Object Dictionary

Table of Contents

IndexName
1000 Device Type
1001 Error Register
1003 Pre-defined Error Field
100A Manufacturer Software Version
1017 Producer Heartbeat Time
1018 Identity Object
1400 Receive PDO Communication Parameter
1401 Receive PDO Communication Parameter
1600 Receive PDO Mapping Parameter
1601 Receive PDO Mapping Parameter
1800 Transmit PDO Communication Parameter
1801 Transmit PDO Communication Parameter
1A00 Transmit PDO Mapping Parameter
1A01 Transmit PDO Mapping Parameter
2000 Temperature sensor
2001 LSB 32 bits of Keypad
2002 MSB 8 bits of Keypad
2003 Keypad Leds
2004 Home Torque Limit
2005 Receive string from controller to RS485
2006 Transmit string to controller from RS485
2007 Receive string from controller to ICU RS232
2008 Transmit string to controller from RS232
2009 Drive Faults Object
6040 Controlword
6041 Statusword
6042 Vl Target Velocity
605C Disable Operation Option Code
605D Halt Option Code
6060 Modes of Operation
6061 Modes of Operation Display
6064 Position Actual Value in User Unit
6065 Following Error Window
606C Velocity Actual Value
607A Target Position
607C Home Offset
6081 Profile Velocity in pp-mode
6099 Homing Speeds
60F4 Following Error Actual Value
60F6 Torque Control Parameters
60F9 Velocity Control Parameter Set
60FB Position Control Parameter Set
60FD Digital Inputs
60FE Digital Outputs

Description


Object 1000 - Device Type

The device type specifies the kind of device. The lower 16 bit contain the device profile number and the upper 16 bit an additional information.

To be done.
 
Standard Min Max Unit Type Access Type PDO Mapping
0x00020192 0x00000000 0xFFFFFFFF   u32 co  

[ Top ]

Object 1001 - Error Register

The error register is a field of 8 bits, each for a certain error type. If an error occurs the bit has to be set.

Bit Meaning
0 generic error
1 current
2 voltage
3 temperature
4 communication error (overrun, error state)
5 device profile specific
6 reserved
7 manufacturer specific

To be done
 
Standard Min Max Unit Type Access Type PDO Mapping
0x00 0x00 0xFF   u8 ro  

[ Top ]

Object 1003 - Pre-defined Error Field

This object holds errors that have occurred on the device and have been signalled via Emergency Object. It is an error history. Writing to sub index 0 deletes the entire error history.

To be done
 

Subindex 000 Number of Errors

Standard Min Max Unit Type Access Type PDO Mapping
0x00000000 0x00000000 0x000000FE   u32 rw  
 

Subindex 001 Standard Error Field

Standard Min Max Unit Type Access Type PDO Mapping
0x00000000 0x00000000 0xFFFFFFFF   u32 ro  

[ Top ]

Object 100A - Manufacturer Software Version

Contains the device software version.
 
Standard Type Access Type PDO Mapping
1.1.2 vstr co  

[ Top ]

Object 1017 - Producer Heartbeat Time

 
Standard Min Max Unit Type Access Type PDO Mapping
0x0 0x0 0xFFFF   u16 rw  

[ Top ]

Object 1018 - Identity Object

This object contains general information about the
device.
Sub-Index 1 contains a unique value allocated each manufacturer.
Sub-Index 2 identifies the manufacturer specific product code (device version).
Sub-Index 3 contains the revision number. Bit 31-16 is the major revision number and Bit 15-0 the minor revision number.
Sub-Index 4 identified a manufacturer specific serial number.

To be done
 

Subindex 000 number of entries

Standard Min Max Unit Type Access Type PDO Mapping
0x4 0x1 0x4   u8 rw  
 

Subindex 001 Vendor Id

Standard Min Max Unit Type Access Type PDO Mapping
0x0 0x0 0x0   ????? rw  
 

Subindex 002 Product Code

Standard Min Max Unit Type Access Type PDO Mapping
0x0 0x0 0x0   ????? rw  
 

Subindex 003 Revision number

Standard Min Max Unit Type Access Type PDO Mapping
0x0 0x0 0x0   ????? rw  
 

Subindex 004 Serial number

Standard Min Max Unit Type Access Type PDO Mapping
0x0 0x0 0x0   ????? rw  

[ Top ]

Object 1400 - Receive PDO Communication Parameter

It contains the communicaion parameters of the first PDO the device is able to receive.
Sub-index 0 contains the number of PDO-parameters implemented. Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled. The transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3
in 100 µs. The 4th sub-index contains the priority class of the PDO.

To be done
 

Subindex 000 Number of Entries

Standard Min Max Unit Type Access Type PDO Mapping
0x03 0x00 0xFF   u8 ro  
 

Subindex 001 COB-ID

Standard Min Max Unit Type Access Type PDO Mapping
0x00000220 0x00000000 0xFFFFFFFF   u32 rw  
 

Subindex 002 Transmission Type

Standard Min Max Unit Type Access Type PDO Mapping
0xFE 0x00 0xFF   u8 rw  
 

Subindex 003 Inhibit Time

Standard Min Max Unit Type Access Type PDO Mapping
0x0000 0x0000 0xFFFF 100 µs u16 rw  

[ Top ]

Object 1401 - Receive PDO Communication Parameter

It contains the communicaion parameters of the second PDO the device is able to receive.
Sub-index 0 contains the number of PDO-parameters implemented. Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled. The transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3
in 100 µs. At the 5th sub-index can be defined a event time for asynchron pdos.

To be done
 

Subindex 000 Number of Entries

Standard Min Max Unit Type Access Type PDO Mapping
0x03 0x0 0xFF   u8 ro  
 

Subindex 001 COB-ID

Standard Min Max Unit Type Access Type PDO Mapping
0x0000037F 0x0 0xFFFFFFFF   u32 rw  
 

Subindex 002 Transmission Type

Standard Min Max Unit Type Access Type PDO Mapping
0xFE 0x0 0xFF   u8 rw  
 

Subindex 003 Inhibit Time

Standard Min Max Unit Type Access Type PDO Mapping
0x0000 0x0 0xFFFF 100 µs u16 rw  

[ Top ]

Object 1600 - Receive PDO Mapping Parameter

It contains the mapping parameters of the first PDO the device is able to receive.
Sub-index 0 contains the number of the mapped data objects. All further entries define the data by it's index, sub-index and length.

The structure of a mapping entry is:

index,subindex,length

To be done
 

Subindex 000 Number of Entries

Standard Min Max Unit Type Access Type PDO Mapping
0x01 0x00 0x40   u8 rw  
 

Subindex 001 PDO Mapping Entry

Standard Min Max Unit Type Access Type PDO Mapping
0x60400010 0x0 0xFFFFFFFF   u32 rw  

[ Top ]

Object 1601 - Receive PDO Mapping Parameter

It contains the mapping parameters of the first PDO the device is able to receive.
Sub-index 0 contains the number of the mapped data objects. All further entries define the data by it's index, sub-index and length.

The structure of a mapping entry is:

index,subindex,length

To be done
 

Subindex 000 Number of Entries

Standard Min Max Unit Type Access Type PDO Mapping
0x02 0x00 0x40   u8 rw  
 

Subindex 001 PDO Mapping Entry

Standard Min Max Unit Type Access Type PDO Mapping
0x60400010 0x00000000 0xFFFFFFFF   u32 rw  
 

Subindex 002 PDO Mapping Entry

Standard Min Max Unit Type Access Type PDO Mapping
0x607A0020 0x00000000 0xFFFFFFFF   u32 rw  

[ Top ]

Object 1800 - Transmit PDO Communication Parameter

It contains the communication parameters of the first PDO the device is able to transmit.
Sub-index 0 contains the number of PDO-parameters implemented. Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled. The transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3
in 100 µs. The 4th sub-index contains the priority class of the PDO.
 

Subindex 000 Number of Entries

Standard Min Max Unit Type Access Type PDO Mapping
0x03 0x00 0xFF   u8 ro  
 

Subindex 001 COB-ID

Standard Min Max Unit Type Access Type PDO Mapping
0x000001A0 0x00000000 0xFFFFFFFF   u32 rw  
 

Subindex 002 Transmission Type

Standard Min Max Unit Type Access Type PDO Mapping
254 0 255   u8 rw  
 

Subindex 003 Inhibit Time

Standard Min Max Unit Type Access Type PDO Mapping
0x0000 0x0000 0xFFFF 100 µs u16 rw  

[ Top ]

Object 1801 - Transmit PDO Communication Parameter

It contains the communication parameters of the second PDO the device is able to transmit.
Sub-index 0 contains the number of PDO-parameters implemented. Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled. The transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3
in 100 µs. At the 5th sub-index can be defined a event time for asynchron pdos.

To be done
 

Subindex 000 Number of Entries

Standard Min Max Unit Type Access Type PDO Mapping
0x03 0x00 0xFF   u8 ro  
 

Subindex 001 COB-ID

Standard Min Max Unit Type Access Type PDO Mapping
0x000002FF 0x00000001 0xFFFFFFFF   u32 rw  
 

Subindex 002 Transmission Type

Standard Min Max Unit Type Access Type PDO Mapping
0xFE 0x00 0xFF   u8 rw  
 

Subindex 003 Inhibit Time

Standard Min Max Unit Type Access Type PDO Mapping
0x0000 0x0000 0xFFFF 100 µs u16 rw  

[ Top ]

Object 1A00 - Transmit PDO Mapping Parameter

It contains the mapping parameter for the PDOs the device is able to transmit.
Sub-index 0 contains the number of the mapped data objects. All further entries define the data by it's index, sub-index and length.
The structure of a mapping entry is:

index,subindex,length
This PDO consist of :
Sub-index 1 - Object 0x6041: Control Word
Sub-index 2 - Object 0x2001: 32 least significant bits of keypad
Sub-index 3 - Object 0x2002: 8 most significant bits of keypad
Sub-index 4 - Object 0x60FD: Digital Inputs
 

Subindex 000 Number of Entries

Standard Min Max Unit Type Access Type PDO Mapping
0x04 0x00 0x40   u8 rw  
 

Subindex 001 PDO Mapping Entry

Standard Min Max Unit Type Access Type PDO Mapping
0x60410010 0x0 0xFFFFFFFF   u32 rw  
 

Subindex 002 PDO Mapping Entry

Standard Min Max Unit Type Access Type PDO Mapping
0x20010020 0x0 0xFFFFFFFF   u32 rw  
 

Subindex 003 PDO Mapping Entry

Standard Min Max Unit Type Access Type PDO Mapping
0x20020008 0x0 0xFFFFFFFF   u32 rw  
 

Subindex 004 PDO Mapping Entry

Standard Min Max Unit Type Access Type PDO Mapping
0x60FD0008 0x0 0xFFFFFFFF   u32 rw  

[ Top ]

Object 1A01 - Transmit PDO Mapping Parameter

It contains the mapping parameter for the PDOs the device is able to transmit.
Sub-index 0 contains the number of the mapped data objects. All further entries define the data by it's index, sub-index and length.
The structure of a mapping entry is:

index,subindex,length

To be done
 

Subindex 000 Number of Entries

Standard Min Max Unit Type Access Type PDO Mapping
0x02 0x00 0x40   u8 rw  
 

Subindex 001 PDO Mapping Entry

Standard Min Max Unit Type Access Type PDO Mapping
0x60410010 0x00000000 0xFFFFFFFF   u32 rw  
 

Subindex 002 PDO Mapping Entry

Standard Min Max Unit Type Access Type PDO Mapping
0x60640020 0x00000000 0xFFFFFFFF   u32 rw  

[ Top ]

Object 2000 - Temperature sensor

This object indicates the temperature sensor analog input of the drive.
 
Standard Min Max Unit Type Access Type PDO Mapping
0x0 0x0 0xFFFF   u16 ro  

[ Top ]

Object 2001 - LSB 32 bits of Keypad

This object indicates 32 least significant bits of keypad. (1 or 0 each one) If at least one of keypad keys status is chenged, so slave will send PDO to Master with data (described in object 0x1A00).
 
Standard Min Max Unit Type Access Type PDO Mapping
0x0 0x0 0xFFFFFFFF   u32 ro X

[ Top ]

Object 2002 - MSB 8 bits of Keypad

This object indicates 8 most significant bits of keypad. (1 or 0 each one) If at least one of keypad keys status is chenged, so slave will send PDO to Master with data (described in object 0x1A00).
 
Standard Min Max Unit Type Access Type PDO Mapping
0x0 0x0 0xFF   u8 ro X

[ Top ]

Object 2003 - Keypad Leds

This object indicates keypad leds.
The keypad leds divided by two groups.
First Group - 8 LSB
Second Group - 8 MSB
Each bit if 1 - keypad led is "ON", if 0 - keypad led is "OFF"
 
Standard Min Max Unit Type Access Type PDO Mapping
0x0 0x0 0xFFFF   u16 rw  

[ Top ]

Object 2004 - Home Torque Limit

This object defines Torque Limit for homing.
 
Standard Min Max Unit Type Access Type PDO Mapping
0x0 0x0 0x7FFF   i16 rw  

[ Top ]

Object 2005 - Receive string from controller to RS485

This object contains string that comes from Master to Slave and after this it will be transmitted to LCD or CD via RS485 serial communication. The string must finished by curriage return character (if it is the end of CD command) and '\0' character.
 
Standard Type Access Type PDO Mapping
vstr rw  

[ Top ]

Object 2006 - Transmit string to controller from RS485

This object contains string that comes from CD via RS485 serial communication and after this it will be transmitted to Master. Bit 15 from statusword (object 0x6041) flags if buffer of messages from CD is empty (0) or not empty (1).
 
Standard Type Access Type PDO Mapping
vstr ro  

[ Top ]

Object 2007 - Receive string from controller to ICU RS232

This object contains string that comes from Master to Slave and after this it will be transmitted to PICO drive via RS232 serial communication. The string must finished by curriage return character (if it is the end of PICO drive command) and '\0' character.
 
Standard Type Access Type PDO Mapping
vstr rw  

[ Top ]

Object 2008 - Transmit string to controller from RS232

This object contains string that comes from PICO drive via RS485 serial communication and after this it will be transmitted to Master. Bit 15 from statusword (object 0x6041) flags if buffer of messages from CD is empty (0) or not empty (1).
 
Standard Type Access Type PDO Mapping
vstr ro  

[ Top ]

Object 2009 - Drive Faults Object

This object indicates status of drive faults, when if bit that defines concrete fault is ON, so fault active, other OFF.
The bit description :
bit 0 - EEPROM checksum fault
bit 1 - Over current fault
bit 2 - Over voltage fault
bit 3 - Line break fault
bit 4 - Drive OT fault
bit 5 - Under voltage fault
bit 6 - No compensation fault
bit 7 - Illegal halls fault
bit 8 - EEPROM fault
bit 9 - Following error fault
bit 10 - Positive analog supply fail
bit 11 - Negative analog supply fail
bit 12 - Over speed fault
 
Standard Min Max Unit Type Access Type PDO Mapping
0x0 0x0 0xFFFF   u16 ro  

[ Top ]

Object 6040 - Controlword

The drive will to control by this object. This object operates the state machine and the modes.The description of bits:
bit description
0 SWITCH ON
1 Enable Voltage Command
2 Quick stop command
3 Enable operation
4 Start Homing (for home mode)
6 Incremental/Absolute moving (for position mode)
7 Fault Reset

Operation mechanism described as state machine from DSP402 documentation.
 
Standard Min Max Unit Type Access Type PDO Mapping
0x0000 0x0000 0xFFFF   u16 rw X

[ Top ]

Object 6041 - Statusword

This object indicates the current state of the drive. The description of bits:
bit description
0 and 1 SWITCH ON
2 Operation Enabled
3 Fault Exists
6 Switch on disabled
7 Warning Exists
10 Target Reached - move command finished succeesfully to target position (only for position mode)
12 Homing Attained (for home mode)
13 Homing Error (for home mode)
14 Software Enable Active
15 RS485/RS232 buffer not empty

Operation mechanism described as state machine from DSP402 documentation.
 
Standard Min Max Unit Type Access Type PDO Mapping
0x0000 0x0000 0xFFFF   u16 ro X

[ Top ]

Object 6042 - Vl Target Velocity

This object is the velocity of the system in the Velocity Mode.
 
Standard Min Max Unit Type Access Type PDO Mapping
0x0000 0xFFFF8000 0x7FFF   i16 rw X

[ Top ]

Object 605C - Disable Operation Option Code

This object determines what action should be taken if there is a transition OPERATION ENABLE ==> SWITCHED ON.

To be done
 
Standard Min Max Unit Type Access Type PDO Mapping
0x0001 0xFFFF8000 0x0001   i16 rw  

[ Top ]

Object 605D - Halt Option Code

This object determines what action should be taken if the halt bit in the controlword is set.

To be done.
 
Standard Min Max Unit Type Access Type PDO Mapping
0x0001 0xFFFF8000 0x0004   i16 rw  

[ Top ]

Object 6060 - Modes of Operation

The operational mode is selectable by this object.
The mode types:
1 - Profile Position / Home mode
2 - Velocity Mode
 
Standard Min Max Unit Type Access Type PDO Mapping
0x00 0xFFFFFF80 0x07   i8 rw X

[ Top ]

Object 6061 - Modes of Operation Display

The actual operational mode is reflected by this object.
The mode types:
1 - Profile Position / Home mode
2 - Velocity Mode
 
Standard Min Max Unit Type Access Type PDO Mapping
0x00 0xFFFFFF80 0x7F   i8 ro X

[ Top ]

Object 6064 - Position Actual Value in User Unit

This object represents the actual value of the position measurement device in user defined units.
 
Standard Min Max Unit Type Access Type PDO Mapping
0x00000000 0x80000000 0x7FFFFFFF   i32 ro X

[ Top ]

Object 6065 - Following Error Window

The following error window defines the range of tolerated position values symmetrical to the target position. If the current position is out of range a following error occurs.
 
Standard Min Max Unit Type Access Type PDO Mapping
0x00000000 0x00000000 0x7FFFFFFF   u32 rw  

[ Top ]

Object 606C - Velocity Actual Value

This object reflects the actual velocity per sample period.
 
Standard Min Max Unit Type Access Type PDO Mapping
0x00000000 0x80000000 0x7FFFFFFF   i32 ro X

[ Top ]

Object 607A - Target Position

This object is the target position that the drive should move to in profile position mode.
 
Standard Min Max Unit Type Access Type PDO Mapping
0x00000000 0x80000000 0x7FFFFFFF   i32 rw X

[ Top ]

Object 607C - Home Offset

This object is the position difference between the home position and the zero position.
 
Standard Min Max Unit Type Access Type PDO Mapping
0x00000000 0x80000000 0x7FFFFFFF   i32 rw  

[ Top ]

Object 6081 - Profile Velocity in pp-mode

This object is the velocity in the profile position mode.
 
Standard Min Max Unit Type Access Type PDO Mapping
0x00000000 0x00000000 0xFFFFFFFF   u32 rw  

[ Top ]

Object 6099 - Homing Speeds

This object defines a slow and a fast velocity used during the homing mode.
 

Subindex 000 Number of Elements

Standard Min Max Unit Type Access Type PDO Mapping
0x00000002 0x00000002 0x00000002   u32 ro  
 

Subindex 001 Fast Homing Speed

Standard Min Max Unit Type Access Type PDO Mapping
0x00000000 0x00000000 0xFFFFFFFF   u32 rw  
 

Subindex 002 Slow Homing Speed

Standard Min Max Unit Type Access Type PDO Mapping
0x00000000 0x00000000 0xFFFFFFFF   u32 rw  

[ Top ]

Object 60F4 - Following Error Actual Value

This object represents the actual value of the following error.
 
Standard Min Max Unit Type Access Type PDO Mapping
0x00000000 0x80000000 0x7FFFFFFF   i32 ro  

[ Top ]

Object 60F6 - Torque Control Parameters

This object is used to handle all manufacturer specific torque control parameters. The structure of the record is manufacturer specific.

To be done.
 

Subindex 000 num_of_elements

Standard Min Max Unit Type Access Type PDO Mapping
0x01 0x0 0xFF   u8 ro  
 

Subindex 001 para_of_manufacturer

Standard Min Max Unit Type Access Type PDO Mapping
0x0 0x0 0xFF   u8 rw  

[ Top ]

Object 60F9 - Velocity Control Parameter Set

This object sets the parameters for the velocity control loop. The structure of the record is application specific.
 

Subindex 000 Number of Elements

Standard Min Max Unit Type Access Type PDO Mapping
0x02 0x02 0x00FE   u16 ro  
 

Subindex 001 Gain

Standard Min Max Unit Type Access Type PDO Mapping
0x0 0x0 0xFFFF   u16 rw  
 

Subindex 002 Integration Time Constant

Standard Min Max Unit Type Access Type PDO Mapping
0x0 0x0 0xFFFF   u16 rw  

[ Top ]

Object 60FB - Position Control Parameter Set

This object contains all parameters for the position controller. The structure of the record is application specific.

To be done.
 

Subindex 000 num_of_elements

Standard Min Max Unit Type Access Type PDO Mapping
0x01 0x0 0xFF   u8 ro  
 

Subindex 001 para_of_manufacturer

Standard Min Max Unit Type Access Type PDO Mapping
0x0 0x0 0xFF   u8 rw  

[ Top ]

Object 60FD - Digital Inputs

This object reflects the current state of the digital input signals.
bit 0..5 tells if digital input 1..6 is ON or OFF
 
Standard Min Max Unit Type Access Type PDO Mapping
0x00000000 0x0 0xFF   u8 ro X

[ Top ]

Object 60FE - Digital Outputs

This object determines the digital output signals. It is maskable.Bits 16..23 describes outputs 1..8.
 

Subindex 000 Number of Elements

Standard Min Max Unit Type Access Type PDO Mapping
0x01 0x01 0x01   u32 ro  
 

Subindex 001 Physical Outputs

Standard Min Max Unit Type Access Type PDO Mapping
0x00000000 0x0 0xFFFFFFFF   u32 rw X

[ Top ]