-
tems and automatic detection of the baud rate is active.
1. Set node number and baud rate by means of LSS.
The correct node number and baud rate is set via the LSS service according to CiA 305.
The FAULHABER Motion Manager or another CANopen configuration tool can be used
for this.
2. Set up communication to the drive node.
The drive node appears with the correct name in the Motion Manager’s tree view.
3. Set motor and controller data via the motor selection wizard.
This preconfigures the controllers for the set motor and the corresponding load.
4. Set application parameters using the configuration dialog.
Use the configuration dialog Drive Functions to adjust at least the basic settings
such as operating mode, range limits, etc. to your application.
Optimise the Hall sensor signals of external BL controllers.
5. Operate the drive via the Tool Controller Tuning.
If the motor is operated for the first time, use the Tool Controller Tuning for the desired
operating mode. Here the controller amplifications can be adjusted precisely to the
application.
6. Perform further settings.
If necessary, use the configuration dialog to make further application-specific settings.
Alternatively, the drive can be started up directly at the own control.

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2.2 Setting node number and baud rate
The standard units are delivered without valid node address (node ID = 255) and with auto-
matic baud rate detection (AutoBaud) set.
Procedure, if the FAULHABER Motion Manager is to be used:
1. Connect the drive unit to a voltage source (24 V).
For details of connection cable assignment see technical manual.
2. Connect drive unit to the CAN interface of the PC and switch on or connect PC to the
CAN network.
3. Start FAULHABER Motion Manager.
4. Establish the connection via the CAN interface.
5. Select menu Configuration - Connection parameters… .
6. Select LSS mode:
If only one LSS node is connected and you do not want to enter any further data,
globally configure individual drive (LSS Switch Mode Global).
If a node is to be configured in the network, selectively configure specified node
(LSS Switch Mode Selective). If the node has not yet been found in the Node
Explorer, enter the serial number of the drive node to be configured here, other-
wise the data fields are already correctly preset.
7. Select the required transfer rate or Auto and set the required node number.
8. Press Send button.
The settings are transferred and are permanently stored in the controller. The
Motion Manager then calls up the Scan function again and the node should now be
displayed with the correct node number in the Node Explorer. After switching off
and on again, the drive will operate with the set configuration.
In order to set the baud rate and node address, the unit must first be connected via
CAN to an appropriate configuration tool, which supports the LSS protocol (layer set-
ting services and protocol) according to CiA DSP305.
FAULHABER Motion Manager installed on a PC with supported CAN interface can be
used for this. The LSS compatible configuration tool can be used to set the node
address and baud rate using the following methods (see chap. 5.1, p. 79):
In Global mode: if only one drive is connected
In Selective mode via the serial number: If a drive is to be configured in the net-
work

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2.3 Operation using FAULHABER Motion Manager
The FAULHABER Motion Manager provides easy access to the CANopen state machines
using menu entries, which can be opened either with the Node Explorer's context menu
(right-click) or with the Commands menu. The required node must have been activated
beforehand by double clicking in the Node Explorer. The current states are always displayed
in the status line at the bottom edge of the Motion Manager window.
For further information on the state machine of a CANopen node refer to chap. 3, p. 14.
1. Configuring drive functions:
In Motion Manager the motor selection wizard is available for selecting the motor and
the corresponding basic parameters.
Other settings, e. g. for the function of the fault output, can be made under the Config-
uration – Drive functions menu item, where a convenient dialogue is provided (see
chap. 5.3, p. 82). The configuration dialogue is also available for direct access in the wiz-
ard bar of the Motion Manager.
NOTICE!
Damage to the controller and/or drive by incorrect values in the Motion Controller's set-
tings
Check basic settings (see chap. 5.3.3.1, p. 85).
2. Select the Network Management - Start Remote Node item in the context menu of the
Node Explorer or in the Commands menu.
The node is in the Operational state. PDO communication is now available.
3. Activate drive via the CiA 402 state machine:
A drive in accordance with CiA 402 must be activated according to a defined sequence
of steps. The necessary commands are directly available in the context menu of the
Node Explorer or via the Commands menu.
Alternatively, the commands can also be executed directly by entering the correspond-
ing Motion Manager commands in the command input field of the terminal window.
For simplified use, the Motion Manager also provides special commands for the CO var-
iants. Those can be entered directly in the command input line in the terminal window
or selected from the Commands menu. After sending the command, a command inter-
preter is activated which converts the command into a corresponding CAN telegram.

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Prepare the drive for switching on via the Device Control - Shutdown menu item or
the
SHUTDOWN command.
Switch on the output stage via the Device Control - Switch On menu item or the
SWITCHON command.
Enable operation via the Device Control - Enable Operation menu item or the
ENOP
command.
Alternatively, the Switch on output stage button can also be pressed to perform
these steps all at once.
4. Move the motor (e.g., relatively by 1 000 increments):
Set Profile Position Mode:
Select the Movement Control - Set Operating Mode 0x6060 (OPMOD) item via the
context menu of the Node Explorer or via the Commands menu and set to Profile
Position Mode (1)
- or -
enter the
OPMOD1 command in the command input field of the terminal window.
Set target position (Target Position) to the value 1 000:
Select the Movement Control - Set Target Position 0x607A (SPOS) item via the con-
text menu of the Node Explorer or via the Commands menu and enter the desired
value in the input field
- or -
enter the
SPOS10000 command in the command input field of the terminal window.

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Move towards target position:
6. Switch off output stage:
Select the Switch off output stage button in the toolbar
- or -
press the F5 key
- or -
select the Device Control - Disable Voltage menu item or execute the
DISABLE com-
mand.
2.4 Operation using own host application
2.4.1 Activate CANopen nodes
Use the Start Remote Node broadcast command with CAN ID 0 to start either an indi-
vidual node or the whole network and to set it to the Operational state.
The first data byte contains the start command
Start Remote Node , the second data byte
contains the node address or 0 for the whole network.
All functions can be proceeded after the node has been started. The drive can now be acti-
vated and operated using the device control functions according to CiA DSP402.
The identifiers of the individual objects are preset according to the Predefined Connection
Set and depend on the node number.
– Select the Device Control - Enable Operation item via the context menu of the
Node Explorer or via the Commands menu
- or -
enter the
ENOP command in the command input field of the terminal window.
– Select the Movement Control - Start Relative Positioning (MR) item via the context
menu of the Node Explorer or via the Commands menu
- or -
enter the
MR command in the command input field of the terminal window.
11-bit identifier 2 bytes user data
ID 0x000 01 00

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On delivery, the drives are in operating mode Modes of Operation = 1 after switch on (Pro-
file Position Mode). The drive is controlled by using the device control state machine, which
is operated by the Controlword (object 0x6040 or RxPDO) and queried using the Statusword
(object 0x6041 or TxPDO).
2.4.2 Configure the drives
Configure the drive by means of SDO transfer using the objects of the object dictionary.
2.4.3 Operation in one of the CANopen CiA 402 drive profiles
A drive in accordance with CiA402 must be activated according to a defined sequence of
steps (see chap. 4.2, p. 37). Write access to the Controlword is possible using the object dic-
tionary at address 0x6040 or using RxPDO:
1. Execute the Shutdown command (Controlword = 0x00 06).
2. Execute the Switch On command (Controlword = 0x00 07).
The drive is in the Switched On state. Operation must then be released to enable
drive commands to be executed.
3. Execute the Enable Operation command (Controlword = 0x00 0F):
The drive is in the Operation Enabled state, in which it can be operated using the
corresponding objects of the set control mode (see chap. 4.2, p. 37 and chap. 4.3,
p. 44).
4. Move the motor (e.g., relatively by 1 000 increments):
Modes of Operation (object 0x6060): Set 1 (Profile Position Mode) via SDO access.
Target Position (object 0x607A): 1 000
Controlword = 0x00 7F (New Set-Point, Change Set Immediately, Rel)
Object CAN-ID Description
TxPDO1 0x180 + Node-ID Receive drive data (e. g. status values)
RxPDO1 0x200 + Node-ID Send data to the drives (e. g. control commands)
TxPDO2 0x280 + Node-ID Receive drive data (e. g. status values)
RxPDO2 0x300 + Node-ID Send data to the drives (e. g. control commands)
TxPDO3 0x380 + Node-ID Receive drive data (e. g. status values)
RxPDO3 0x400 + Node-ID Send data to the drives (e. g. control commands)
TxPDO4 0x480 + Node-ID Receive drive data (e. g. status values)
RxPDO4 0x500 + Node-ID Send data to the drives (e. g. control commands)
TxSDO1 0x580 + Node-ID Read entry of the object dictionary
RxSDO1 0x600 + Node-ID Write entry of the object dictionary
Use of the FAULHABER Motion Manager is recommended for the basic settings (see
chap. 5.3.3.1, p. 85).

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CANopen protocol description
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3 CANopen protocol description
3.1 Introduction
CANopen
CANopen is a standard software protocol. A CAN hardware environment is required for
communication using CANopen. Up to 127 nodes can be addressed within a CANopen net-
work. The maximum transmission speed is 1 MBit/s.
CAN standardisation
The CiA defines the following aspects in CiA 301:
communications structure
Control and monitoring functions
CANopen device profiles have been defined for a wide range of device classes, such as:
CiA 402 for drives
CiA 401 for input and output devices
Structure of a CANopen telegram
A CANopen telegram has an 11-bit identifier and can contain up to 8 bytes of user data.
Tab. 1: Schematic structure of a CANopen telegram
11-bit identifier up to 8 bytes user data
11-bit 8-bit 8-bit 8-bit 8-bit 8-bit 8-bit 8-bit 8-bit

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3.2 Communication services
Fig. 1: Communication services of the Motion Controller
The communication part contains communication services as specified in CiA 301.
Tab. 2: Communication services to CiA 301
Communications profile
FAULHABER Motion Controllers support the CANopen communications profile to
CiA 301 V4:
4 transmission PDOs
4 receipt PDOs
1 server SDO
Emergency object
NMT with node guarding and heartbeat
SYNC object
Communication services Description
NMT (Network Management) Activates nodes and monitors the current status of a node (see chap. 3.8, p. 27).
SDO (Service Data Object) The CANopen master uses the SDO to access parameters within a node. Each
SDO access reads or writes exactly one parameter. An SDO can only address one
node in a network (see chap. 3.5, p. 21).
PDO (Process Data Object) The PDO is used to access real-time data. A PDO can use a CAN message to
access multiple drive parameters concurrently. The parameters sent or received
in a PDO can be freely configured (see chap. 3.4, p. 17).
SYNC object SYNC objects are used to synchronise different applications on the CAN-BUS
(see chap. 3.7, p. 26).
EMCY (Emergency Object) An emergency message is used to inform the CANopen master about errors. A
CAN message conveys the error code asynchronously so that the status of the
CANopen slave need not be interrogated after an error (see chap. 3.6, p. 24).
Communication Application
Motor
CAN
n , Pos∗∗
Motor Control
Control Word
Status Word
n, Pos
EMCY
PDO1 … PDO4
SDO
CiA 301 CANopen
Statemachine
NMT
Guarding
CAN Bus
Error Handling Object Dictionary
CiA 402 Drive
Statemachine

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3.3 Identifier distribution
The Communication Object Identifier (COB-ID) consists of a 7-bit node address (Node-ID)
and a 4-bit function code.
Fig. 2: Identifier distribution
The Predefined-Connection-Set defines the standard identifier for the most important
objects.
Tab. 3: Standard identifier
The COB-IDs of the PDOs, the SYNC objects and the emergency objects can be changed via
the communication parameters in the object dictionary. The COB-ID of the SDO telegram
cannot be changed and is always derived from the node number.
The data assignment of the PDOs is pre-set to the “PDO set for servo drive” as specified
in CiA 402 V3, but can be changed by the user (dynamic PDO mapping).
Object Function code
(binary)
Resulting COB-ID Object index for communica-
tion setting
NMT 0000 0 –
SYNC 0001 128 (80 h) 1005 h
EMERGENCY 0001 129 (81h) to 255 (FFh) 1014 h
PDO1 (tx) 0011 385 (181h) to 511 (1FFh) 1800 h
PDO1 (rx) 0100 513 (201h) to 639 (27Fh) 1400 h
PDO2 (tx) 0101 641 (281h) to 767 (2FFh) 1801 h
PDO2 (rx) 0110 769 (301h) to 895 (37Fh) 1401 h
PDO3 (tx) 0111 897 (381h) to 1023 (3FFh) 1802 h
PDO3 (rx) 1000 1025 (401h) to 1151 (47Fh) 1402 h
PDO4 (tx) 1001 1153 (481h) to 1279 (4FFh) 1803 h
PDO4 (rx) 1010 1281 (501h) to 1407 (57Fh) 1403 h
SDO (tx) 1011 1409 (581h) to 1535 (5FFh) 1200 h
SDO (rx) 1100 1537 (601h) to 1663 (67Fh) 1200 h
NMT error control 1110 1793 (701h) to 1919 (77Fh) –
Function
Code
10Bit-No.:
COB-Identifier Priority
0
Node-ID
0
10 high
low

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3.4 PDO (Process Data Object)
PDOs are CAN messages with up to 8 bytes user data. PDOs contain process data for control-
ling and monitoring the behaviour of the device. The drive makes the distinction between
receipt PDOs and transmission PDOs.
Receipt PDOs (RxPDO): are received by a drive and typically contain control data
Transmission PDOs (TxPDO): are sent by a drive and typically contain monitoring data
PDOs are evaluated or transmitted only when the device is in the NMT Operational state
(see chap. 3.8, p. 27).
The transmission of PDOs can be triggered in various different ways. The behaviour can be
set for each PDO via the transmission type parameter of the communication parameters in
the object dictionary:
Tab. 4: Types of PDO transmissions
3.4.1 PDO configuration
A maximum of 4 parameters can be mapped in one PDO.
The data assignment of PDOs can be changed via the objects 0x1600 to 0x1603 and
0x1A00 to 0x1A03. The mapping procedure necessary for this is described in CiA 301. A
suitable tool (such as FAULHABER Motion Manager or System Manager for the PLC con-
troller used) is necessary for the mapping procedure.
The objects 0x1400 to 0x1403 and 0x1800 to 0x1803 can be used to change the Trans-
mission Type and COB-ID of the PDOs.
The Transmission Type parameters can be used to change the behaviour of a PDO:
As delivered the system is configured with the node number 1. The COB-IDs are pre-set
correspondingly:
RxPDO: 201h, 301h, 401h and 501h
TxPDO: 181h, 281h, 381h and 481h
EMCY: 81 h
RxSDO: 581 h
TxSDO: 601 h
If the node number is changed using the LSS protocol, the COB-IDs of the PDOs and the
Emergency Object remain unchanged. If the COB-IDs of the PDOs and of the emer-
gency object are to change together with the node number, the node number must
first be set to 255 (undefined) and then set to the desired number.
Transmission Type Description
Event-driven Event-driven RxPDOs are processed immediately on receipt.
Event-driven TxPDOs are sent when the statusword of the device is contained and has
been changed.
Remote request (RTR) Data are sent in response to a request message.
Synchronised Data are sent after receipt of a SYNC object (see chap. 3.7, p. 26).

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Tab. 5: Transmission type of a PDO
Event Timer for TxPDOs
If transfer type 255 is set, the setting of the Event Timer (subindex 5) of the PDO is also
taken into account. The Event Timer specifies the maximum time span for sending TxPDOs.
If the time specified in the Event Timer has elapsed since the last transmission of the TxPDO,
the PDO is sent automatically. This ensure that the master constantly receives information
from objects, even if they are not mapped together with the Statusword.
The value of the Event Timer is specified in milliseconds. The time span that can be set is 5-
65 000 ms.
For TxPDOs to be sent taking into account the Event Timer, the following preconditions
must be met:
The drive is now in the Operational NMT state
The value of the Event Timer is ≥5 ms
The TxPDO is valid
The transfer type is 255 (asynchronous)
The Event Timer always start simultaneously. There is no comparable function for RxPDOs.
Transmission Type Meaning
255 asynchronous (event-driven)
Only affects TxPDOs that contain Statusword (0x6041). If its value changes, this PDO is sent.
For all other PDOs (i.e., those that do not contain the Statusword), this transfer type has no
effect. Sending can, however, be forced via the Event Timer (see below).
253 asynchronous, on request (RTR)
1 to 240 synchronous, cyclical
A PDO is sent after every SYNC object (see chap. 3.7, p. 26). The value is then equal to the
number of SYNC objects that must be received before the PDO is sent again (1 = PDO is
sent for every SYNC object)
0synchronous, acyclical
A PDO is sent or executed once after a SYNC object when the contents of the PDO have
changed (see chap. 3.7, p. 26).
FAULHABER recommends always setting the Event Timer >100 ms. The CAN bus will
otherwise be overloaded with messages and the performance of the complete system
no longer ensured. In the event of reduced performance, other important messages
(e.g., Emergency messages) are no longer sent.
Keep the bus load as low as possible to ensure that events that cause many CAN
telegrams do not result in malfunctions.

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3.4.2 PDO mapping in the standard configuration (status as delivered)
RxPDO1: Controlword
The RxPDO1 contains the 16-bit Controlword to CiA DSP402. The Controlword controls the
state machine of the drive unit and points to the object index 0x6040 in the object dictio-
nary. The bit distribution is described in chap. 4.2, p. 37.
TxPDO1: Statusword
The TxPDO1 contains the 16-bit Statusword to CiA 402. The Statusword indicates the status
of the drive unit an and points to the object index 0x6041 in the object dictionary. The bit
distribution is described in chap. 4.2, p. 37.
RxPDO2: Controlword, target position (PP)
The RxPDO2 contains the 16-bit Controlword and the 32-bit value of the target position
(object 0x607A) for the Profile Position mode (PP).
TxPDO2: Statusword, Position Actual Value
The TxPDO2 contains the 16-bit Statusword and the 32-bit value of the actual position
(object 0x6064).
RxPDO3: Controlword, target velocity (PV)
The RxPDO3 contains the 16-bit Controlword and the 32-bit value of the target velocity
(object 0x60FF) for the Profile Velocity mode (PV).
TxPDO3: Statusword, Velocity Actual Value
The TxPDO3 contains the 16-bit Statusword and the 32-bit value of the actual speed (object
0x606C).
11-bit identifier 2 bytes user data
0x200 (512d) +
node ID
LB HB
11-bit identifier 2 bytes user data
0x180 (384d) +
node ID
LB HB
11-bit identifier 6 bytes user data
0x300 (768d) +
node ID
LB HB LLB LHB HLB HHB
11-bit identifier 6 bytes user data
0x280 (640d) +
node ID
LB HB LLB LHB HLB HHB
11-bit identifier 6 bytes user data
0x400 (1024d) +
node ID
LB HB LLB LHB HLB HHB
11-bit identifier 6 bytes user data
0x380 (896d) +
node ID
LB HB LLB LHB HLB HHB

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RxPDO4: Controlword, target torque
The RxPDO4 contains the 16-bit Controlword and in Profile Position mode (PP) the 32-bit
value of the target position in internal units (Object 0x257A).
TxPDO4: Statusword, torque actual value
The TxPDO4 contains the 32-bit value of the actual position (object 0x6064) and the 32-bit value
of the actual speed (object 0x606C).
3.4.3 Dealing with mapping errors
If the mapping procedure specified in CiA 301 is not complied with, one of the following
SDO errors will be returned:
Tab. 6: SDO errors in response the incorrect mapping procedure
If the number of mapped objects is 0, the PDO will be flagged internally as invalid and will
not be operated.
11-bit identifier 6 bytes user data
0x400 (1024d) +
node ID
LB HB LLB LHB HLB HHB
11-bit identifier 6 bytes user data
0x380 (896d) +
node ID
LB HB LLB LHB HLB HHB
SDO error Meaning Cause
0x06090030 General value range error The mapping parameter lies outside that specified in the map-
ping procedure.
0x06020000 Object not present in the object
dictionary
The value for the number of mapped objects is greater than
the number of valid entries in the respective subindexes for
the mapping parameter objects.
Other mapping errors are described in the SDO error table (see chap. 3.5.2, p. 23).