Back to top

CAN Objects 2000 - 2FFF S400-S600

Index Subindex Profile Data Type Access PDO mappable Description ASCII Object
2014h 00h SERVOSTAR ARRAY ro Mask PDOs 37..40 Channel 1
2014h 01h SERVOSTAR UNSIGNED32 rw Mask (Byte 0 ... 3)
2014h 02h SERVOSTAR UNSIGNED32 rw Mask (Byte 4 ... 7)
2015h 00h SERVOSTAR ARRAY ro Mask PDOs 37..40 Channel 2
2015h 01h SERVOSTAR UNSIGNED32 rw Mask (Byte 0 ... 3)
2015h 02h SERVOSTAR UNSIGNED32 rw Mask (Byte 4 ... 7)
2016h 00h SERVOSTAR ARRAY ro Mask PDOs 37..40 Channel 3
2016h 01h SERVOSTAR UNSIGNED32 rw Mask (Byte 0 ... 3)
2016h 02h SERVOSTAR UNSIGNED32 rw Mask (Byte 4 ... 7)
2017h 00h SERVOSTAR ARRAY ro Mask PDOs 37..40 Channel 4
2017h 01h SERVOSTAR UNSIGNED32 rw Mask (Byte 0 ... 3)
2017h 02h SERVOSTAR UNSIGNED32 rw Mask (Byte 4 ... 7)
2020h 00h SERVOSTAR RECORD ro Position controller
2020h 01h SERVOSTAR UNSIGNED8 rw Axis type POSCNFG
2020h 02h SERVOSTAR INTEGER32 rw In-Position window PEINPOS
2020h 03h SERVOSTAR INTEGER32 rw Lag/following error window PEMAX
2020h 04h SERVOSTAR INTEGER32 rw Position register 1 SWE1
2020h 05h SERVOSTAR INTEGER32 rw Position register 2 SWE2
2020h 06h SERVOSTAR INTEGER32 rw Position register 3 SWE3
2020h 07h SERVOSTAR INTEGER32 rw Position register 4 SWE4
2020h 08h SERVOSTAR UNSIGNED32 rw Denominator for resolution PGEARO
2020h 09h SERVOSTAR UNSIGNED32 rw Numerator for resolution PGEAR
2020h 0Ah SERVOSTAR UNSIGNED8 rw Count direction DIR
2022h 00h SERVOSTAR RECORD ro Position data for Position mode
2022h 01h SERVOSTAR INTEGER32 rww yes Position (motion block 0) O_P
2022h 02h SERVOSTAR UNSIGNED16 rww yes Weighted velocity, see ASCII VMUL (motion block 0, see also Object 2020h Sub-index02h) O_V
2022h 03h SERVOSTAR UNSIGNED16 rww yes Motion task type (motion block 0) O_C
2022h 04h SERVOSTAR INTEGER32 rww yes Position for external trajectory
2022h 05h SERVOSTAR UNSIGNED16 rww yes Motion task number
2022h 06h SERVOSTAR UNSIGNED16 rww yes Acceleration time (motion block 0) O_ACC1
2022h 07h SERVOSTAR UNSIGNED16 rww yes Braking time (motion block 0) O_DEC1
2022h 08h SERVOSTAR UNSIGNED16 rww yes Jolt limit for acceleration time (motion block 0) O_ACC2
2022h 09h SERVOSTAR UNSIGNED16 rww yes Jolt limiting for braking time (motion block 0) O_DEC2
2022h 0Ah SERVOSTAR UNSIGNED16 rww yes Number of following task O_FN
2022h 0Bh SERVOSTAR UNSIGNED16 rww yes Start delay for following task O_FT
2022h 0Ch SERVOSTAR 2 x UNSIGNED16 wo Copy a motion task OCOPY
2022h 0Dh SERVOSTAR UNSIGNED16 rw Velocity weighting factor (Object 2020h Sub-index 02h) VMUL
2022h 0Eh SERVOSTAR UNSIGNED32 rww yes Speed/velocity (motion block 0) O_V
2022h 0Fh SERVOSTAR INTEGER32 rww yes Setpoint position CAN-Master-Slave  
2024h 00h SERVOSTAR RECORD r Setup operation for Position mode
2024h 01h SERVOSTAR UNSIGNED8 rw Homing type NREF
2024h 02h SERVOSTAR UNSIGNED8 rw Homing direction DREF
2024h 03h SERVOSTAR INTEGER32 rw Velocity for homing movement VREF
2024h 04h SERVOSTAR UNSIGNED16 rw Acceleration ramp jogging and homing ACCR
2024h 05h SERVOSTAR UNSIGNED16 rw Braking ramp jogging and homing DECR
2024h 06h SERVOSTAR INTEGER32 rw Reference offset ROFFS
2024h 07h SERVOSTAR INTEGER32 rw Jogging velocity VJOG
2026h 00h SERVOSTAR RECORD r Special Object for Position mode
2026h 01h SERVOSTAR UNSIGNED8 rw Activate internal evaluation unit for saving actual position value
2030h 00h SERVOSTAR ARRAY ro DP-Ram Variables, write only (PDO)
2030h 01h SERVOSTAR INTEGER32 rww yes DP-Ram Variable 9 DPRVAR9
2030h 02h SERVOSTAR INTEGER32 rww yes DP-Ram Variable 10 DPRVAR10
2030h 03h SERVOSTAR INTEGER32 rww yes DP-Ram Variable 11 DPRVAR11
2030h 04h SERVOSTAR INTEGER32 rww yes DP-Ram Variable 12 DPRVAR12
2030h 05h SERVOSTAR INTEGER32 rww yes DP-Ram Variable 13 DPRVAR13
2030h 06h SERVOSTAR INTEGER32 rww yes DP-Ram Variable 14 DPRVAR14
2030h 07h SERVOSTAR INTEGER32 rww yes DP-Ram Variable 15 DPRVAR15
2030h 08h SERVOSTAR INTEGER32 rww yes DP-Ram Variable 16 DPRVAR16
2031h 00h SERVOSTAR RECORD ro Dummy-Variables? for mapping
2031h 01h SERVOSTAR UNSIGNED8 wo yes Write-only dummy 8 bit
2031h 02h SERVOSTAR UNSIGNED16 wo yes Write-only dummy 16 bit
2031h 03h SERVOSTAR UNSIGNED24 wo yes Write-only dummy 24 bit
2031h 04h SERVOSTAR UNSIGNED32 wo yes Write-only dummy 32 bit
2050h 00h SERVOSTAR ARRAY ro Aux. variable for the digital inputs
2050h 01h SERVOSTAR INTEGER32 rw Trigger variable input 1 IN1TRIG
2050h 02h SERVOSTAR INTEGER32 rw Trigger variable input 2 IN2TRIG
2050h 03h SERVOSTAR INTEGER32 rw Trigger variable input 3 IN3TRIG
2050h 04h SERVOSTAR INTEGER32 rw Trigger variable input 4 IN4TRIG
2050h 05h SERVOSTAR INTEGER32 wo yes Trigger help variable for electronic gearing InxTRIG 51
2051h 00h SERVOSTAR ARRAY ro Configuration for threshold register
2051h 01h SERVOSTAR UNSIGNED32 rw Monitoring (deactivate / activate) WPOSE
2051h 02h SERVOSTAR UNSIGNED32 rw Signaling type (repeated / once) WPOSX
2051h 03h SERVOSTAR UNSIGNED32 rw Polarity position signaling WPOSP
2052h 00h SERVOSTAR ARRAY ro Position threshold register ABSOLUTE (refresh time < 1ms) POSRSTAT
2052h 01h SERVOSTAR INTEGER32 rww yes Position register P1
2052h 02h SERVOSTAR INTEGER32 rww yes Position register P2
2052h 03h SERVOSTAR INTEGER32 rww yes Position register P3
2052h 04h SERVOSTAR INTEGER32 rww yes Position register P4
2052h 05h SERVOSTAR INTEGER32 rww yes Position register P5
2052h 06h SERVOSTAR INTEGER32 rww yes Position register P6
2052h 07h SERVOSTAR INTEGER32 rww yes Position register P7
2052h 08h SERVOSTAR INTEGER32 rww yes Position register P8
2052h 09h SERVOSTAR INTEGER32 rww yes Position register P9
2052h 0Ah SERVOSTAR INTEGER32 rww yes Position register P10
2052h 0Bh SERVOSTAR INTEGER32 rww yes Position register P11
2052h 0Ch SERVOSTAR INTEGER32 rww yes Position register P12
2052h 0Dh SERVOSTAR INTEGER32 rww yes Position register P13
2052h 0Eh SERVOSTAR INTEGER32 rww yes Position register P14
2052h 0Fh SERVOSTAR INTEGER32 rww yes Position register P15
2052h 10h SERVOSTAR INTEGER32 rww yes Position register P16
2053h 00h SERVOSTAR INTEGER8 ro Position threshold RELATIVE (refresh time < 1ms) see also ASCII POSRSTAT
2053h 01h SERVOSTAR INTEGER32 rww yes Position register P1
2053h 02h SERVOSTAR INTEGER32 rww yes Position register P2
2053h 03h SERVOSTAR INTEGER32 rww yes Position register P3
2053h 04h SERVOSTAR INTEGER32 rww yes Position register P4
2053h 05h SERVOSTAR INTEGER32 rww yes Position register P5
2053h 06h SERVOSTAR INTEGER32 rww yes Position register P6
2053h 07h SERVOSTAR INTEGER32 rww yes Position register P7
2053h 08h SERVOSTAR INTEGER32 rww yes Position register P8
2053h 09h SERVOSTAR INTEGER32 rww yes Position register P9
2053h 0Ah SERVOSTAR INTEGER32 rww yes Position register P10
2053h 0Bh SERVOSTAR INTEGER32 rww yes Position register P11
2053h 0Ch SERVOSTAR INTEGER32 rww yes Position register P12
2053h 0Dh SERVOSTAR INTEGER32 rww yes Position register P13
2053h 0Eh SERVOSTAR INTEGER32 rww yes Position register P14
2053h 0Fh SERVOSTAR INTEGER32 rww yes Position register P15
2053h 10h SERVOSTAR INTEGER32 rww yes Position register P16
2060h 00h SERVOSTAR INTEGER32 rw Speed or current setpoint
2061h 00h SERVOSTAR UNSIGNED16 wo yes Current limitation DPRILIMIT
2070h 00h SERVOSTAR RECORD r Manufacturer-specific actual values
2070h 01h SERVOSTAR INTEGER24 r yes Actual position (rot. angle, 20-bit res./turn) PRD
2070h 02h SERVOSTAR INTEGER24 r yes Speed in incr. (1incr. = 1875/262144 rpm)
2070h 03h SERVOSTAR INTEGER32 r yes Incr. act. position (res. depends on PRBASE)
2070h 04h SERVOSTAR UNSIGNED16 r yes Stored position (HW - LATCH positive, 16-bit resolution/turn) LATCH16
2070h 05h SERVOSTAR INTEGER32 r yes Stored position (HW - LATCH positive, 32-bit resolution/turn ) LATCH32
2070h 06h SERVOSTAR INTEGER32 r yes Position, dependent on gearing factors (PGEARI, PGEARO) PFB
2070h 07h SERVOSTAR INTEGER32 r Velocity, dependent on gearing factors (PGEARI, PGEARO) PV
2070h 08h SERVOSTAR INTEGER32 r yes Lag error, dependent on gearing factors (PGEARI, PGEARO) PE
2070h 09h SERVOSTAR UNSIGNED32 r Effective (r.m.s.) current I
2070h 0Ah SERVOSTAR INTEGER32 r yes Speed, revs/min V
2070h 0Bh SERVOSTAR INTEGER32 r Heat sink temperature TEMPH
2070h 0Ch SERVOSTAR INTEGER32 r Internal temperature TEMPE
2070h 0Dh SERVOSTAR INTEGER32 r DC-link (DC-bus) voltage VBUS
2070h 0Eh SERVOSTAR INTEGER32 r Regen power (ballst power) PBAL
2070h 0Fh SERVOSTAR INTEGER32 r I²t loading I2T
2070h 10h SERVOSTAR INTEGER32 r Operating time TRUN
2070h 11h SERVOSTAR INTEGER32 r yes Enhanced status for TPDO 33
2070h 12h SERVOSTAR INTEGER32 ro yes Encoder position (SI-units) PFB0
2070h 13h SERVOSTAR INTEGER32 ro yes Internal position setpoint S_SETL (user-defined)
2070h 14h SERVOSTAR INTEGER16 ro yes Analog input value 1 ANIN1
2070h 15h SERVOSTAR INTEGER16 ro yes Analog input value 2 ANIN2
2070h 16h SERVOSTAR UNSIGNED32 ro yes Error register ERRCODE
2070h 17h SERVOSTAR INTEGER32 ro yes Speed setpoint PSPEED (user-defined)
2070h 18h SERVOSTAR UNSIGNED32 ro yes Read master speed (electronic gearing) MASTSPEED (user-defined)
2070h 19h SERVOSTAR INTEGER8 ro yes Control variable (electronic gearing) ENGEDGE (user-defined)
2071h 00h SERVOSTAR RECORD ro Dummy-variables for mapping
2071h 01h SERVOSTAR UNSIGNED8 ro yes Read-only dummy 8 bit
2071h 02h SERVOSTAR UNSIGNED16 ro yes Read-only dummy 16 bit
2071h 03h SERVOSTAR UNSIGNED24 ro yes Read-only dummy 24 bit
2071h 04h SERVOSTAR UNSIGNED32 ro yes Read-only dummy 32 bit
2080h 00h SERVOSTAR ARRAY ro Status information
2080h 01h SERVOSTAR UNSIGNED8 ro yes Input/Output/Latch
2080h 02h SERVOSTAR UNSIGNED8 ro yes Collective info (Warning/Error/Reserve)
2080h 03h SERVOSTAR UNSIGNED8 ro yes DRVSTAT LSB DRVSTAT
2080h 04h SERVOSTAR UNSIGNED8 ro yes DRVSTAT
2080h 05h SERVOSTAR UNSIGNED8 ro yes DRVSTAT
2080h 06h SERVOSTAR UNSIGNED8 ro yes DRVSTAT MSB DRVSTAT
2080h 07h SERVOSTAR UNSIGNED8 ro yes TRJSTAT LSB TRJSTAT
2080h 08h SERVOSTAR UNSIGNED8 ro yes TRJSTAT
2080h 09h SERVOSTAR UNSIGNED8 ro yes TRJSTAT
2080h 0Ah SERVOSTAR UNSIGNED8 ro yes TRJSTAT MSB TRJSTAT
2081h 00h SERVOSTAR INTEGER8 ro Incr. actual position (bytewise/24-bit)
2081h 01h SERVOSTAR INTEGER8 ro yes Incr. position LSB
2081h 02h SERVOSTAR INTEGER8 ro yes Incremental position
2081h 03h SERVOSTAR INTEGER8 ro yes Incremental position
2081h 04h SERVOSTAR INTEGER8 ro yes Incremental position MSB
2081h 05h SERVOSTAR INTEGER24 ro yes Incremental position 24-bit
2081h 06h SERVOSTAR INTEGER32 ro yes Incremental position 32-bit
2082h 00h SERVOSTAR INTEGER8 ro 32/24-bit positive latch
2082h 01h SERVOSTAR INTEGER32 ro yes 32-bit latch LATCH32
2082h 02h SERVOSTAR INTEGER24 ro yes 24-bit latch
2083h 00h SERVOSTAR INTEGER8 ro 32/24-bit negative latch
2083h 01h SERVOSTAR INTEGER32 ro yes 32-bit latch LATCH32N
2083h 02h SERVOSTAR INTEGER24 ro yes 24-bit latch
2084h 00h SERVOSTAR INTEGER8 ro 16-bit positive latch
2084h 01h SERVOSTAR INTEGER16 ro yes 16-bit latch LATCH16
2085h 00h SERVOSTAR INTEGER8 ro 16-bit negative latch
2085h 01h SERVOSTAR INTEGER16 ro yes 16-bit latch LATCH16N
2086h 00h SERVOSTAR UNSIGNED16 ro yes Position trigger word POSRSTAT
2087h 00h SERVOSTAR RECORD ro Latch positions Input 1
2087h 01h SERVOSTAR INTEGER32 ro yes Latch position input 1, positive edge LATCHX32
2087h 02h SERVOSTAR INTEGER32 ro yes Latch position input 1, negative edge LATCHX32N
2087h 03h SERVOSTAR UNSIGNED8 rw yes Latch enable for inputs 1 and 2
2090h 00h SERVOSTAR ARRAY ro yes DP-Ram variables, write only (PDO) -
2090h 01h SERVOSTAR INTEGER32 ro yes DP-Ram Variable 1 DPRVAR1
2090h 02h SERVOSTAR INTEGER32 ro yes DP-Ram Variable 2 DPRVAR2
2090h 03h SERVOSTAR INTEGER32 ro yes DP-Ram Variable 3 DPRVAR3
2090h 04h SERVOSTAR INTEGER32 ro yes DP-Ram Variable 4 DPRVAR4
2090h 05h SERVOSTAR INTEGER32 ro yes DP-Ram Variable 5 DPRVAR5
2090h 06h SERVOSTAR INTEGER32 ro yes DP-Ram Variable 6 DPRVAR6
2090h 07h SERVOSTAR INTEGER32 ro yes DP-Ram Variable 7 DPRVAR7
2090h 08h SERVOSTAR INTEGER32 ro yes DP-Ram Variable 8 DPRVAR8
2600h 00h SERVOSTAR INTEGER8 rw 1st receive-PDO select
2601h 00h SERVOSTAR INTEGER8 rw 2nd receive-PDO select
2602h 00h SERVOSTAR INTEGER8 rw 3rd receive-PDO select
2603h 00h SERVOSTAR INTEGER8 rw 4th receive-PDO select
2721h 00h SERVOSTAR INTEGER8 rw Configuration receive-PDO 33
2A00h 00h SERVOSTAR INTEGER8 rw 1st transmit-PDO select
2A01h 00h SERVOSTAR INTEGER8 rw 2nd transmit-PDO select
2A02h 00h SERVOSTAR INTEGER8 rw 3rd transmit-PDO select
2A03h 00h SERVOSTAR INTEGER8 rw 4th transmit-PDO select