CANopen for ASDA-A2_M_EN_20120920

CANopen for ASDA-A2_M_EN_20120920

CANopen Technical Guide

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ASDA-A2

Manual Overview

Please include the Manual Number and the Manual Version shown below when communicating with us regarding this publication.

Manual Number: CANopen for ASDA-A2_M_EN_20120920

Manual Version: Second Edition

Release Date: 2012/09/20

Publication History

Version

V2.01

V2.00

V1.01

Release Date

2012/09/20

2012/07/27

2009/11/30

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Contents

1. Communication Cable ........................................................................................... 5

1.1 Connectors - Pinout............................................................................................ 5

1.2 Baudrate Settings............................................................................................... 5

2. System Setup ......................................................................................................... 6

2.1 Scope of Function .............................................................................................. 6

2.1.1 Function supported by Delta ...................................................................... 6

2.1.2 Function not supported by Delta ................................................................ 6

2.2 Parameter Settings of CANopen Mode .............................................................. 7

2.2.1 Connect CANopen Host Controller ............................................................ 7

2.2.2 Parameters for CANopen Setup ................................................................ 7

3. CANopen Operation Modes .................................................................................. 14

3.1 Profile Position Mode ......................................................................................... 14

3.1.1 Description .............................................................................................. 14

3.1.2 Operation Procedure ............................................................................... 14

3.1.3 Advanced Procedure............................................................................... 14

3.1.4 Associated Object List............................................................................. 15

3.2 Interpolation Position Mode................................................................................ 16

3.2.1 Description ................................................................................................. 16

3.2.2 Operation Procedure.................................................................................. 16

3.2.3 Associated Object List................................................................................ 17

3.3 Homing Mode ..................................................................................................... 18

3.3.1 Description ................................................................................................. 18

3.3.2 Operation Procedure.................................................................................. 18

3.3.3 Associated Object List................................................................................ 18

3.4 Profile Velocity Mode.......................................................................................... 19

3.4.1 Description ................................................................................................. 19

3.4.2 Operation Procedure.................................................................................. 19

3.4.3 advanced ................................................................................................... 19

3.4.4 Associated Object List................................................................................ 19

3.5 Profile Torque Mode ........................................................................................... 20

3.5.1 Description ................................................................................................. 20

3.5.2 Operation Procedure.................................................................................. 20

3.5.3 Advanced ................................................................................................... 20

3.5.4 Associated Object List................................................................................ 21

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4. Object Dictionary Entries ...................................................................................... 21

4.1 Specifications for Objects ................................................................................... 21

4.1.1 Object Type................................................................................................ 21

4.1.2 Data Type................................................................................................... 21

4.2 Overview of Object Group 1000h ....................................................................... 22

4.3 Overview of Object Group 6000h ....................................................................... 22

4.4 Details of Objects ............................................................................................... 24

5 Diagnostics and Troubleshooting ......................................................................... 62

5.1 CANopen Communication Fault Messages........................................................ 62

5.2 Error Code Table ................................................................................................ 64

5.3 SDO Error Message Abort Codes ...................................................................... 67

6 Reference ................................................................................................................ 67

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1. Communication Cable

1.1 Connectors - Pinout

Pin Assignment (RJ-45) for CAN bus Wiring

Pin No.

1

2

3

4

7

8

5

6

1.2 Baudrate Settings

Baudrate and Bus Length

Signal Name

CAN_H

CAN_L

CAN_GND

- - -

- - -

- - -

- - -

- - -

Baudrate

1Mbps

750Kbps

500Kbps(Default)

250Kbps

125Kbps

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Description

CAN_H bus line

CAN_L bus line

Ground

Reserved

Reserved

Reserved

Reserved

Reserved

Bus Length

25m

50m

100m

250m

500m

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2. System Setup

2.1 Scope of Function

2.1.1 Function supported by Delta

CANopen protocol: NMT, SYNC, SDO, PDO, EMCY

SDO transfer for reading and writing parameters and communication settings.

PDO sends/receives along with time-trigger, event-trigger, sync cyclic and sync acyclic.

Node Guarding

Heartbeat

2.1.2 Function not supported by Delta

Time Stamp

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2.2 Parameter Settings of CANopen Mode

2.2.1 Connect CANopen Host Controller

Users can follow the below instructions to connect CANopen Host Controller and servo drive A2.

Set parameter P1-01 to 0x0B

h

or 0x0C

h

for CANopen mode.

0x0B h

is used for simple CANopen mode and it does not support complete CANopen protocol

0x0C h

is used for standard CANopen protocol and it is recommended to be connected to any motion controller.

Set Parameter P3-00 to Node Id for range 01h~7Fh.

Set Parameter P3-01 to 0403h for Baudrate 1Mbps (0: 125Kbps; 1: 250Kbps; 2: 500 Kbps; 3:

750Kbps; 4:1Mbps).

Set Parameter P3-09 to 0x5055h for Synchronization.

2.2.2 Parameters for CANopen Setup

P1 - 01

CTL Control Mode and Output Direction

Address: 0102H,

0103H

Related Section: 6.1,

Table 8.A

Operation

Interface:

Keypad / Software Communication

Default: 0

Control

Mode:

ALL

Unit: pulse (P mode), r/min (S mode), N-m (T mode)

Range: 00 ~ 110F

Data Size: 16-bit

Display

Format:

Hexadecimal

Settings:

A: Control mode settings

Pt Pr S T Sz Tz

00

01

02

03

04

05

Single Mode

Multiple Mode

0E ▲ ▲ ▲

0F

▲ ▲ ▲

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06

07 ▲

08

09

0A

0B

Pt Pr S T Sz Tz

Dual Mode

▲ ▲

▲ ▲

▲ ▲

CANopen Mode (Half)

0C CANopen Mode (Full)

0D ▲ ▲

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Pt: Position control mode. The command is from external pulse or analog voltage (external analog voltage will be available soon). Execution of the command selection is via DI signal, PTAS.

Pr: Position control mode. The command is from internal signal. Execution of 64 positions is via DI signals (POS0 ~ POS5). A variety of homing control is also provided.

S: Speed control mode. The command is from external signal or internal signal. Execution of the command selection is via DI signals, SPD0 and SPD1.

T: Torque control mode. The command is from external signal or internal signal. Execution of the command selection is via DI signals, TCM0 and TCM1.

Sz: Zero speed / internal speed command

Tz: Zero torque / internal torque command

Dual Mode: Control of the mode selection is via DI signals. For example, either Pt or S control mode can be selected via DI signal, S-P (see Table 8.A).

Multiple Mode: Control of the mode selection is via DI signals. For example, either Pt or Pr or

S control mode can be selected via DI signals, S-P and Pt-Pr (see Table 8.A).

B: Torque output direction settings

Direction 0 1

Forward

Reverse

C: Discrete I/O Setting

1: When switching to different mode, digital inputs/outputs (P2-10 ~ P2-22) can be reset to be the default value of the mode you switch to.

0: When switching to different mode, the setting value of digital inputs/outputs (P2-10 ~ P2-22) will remain the same and will not be changed.

P3 - 00

ADR Communication Address Setting

Operation

Interface:

Keypad / Software Communication

Default: 0x7F

Control

Mode:

ALL

Unit: N/A

Range: 0x01 ~ 0x7F

Data Size: 16-bit

Display

Format:

Hexadecimal

Settings:

Address: 0300H,

0301H

Related Section: 9.2

This parameter is used to set the communication slave address in hexadecimal format.

This address is an absolute address which represents the servo drive on a RS-232/485 or

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CANbus network.

Display

Range

0

-

0

-

Y

0 ~ 7

X

0 ~ F

X: Axis number, the value must be within the range from 0 through F.

Y: Group number, the value must be within the range from 0 to through 7

If the AC servo drive is controlled by RS-232/485 communication, each drive (or device) must

be uniquely identified. One servo drive only can set one address. If the address is duplicated,

there will be a communication fault.

Please note:

1. This parameter does not provide broadcast function and does not respond insecurity.

2. When the address of host (external) controller is set to 0xFF, it is with auto-respond function. Then, the servo drive will receive from and respond to host (external) controller both no matter the address is matching or not. However, the parameter P3-00 cannot be set to 0xFF.

P3 - 01 BRT Transmission Speed

Operation

Interface:

Keypad / Software Communication

Default: 0x0203

Control

Mode:

ALL

Unit: bps

Range: 0x0000 ~ 0x0405

Data Size: 16-bit

Display

Format:

Hexadecimal

Settings:

Address: 0302H,

0303H

Related Section: 9.2

This parameter is used to set the baud rate and data transmission speed of the

communications.

Display 0

COM Port -

Range 0

Z

CAN

0 ~ 4

Y

-

0

X

RS-232/485

0 ~ 5

X: Baud rate setting

0: Baud rate 4800

1: Baud rate 9600

2: Baud rate 19200

3: Baud rate 38400

4: Baud rate 57600

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5: Baud rate 115200

Y: Reserved. Must be set to be 0.

Z: Data transmission speed setting.

0: 125K bits / second

1: 250K bits / second

2: 500K bits / second (Default)

3: 750K bits / second

4: 1.0M bits / second

Please note:

1. When setting this parameter via CANopen communication, only the setting of Z (data transmission speed setting) can be configured and other settings.

2. The communication transmission speed for USB can be set to 1.0M bits / second only and cannot be changed.

P3 - 09 SYC CANopen Synchronization Setting

Operation

Interface:

Keypad / Software Communication

Default: 0x5055

Control

Mode:

CANopen

Unit: N/A

Range: refer to the description of Settings

Data Size: 16-bit

Display

Format:

Hexadecimal

Settings:

Address: 0312H,

0313H

Related Section: -

This parameter is used to set the CANopen slave to be synchronized with the CANopen master through synchronization signal. Although this parameter allows the users to execute manual adjustment, if not necessary, we do not recommend users to change the default setting manually.

Display

Function

Range

E

SYNC error range

1 ~ 9

T

Target value

0 ~ 9

D

Dead zone range

0 ~ F

M

Clock correction setting

1 ~ F

M: Clock correction setting, the value must be within the range from 1 through F, and the unit is usec.

When setting the CANopen slave to be synchronized with the CANopen master, the clock of the servo drive must be corrected. This function is used to set the maximum correction everytime.

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D: Dead zone range, the value must be within the range from 0 through F, and the unit is usec.

When the difference between actual value and target value of SYNC signal reach time does not exceed the dead zone range, the clock correction does not need to be changed.

T: Target value of SYNC signal reach time, the value must be within the range from 0 through 9, and the standard value of SYNC signal reach time is 500 usec.

Target reach time of synchronization signal = 300 + 10 x setting value of T.

For example:

When T is set to 5, the target reach time of synchronization signal = 300 + 10 x 5 = 450

There should be a buffer between the target value and the standard value. The target value should be less than the standard value. If the target value is above than the standard value, an error may occur.

E: SYNC error range, the value must be within the range from 1 through 9, and the unit is 10 usec.

When the difference between actual value and target value of SYNC signal reach time is below this range, it indicates that the CANopen slave synchronize with the CANopen master through synchronization signal.

P3-10 CANEN CANopen Protocol Setting

Operation

Interface:

Keypad / Software Communication

Default: 0x0000

Control

Mode:

CANopen

Unit: N/A

Range: refer to the description of Settings

Data Size: 16-bit

Display

Format:

Hexadecimal

Settings:

Display U Z Y

Address: 0314H

0315H

Related Section: N/A

Function

Range

N/A

N/A

N/A

N/A

Motor status when CAN bus error occurs

0 ~ 1

X

CANopen

DS402 protocol version

0 ~ 1

X=0 : partially supportive for CANopen DS402 protocol. (for earlier Delta products)

X=1: supportive for complete CANopen DS402 protocol.

Y=0: When CAN bus error occurs, free run.

Y=1: When CAN bus error occurs, servo off.

Z: N/A

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U: N/A

Please note:

1. For ASDA-A2-M model, Y-bit is available, but X-bit is invalid.

2. For ASDA-A2-F model, X-bit is always be 1.

P3-11

CANOP CANopen saving options

Address: 0316H

0317H

Related Section: N/A Operation

Interface:

Keypad / Software Communication

Default: 0x0000

Control

Mode:

CANopen

Unit: N/A

Range: refer to the description of Settings

Data Size: 16-bit

Display

Format:

Hexadecimal

Settings:

Display

Function

Range

U

N/A

N/A

Z

N/A

N/A

Y

N/A

0 ~ F

X

Options of saving parameters in

EEPROM

0 ~ 1

X=0 : don’t save parameters in EEPROM

X=1: save parameters in EEPROM by PDO writing

Y: N/A

Z: N/A

U: N/A

Please note:

1. This parameter is only available for ASDA-A2 -M and -F models.

2. When X=1, continuously PDO writing parameters may shorten

EEPROM’s lifespan.

P3-12

QSTPO CANopen Quick Stop Settings

Address: 0318H

0319H

Related Section: N/A Operation

Interface:

Keypad / Software Communication

Default: 0x0000

Control

Mode:

CANopen

Unit: 0x0000 ~ 0x0111

Range: refer to the description of Settings

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Data Size: 16-bit

Display

Format:

Hexadecimal

Settings:

Display

Function

U

N/A

Z

Reload

CANopen values

Y

Optional Quick

Stop mode

(in auto protection)

0 ~ 1

X

OD-6040 supportive for

Quick Stop

0 ~ 1 Range N/A

6065 h

3840000

606D h

100(0.1rpm)

606E h

606F

6083 h h

6084 h

6087 h

6093 h

0

100

200

200

200

1:1

0~1

X=0

Only when OD-6040 Bit3

Enable Operation

=1, then execute servo on.

X=1

When all OD-6040 Bit0, Bit1, and Bit3 (meet CANopen DS402 protocols)

=1, then execute servo on.

When OD-6040 Bit2

Quick Stop

=1, then servo drive will go to Quick

Stop mode.

Y=0

When motor slows down to stop by auto protection, servo drive will not go to Quick Stop mode.

Y=1

When motor slows down to stop by auto protection, servo drive will still go to Quick Stop mode. To continue other actions, it’s necessary to give servo drive “Fault Reset” command.

Z=0

When servo drive is power on or reset, parameters in below table will reload the default settings.

Z=1

When servo drive is power on or reset, parameters in below table remain the previous settings.

List of CANopen Object and parameters relative to P3-12 Z setting.

CANopen Object

Index Default

605B h

0

Parameter

P1-32

P2-35

P1-47

P1-49

P1-38

P1-34

Parameter

Default

P1-32.Y = 0,

Dynamic break enable(605B h

=-1)

P1-32.Y = 1,

Dynamic break disable(605B h

=0)

3840000

10(rpm)

0

100

200

P1-34

P1-34

200

200

P1-44 / P1-45 128:10

U: N/A

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3. CANopen Operation Modes

3.1 Profile Position Mode

3.1.1 Description

Servo drive (hereinafter referred to as “Drive”)receives position command from host (external) controller

(hereinafter referred to as “Host”) and then control servo motor to reach target position.

Pulse of User-defined Unit Definition:

Pulse of User Unit (PUU): No. of

PUU

= 1280000 ×

Rev

OD 6093 h

Sub2

OD 6093 h

Sub1

3.1.2 Operation Procedure

Set

Mode of operations:6060 h

to profile position mode(1).

Set

Target position:607Ah

】 to target position. (unit: PUU)

Set

Profile velocity:6081h

】 to profile velocity. (unit: PUU per second)

Set

Profile acceleration:6083h

】 to plan acceleration slope. (millisecond from 0rpm to 3000rpm)

Set

Profile deceleration:6084h

】 to plan deceleration slope. (millisecond from 0rpm to 3000rpm)

Set

Controlword:6040h

to servo on drive and make motor work.

Query

Statusword:6064h

】 to get feedback position of motor.

Query

Statusword:6041h

】 to get drive status of following error

、 set-point acknowledge and target reached.

3.1.3 Advanced Procedure

Host could get more information about profile position mode.

Query

Position demand value:6062 h

】 to get internal position command. (unit: PUU)

Query

Position actual value*:6063 h

】 to get actual position value. (unit: increments)

Following error

Set

Following error window:6065 h

to define range of tolerated position values symmetrically to the position demand value. (unit: PUU)

Query

Following error actual value:60F4 h

】 to get actual value of following error. (unit: PUU)

accepted following error tolerance position following error following error window following error no following error window reference position

Reference position

following error

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Position window

Set

Position window:6067 h

】 to define a symmetrical range of accepted positions relatively to the target position. (unit: PUU)

Set

Position window time:6068 h

】 to plan time of activation of target reached. (unit: millisecond)

accepted position range position position window position window position reached position not reached position not reached target position

Position reached

3.1.4 Associated Object List

Index

6040 h

6041 h

6060 h

6061 h

6062 h

6063 h

6064 h

6065 h

6067 h

Name

Controlword

Statusword

Modes of operation

Modes of operation display

Position demand value [PUU]

Position actual value [increment]

Position actual value

Following error window

Position window

Type

UNSIGNED16

UNSIGNED16

INTEGER8

INTEGER8

INTEGER32

INTEGER32

INTEGER32

UNSIGNED32

UNSIGNED32

Attr.

RW

RO

RW

RO

RO

RO

RO

RW

RW

6068 h

607A h

6081 h

6083 h

Position window time

Target position

Profile velocity

Profile acceleration

UNSIGNED16

INTEGER32

UNSIGNED32

UNSIGNED32

RW

RW

RW

RW

6084 h

6093 h

Profile deceleration

Position factor

UNSIGNED32

UNSIGNED32

RW

RW

60F4 h

Following error actual value INTEGER32 RO

60FC h

Position demand value INTEGER32 RO

(Please refer to the following “Details of Objects” section for more detailed descriptions)

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3.2 Interpolation Position Mode

3.2.1 Description

The Host sends a broadcast SYNC frame (0x80) cyclically.

With each PDO, the Host sends the next reference position Xi, the difference

X i

and controlword to the drive.

While the next SYNC receiving, the drive interpolates from X i-1

to X i

.

There is no input data buffer, which will cause delay.

Extrapolation, Jitter Compensation

When SYNC object is delayed, the interpolator should generate with the last acceleration and extrapolate predicted speed and position.

When the SYNC delays for 2*cycle, Drive should stop and send out an error message.

PDO Rx/Tx Mapping record

PDOs from Host to Drive

-

32 bit reference position [position increment]

-

16 bit symmetrical difference [increments]

X i

= (X i+1

– X i-1

)/2 (it is also the same as velocity)

-

16 bit control word.

PDO from Host to Drive (Every PDO contain 8 bytes field like below)

32 bit reference position

3.2.2 Operation Procedure

16 bit difference 16 bit controlword

Set

Mode of operations:6060 h

】 to interpolation position mode(7).

P1-01 = 0x0B,

Set

Interpolation sub mode select:60C0 h

】 to Interpolation mode.

If 60C0 h

is [0] or [-1], Host needs to send [60C1h Sub-3] and Drive will work more precisely.

If 60C0 h

is [-2], Host does not need to send [60C1h Sub-3]. It could save calculating time of Host and Drive could work also.

P1-01 = 0x0C,

Set

Interpolation sub mode select:60C0 h

】 to Interpolation mode.

If 60C0 h

is [0], Host does not send [60C1 h

Sub-3]. It could save calculating time of host and Drive could work also.

If 60C0 h

is [-1], Host need to send [60C1 h

Sub-3] and Drive will work more precisely.

P1-01 = 0x0B,

Set

Communication Cycle period:1006 h

to predict SYNC interval.

The unit of this object is microsecond.

It is recommended to set this value for a multiple of 1000 microsecond.

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P1-01 = 0x0C,

Set

Interpolation time period:60C2 h

to predict SYNC receiving period.

60C2 h

Sub-1 for Interpolation time units. The range is from 1ms to 20ms.

60C2 h

Sub-2 for Interpolation time index. The value is always -3 meaning the interpolation time unit is 10

-3

second.

Set PDO Communication & Mapping parameters via SDO.

Example:

Set 1400 h

Sub-1 for PDO RxCobId.

Set 1400 h

Sub-2 for PDO receive type [0x01] normally.

If using these steps, Host need to send SYNC and PDO data every Communication cycle.

Drive PDO Rx:

P1-01 = 0x0B,

60C1 h

Sub-1 for Pos Cmd (Low word)

60C1 h

Sub-2 for Pos Cmd (High word)

60C1 h

Sub-3 for Symmetrical Difference (optional)

6040 h

Sub-0 for ControlWord.

P1-01 = 0x0C,

60C1 h

Sub-1 for Pos Cmd (32-bit)

6040 h

Sub-0 for ControlWord.

Drive PDO Tx content could be set up to requirements of Host.

Receive NMT from Host to start or stop operation.

Note

Because of difference of each oscillator, users must change parameter P3-09 to make drive to automatically modify internal timer to match SYNC object period)

3.2.3 Associated Object List

Index

6040 h

6041 h

6060 h

6061 h

6093 h

Name

Controlword

Statusword

Modes of operation

Modes of operation display

Position factor

Type

UNSIGNED16

UNSIGNED16

INTEGER8

INTEGER8

UNSIGNED32

Attr.

RW

RO

RW

RO

RW

60C0 h

Interpolation sub mode select INTEGER16 RW

60C1 h

Interpolation data record ARRAY RW

(Please refer to the following “Details of Objects” section for more detailed descriptions)

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3.3 Homing Mode

3.3.1 Description

This mode could help drive to seek the home position. The user can specify the speeds, acceleration and the method of homing.

3.3.2 Operation Procedure

Set

Mode of operations:6060h

to homing mode(6).

Set

Home offset:607Ch

Set

Homing method:6098h

, method range is 1~35. (refer to OD-9098h definition below)

Set

Homing speeds:6099h Sub-1

to set speed during search for switch. (unit: rpm)

Set

Homing speeds:6099h Sub-2

to set speed during search for zero. (unit: rpm)

Set

Homing acceleration:609Ah

for homing acceleration. (unit: millisecond from

0rpm to 3000rpm)

Set

Controlword:6040h

to servo on drive and make motor work.

Find Home Switch and do homing.

Query

Statusword:6041h

】 to get drive status.

3.3.3 Associated Object List

Index

6040h

6041h

6060h

6061h

607Ch

Name

Controlword

Statusword

Modes of operation

Modes of operation display

Home offset

Type

UNSIGNED16

UNSIGNED16

INTEGER8

INTEGER8

INTEGER32

6093h

6098h

Position factor

Homing method

UNSIGNED32

INTEGER8

RW

RW

6099h

609Ah

Homing speeds

Homing acceleration

ARRAY

UNSIGNED32

RW

RW

(Please refer to the following “Details of Objects” section for more detailed descriptions)

Attr.

RW

RO

RW

RO

RW

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3.4 Profile Velocity Mode

3.4.1 Description

Drive could receive velocity commands and plan acceleration and deceleration.

3.4.2 Operation Procedure

Set

Mode of operations:6060h

to profile velocity mode(3).

Set

Controlword:6040h

to servo on drive and make motor work.

(After drive switch to servo-on, internal velocity command will be reset and OD-60FFh will be cleared.)

Set

Profile acceleration:6083h

】 to plan acceleration slope. (millisecond from 0rpm to 3000rpm)

Set

Profile deceleration:6084h

】 to plan deceleration slope. (millisecond from 0rpm to 3000rpm)

Set

Target velocity:60FFh

. The unit of Target velocity is 0.1rpm.

(If drive already servo-on, the drive will work immediately while receiving velocity command.

OD-60FFh will be cleared to zero if OD-6060h[Mode] changed, Servo-Off or Quick-Stop is activated.)

Query

Statusword:6041h

】 to get drive status.

3.4.3 advanced

Host could get information about velocity mode.

Query

Velocity demand value:606B h

】 to get internal velocity command. (unit: 0.1rpm)

Query

Velocity actual value:606C h

】 to get actual velocity value. (unit: 0.1rpm)

Host could set velocity monitor threshold.

Set

Velocity window:606D h

】 to allocate velocity reached zone. (unit: 0.1rpm)

Set

Velocity widnow time:606E h

】 to plan time of activation of velocity reached. (unit: millisecond)

Set

Velocity threshold:606F h

】 to allocate zero speed level. (unit: 0.1rpm)

3.4.4 Associated Object List

Index

6040 h

6041 h

6060 h

6061 h

606B h

606C h

Name

Controlword

Statusword

Modes of operation

Modes of operation display

Velocity demand value

Velocity actual value

Type

UNSIGNED16

UNSIGNED16

INTEGER8

INTEGER8

INTEGER32

INTEGER32

Attr.

RW

RO

RW

RO

RO

RO

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Index

606D h

Name

Velocity window

Type

UNSIGNED16

Attr.

RW

606E h

606F h

Velocity window time

Velocity threshold

UNSIGNED16

UNSIGNED16

RW

RW

60FF h

Target velocity INTEGER32 RW

(Please refer to the following “Details of Objects” section for more detailed descriptions)

3.5 Profile Torque Mode

3.5.1 Description

Drive could receive torque command and plan profile torque slope.

3.5.2 Operation Procedure

Set

Mode of operations:6060h

to profile torque mode(4).

Set

Controlword:6040h

to servo on drive and make motor work.

(After drive switches to servo-on, internal torque command will be reset and OD-6071h will be cleared. It means the drive is servo-on, then starts receiving torque command.)

Set

Torque slope:6087h

】 to plan torque slope time. (unit: millisecond from 0 to 100

﹪ rated torque)

Set

Target torque:6071h

】 to target torque. The unit is given per thousand of rated torque.

(OD-6071h will be cleared to zero if OD-6060h[Mode] changed, Servo-Off or Quick-Stop is activated.)

3.5.3 Advanced

Host could get information about torque mode.

Query

Torque demand value:6074 h

】 to get output value of the torque limit function. (unit: per thousand of rated torque)

Query Torque rated current:6075 h

】 to get the rated current depending on the motor and drive type. (unit: multiples of milliamp)

Query

Torque actual value:6077 h

】 to get instantaneous torque in the drive motor. (unit: per thousand of rated torque)

Query

Current actual value:6078 h

】 to get instantaneous current in the drive motor. (unit: per thousand of rated current)

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3.5.4 Associated Object List

Index

6040 h

6041 h

6060 h

6061 h

6071 h

Name

Controlword

Statusword

Modes of operation

Modes of operation display

Target torque

Type

UNSIGNED16

UNSIGNED16

INTEGER8

INTEGER8

INTEGER16

Attr.

RW

RO

RW

RO

RW

6074 h

6075 h

Torque demand value

Motor rated current

INTEGER16

UNSIGNED32

RO

RO

6077 h

6078 h

Torque actual value

Current actual value

INTEGER16

INTEGER16

RO

RO

6087 h

Torque slope UNSIGNED32 RW

(Please refer to the following “Details of Objects” section for more detailed descriptions)

4. Object Dictionary Entries

4.1 Specifications for Objects

4.1.1 Object Type

Object Name

VAR

ARRAY

RECORD

4.1.2 Data Type

Comments

A single value such as an UNSIGNED8, Boolean, float, INTEGER16 etc.

A multiple data field object where each data field is a sample variable of the

SAME basic data type e.g. array of UNSIGNED16 etc. Sub-index 0 is of

UNSIGNED8 and therefore not part of the ARRAY data

A multiple data field object where the data fields may be any combination of simple variables. Sub-index 0 is of UNSIGNED8 and therefore not part of the

RECORD data

Please refer to CANopen Standard 301.

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4.2 Overview of Object Group 1000 h

Index

603F h

6040 h

6041 h

605B h

605E h

6060 h

6061 h

6062 h

6063 h

6064 h

6065 h

6067 h

6068 h

Index Object Type Name

1011 h

1014 h

1016 h

1017 h

1018 h

1029 h

1200 h

1400 h

~03 h

1600 h

~03 h

1800 h

~03 h

1000 h

1001 h

1003 h

1005 h

1006 h

100C h

100D h

1010 h

VAR

VAR

ARRAY

VAR

VAR

VAR

VAR

ARRAY

ARRAY

VAR

ARRAY

VAR device type error register pre-defined error field

COB-ID SYNC communication cycle period guard time life time factor store parameters restore default parameters

COB-ID EMCY

Consumer heartbeat time

Producer heartbeat time

RECORD Identity Object

ARRAY Error Behavior

RECORD 1 st

Server SDO parameter

RECORD Receive PDO parameter

RECORD Receive PDO mapping

RECORD Transmit PDO parameter

1A00 h

~03 h

RECORD Transmit PDO mapping

Only 1001 h

could be mapped to PDO

4.3 Overview of Object Group 6000 h

Object Type

VAR Error Code

VAR

VAR

Controlword

Statusword

Name

VAR

VAR

VAR

VAR

VAR

VAR

VAR

VAR

VAR

VAR

Shutdown option code

Fault reaction option code

Modes of operation

Modes of operation display

Position demand value [PUU]

Position actual value [increment]

Position actual value

Following error window

Position windows

Position window time

DataType

UNSIGNED32

UNSIGNED8

UNSIGNED32

UNSIGNED32

UNSIGNED32

UNSIGNED16

UNSIGNED8

UNSIGNED32

UNSIGNED32

UNSIGNED32

UNSIGNED32

UNSIGNED16

UNSIGNED32

UNSIGNED8

SDO Parameter

UNSIGNED16/32

UNSIGNED32

UNSIGNED16/32

UNSIGNED32

DataType

UNSIGNED16

UNSIGNED16

UNSIGNED16

INTEGER16

INTEGER16

INTEGER8

INTEGER8

INTEGER32

INTEGER32

INTEGER32

UNSIGNED32

UNSIGNED32

UNSIGNED16

Access Mappable

RO Y

RW

RO

Y

Y

RO

RO

RO

RW

RW

RW

RW

RO

RW

RW

Y

Y

Y

Y

Y

Y

N

N

Y

Y

RO

RW

RW

RO

RW

RW

RW

RW

Access

RO

RO

RW

RW

RW

RW

RO

RW

RW

RW

RW

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Index

6093 h

6098 h

6099 h

609A h

60B0 h

60B1 h

60B2 h

60C0 h

60C1 h

60C2 h

60C5 h

60C6 h

60F2 h

60F4 h

60FC h

607F h

6080 h

6081 h

6083 h

6084 h

6085 h

6086 h

6087 h

6075 h

6076 h

6077 h

6078 h

607A h

607C h

607D h

606B h

606C h

606D h

606E h

606F h

6071 h

6074 h

Object Type

VAR

Name

Velocity demand value

VAR

VAR

Velocity actual value

Velocity window

VAR

VAR

VAR

VAR

VAR

Velocity window time

Velocity threshold

Target torque

Torque demand value

Motor rated current

VAR

VAR

VAR

VAR

Motor rated torque

Torque actual value

Current actual value

Target position

VAR Home Offset

ARRAY Software position limit

VAR

VAR

Max profile velocity

Max motor speed

VAR

VAR

VAR

VAR

Profile velocity

Profile acceleration

Profile deceleration

Quick stop deceleration

VAR

VAR

Motion profile type

Torque slope

ARRAY Position factor

VAR Homing method

ARRAY Homing speeds

VAR Homing acceleration

VAR

VAR

Position offset

Velocity offset

VAR

VAR

Torque offset

Interpolation sub mode select

ARRAY Interpolation data record

RECORD Interpolation time period

VAR

VAR

VAR

VAR

VAR

Max acceleration

Max deceleration

Positioning option code

Following error actual value

Position demand value

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DataType

INTEGER32

INTEGER32

UNSIGNED16

UNSIGNED16

UNSIGNED16

INTEGER16

INTEGER16

UNSIGNED32

UNSIGNED32

UNSIGNED16

INTEGER16

INTEGER32

INTEGER32

INTEGER32

UNSIGNED32

UNSIGNED32

UNSIGNED32

UNSIGNED32

UNSIGNED32

UNSIGNED32

INTEGER16

UNSIGNED32

UNSIGNED32

INTEGER8

UNSIGNED32

UNSIGNED32

INTEGER32

INTEGER32

INTEGER16

INTEGER16

RW

RW

UNSIGNED16/32 RW

SIGNED8 RW

RW

RW

RW

RW

UNSIGNED32

UNSIGNED32

UNSIGNED16

INTEGER32

INTEGER32

RW

RW

RW

RO

RO

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RO

RO

RO

RW

Access Mappable

RO Y

RO

RW

Y

Y

RW

RW

RW

RO

RO

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

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Index Object Type Name

60FD h

60FF h

VAR

VAR

Digital inputs

Target velocity

6502 h

VAR

Delta parameter definition

Supported drive modes

2xxx VAR Parameter Mapping

4.4 Details of Objects

Object 1000 h

: Device Type

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

1000 h device type

VAR

UNSIGNED32

RO

No

UNSIGNED32

04020192

h

: A2 Series

06020192 h

: M Series

Object 1001 h

: Error Register

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

1001 h error register

VAR

UNSIGNED8

RO

Yes

UNSIGNED8

0

Object 1003 h

: Pre-defined Error Field

INDEX

Name

Object Code

Data Type

1003 h pre-defined error field

ARRAY

UNSIGNED32

Access

PDO Mapping

Sub-Index

Description

Data Type

RW

No

0 number of errors

UNSIGNED8

24

DataType

UNSIGNED32

INTEGER32

UNSIGNED32

Access Mappable

RO Y

RW

RO

Y

Y

INTEGER16/32 RW Y

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Access

PDO Mapping

Value Range

Default Value

RW

No

0~5

0

Sub-Index

Description

Data Type

Access

PDO Mapping

1~5 standard error field

UNSIGNED32

RO

No

Value Range UNSIGNED32

Default Value 0

Example: if AL.011 occurs, the errorcode will store in Array of 1003 h

Byte: MSB LSB

Additional

Information(UINT16)

Error code(UINT16)

0x0011 (AL.011)

Object 1005 h

: COB-ID SYNC message

INDEX

Name

Object Code

Data Type

1005

COB-ID SYNC message

VAR h

UNSIGNED32

Access

PDO Mapping

RW

No

Value Range UNSIGNED32

Default Value 80

h

Object 1006 h

: Communication Cycle Period

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

Comment

1006 h communication cycle period

VAR

UNSIGNED32

RW

No

UNSIGNED32

0

Unit: microsecond

0x7305

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Object 100C h

: Guard Time

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

100C h guard time

VAR

UNSIGNED16

RW

No

UNSIGNED16

0

Comment

Object 100D h

: Life Time Factor

Unit: millisecond

INDEX

Name

100D h life time factor

Object Code

Data Type

Access

VAR

UNSIGNED8

RW

PDO Mapping

Value Range

Default Value

No

UNSIGNED8

0

Object 1010 h

: Store parameters

INDEX

Name

1010 h store parameters

Object Code

Data Type

Access

PDO Mapping

ARRAY

UNSIGNED32

RW

No

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

0 largest sub-index supported

UNSIGNED8

RO

No

1

1

Sub-Index

Description

Data Type

1 save all default parameters

UNSIGNED32

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Access

PDO Mapping

Value Range

Default Value

RW

No

UNSIGNED32

1

ASCII

MSB e v a hex 65h 76h 61h

Signature

Object 1011 h

: Restore default parameters

INDEX

Name

1011 h restore default parameters

Object Code

Data Type

Access

PDO Mapping

ARRAY

UNSIGNED32

RW

No

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

0 largest sub-index supported

UNSIGNED8

RO

No

1

1

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

1 restore all default parameters

UNSIGNED32

RW

No

UNSIGNED32

1

MSB

ASCII hex d

64h a

61h

Signature o

6Fh

LSB s

73h

LSB l

6Ch

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Object 1014 h

: COB-ID Emergency Object

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

1014 h

VAR

COB-ID Emergency message

UNSIGNED32

RO

No

UNSIGNED32

80

h

+ Node-ID

UNSIGNED32

MSB LSB bits 31 30~11 10~0

0/1 00000000000000000000 11-bit Identifier COB-ID

Bit31 is 0 means that EMCY is valid (Drive will send EMCY)

Bit31 is 1 means that EMCY is not valid (Drive will not send EMCY)

Object 1016 h

: Consumer Heartbeat Time

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

1016 h

Consumer Heartbeat Time

ARRAY

UNSIGNED32

RW

No

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

0 number entries

UNSIGNED8

RO

No

1

1

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

1

Consumer Heartbeat Time

UNSIGNED32

RW

No

UNSIGNED32

0

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UNSIGNED32

MSB LSB

31~24 23~16 15~0

Reserved

(value:00h)

Node-ID

Heartbeat time

(Unit:millisecond)

- UNSIGNED8

Object 1017 h

: Producer Heartbeat Time

INDEX

Name

Object Code

1017 h

Producer Heartbeat Time

VAR

Data Type

Access

PDO Mapping

UNSIGNED16

RW

No

Value Range UNSIGNED16

Default Value

Object 1018 h

: Identity Object

0

INDEX

Name

Object Code

1018 h

Identity Object

RECORD

Data Type

Access

PDO Mapping

Identity

RO

No

Sub-Index

Description

Data Type

Access

PDO Mapping

0 number of entries

UNSIGNED8

RO

No

Value Range

Default Value

Sub-Index

Description

Data Type

Access

3

3

1

Vendor ID

UNSIGNED32

RO

UNSIGNED8

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PDO Mapping

Value Range

Default Value

No

UNSIGNED32

1DD

h

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

2

Product code

UNSIGNED32

RO

No

UNSIGNED32

6000

h

: A2 Series

6030 h

: M Series

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

3

Revision number

UNSIGNED32

RO

No

UNSIGNED32

Default Value

Object 1029 h

: Error Behavior

N/A

INDEX

Name

Object Code

1029 h

Error Behavior

ARRAY

Data Type

Access

PDO Mapping

UNSIGNED8

RW

No

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

1

1

0

No. of Error Classes

UNSIGNED8

RO

No

Sub-Index

Description

Data Type

1

Communication Error

UNSIGNED8

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Access

PDO Mapping

Value Range

Default Value

Note:

0

RW

No

UNSIGNED8

0

Pre-operational (only if current is operational)

1 No state change

2

INDEX

Name stopped

Object 1200 h

: Server SDO Parameter

1200 h

Server PDO parameter

Object Code

Data Type

Access

PDO Mapping

RECORD

SDO Parameter

RO

No

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

0 number of entries

UNSIGNED8

RO

No

2

2

Sub-Index

Description

Data Type

Access

1

COB-ID Client->Server (rx)

UNSIGNED32

RO

PDO Mapping

Value Range

Default Value

No

UNSIGNED32

Index 1200

h

: 600

h

+ Node-ID

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

2

COB-ID Server->Client (tx)

UNSIGNED32

RO

No

UNSIGNED32

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Default Value

INDEX

Name

Index 1200

h

: 580

h

+ Node-ID

Object 1400 h

~ 1403 h

: Receive PDO Communication Parameter

1400 h

~ 1403 h

Receive PDO parameter

Object Code

Data Type

Access

PDO Mapping

RECORD

PDO CommPar

RW

No

Sub-Index

Description

Data Type

0 largest sub-index supported

UNSIGNED8

Access

PDO Mapping

Value Range

Default Value

RO

No

5

5

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

1

COB-ID used by PDO

UNSIGNED32

RW

No

UNSIGNED32

Default Node-ID: 0

Index 1400

h

: 200

h

+ Node-ID

Index 1401

h

: 300

h

+ Node-ID

Index 1402

h

: 400

h

+ Node-ID

Index 1403

h

: 500

h

+ Node-ID

UNSIGNED32

MSB LSB bits 31 30~11 10~0

0/1 00000000000000000000

11-bit Identifier

COB-ID

Bit31 is 0 means that PDO is valid

Bit31 is 1 means that PDO is not valid

The PDO valid/not valid allows to select which PDOs are used in the operational state.

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Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

2

Reception type

UNSIGNED8

RW

No

UNSIGNED8

0

Sub-Index

Description

Data Type

Access

3 inhibit time (not used for RPOD)

UNSIGNED16

RW

PDO Mapping

Value Range

Default Value

No

UNSIGNED16

0

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

4 compatibility entry

UNSIGNED8

RW

No

UNSIGNED8

0

Sub-Index

Description

Data Type

Access

PDO Mapping

5 event timer (not used for RPDO)

UNSIGNED16

RW

No

Value Range

Default Value

UNSIGNED16

0

Object 1600 h

~ 1603 h

: Receive PDO Mapping Parameter

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

1600 h

~ 1603 h

Receive PDO mapping

RECORD

PDO Mapping

RW

No

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Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

0

Number of mapped application objects in PDO

UNSIGNED8

RW

No

0: deactivated

1~8: activated

0

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

1~8

PDO mapping for the nth application object to be mapped

UNSIGNED32

RW

No

UNSIGNED32

0 aaaa xx

Application

0

1

2

3 bbbb cccc aaaa

3 yy zz xx

08h

20h

10h bbbb cccc yy

Application zz

Application

Application

Object 1800 h

~ 1803 h

: Transmit PDO Communication Parameter

INDEX

Name

1800 h

~ 1803 h transmit PDO parameter

Object Code

Data Type

Access

PDO Mapping

RECORD

PDO CommPar

RW

No

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Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

0 largest sub-index supported

UNSIGNED8

RO

No

5

5

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

1

COB-ID used by PDO

UNSIGNED32

RW

No

UNSIGNED32

Default Node-ID: 0

Index 1800

h

: 180

h

+ Node-ID

Index 1801

h

: 280

h

+ Node-ID

Index 1802

h

: 380

h

+ Node-ID

Index 1803

h

: 480

h

+ Node-ID

UNSIGNED32

MSB LSB bits 31 30~11 10~0

0/1 00000000000000000000 11-bit Identifier COB-ID

Bit31 is 0 means that PDO is valid

Bit31 is 1 means that PDO is not valid

The PDO valid/not valid allows to select which PDOs are used in the operational state.

Sub-Index

Description

Data Type

2

Transmission type

UNSIGNED8

Access

PDO Mapping

Value Range

Default Value

RW

No

UNSIGNED8

0

Sub-Index

Description

Data Type

3 inhibit time

UNSIGNED16

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Access

PDO Mapping

Value Range

Default Value

RW

No

UNSIGNED16

0

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

4 reserved

UNSIGNED8

RW

No

UNSIGNED8

0

Sub-Index

Description

Data Type

Access

PDO Mapping

5 event timer

UNSIGNED16

RW

No

Value Range 0: not used

UNSIGNED16

Default Value 0

Object 1A00 h

~ 1A03 h

: Transmit PDO Mapping Parameter

INDEX

Name

Object Code

1A00 h

~ 1A03 h

Transmit PDO mapping

RECORD

Data Type

Access

PDO Mapping

PDO Mapping

RW

No

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

0

Number of mapped application objects in PDO

UNSIGNED8

RW

No

Default Value

0: deactivated

1~8: activated

0

Sub-Index 1~8

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Description

Data Type

Access

PDO mapping for the nth application object to be mapped

UNSIGNED32

RW

PDO Mapping

Value Range

No

UNSIGNED32

Default Value 0

Object 603F h

: Error code (errorcode of CANopen defined)

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

Object 6040 h

: Controlword

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

603F h

Error code

VAR

UNSIGNED16

RO

Yes

UNSIGNED16

0

6040

Controlword

VAR

UNSIGNED16

RW

Yes h

UNSIGNED16

P1-01 = 0x0B, Default is 0x0000

P1-01 = 0x0C, Default is 0x0004

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State machine in system context

Bit Definition

15~9 8 7 6~4 3 2

N/A Halt Fault reset Operation mode specific

Quick

Enable

Stop operation

(B-contact)

Note

If P1-01 = 0x0B, user could set 6040h to 0x000F for ServoOn immediately.

1

Enable voltage

Switch on

If P1-01 = 0x0C, user need to set 6040h to 0x0006->0x0007->0x000F for Servo On step by step.

0

Bit

4

5

6

PP

New set-point

(positive trigger)

Change set immediately

Absolute(0) / relative(1)

Operation mode

HM

Homing operation start

(positive trigger)

N/A

N/A

IP

N/A

N/A

N/A

PV

N/A

N/A

N/A

PT

N/A

N/A

N/A

Abbreviation:

PP

Profile Position Mode

HM

Homing Mode

IP

Interpolated Position Mode

PV

PT

Profile Velocity Mode

Profile Torque Mode

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Velocity v2 v1 t0 t1 t2

Single set-point t3 time

Velocity v2 v1 t0 t1 t2

Change settings immediately

Object 6041 h

: Statusword

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

Data Description

15 14 13 12 11 10

6041 h

Statusword

VAR

UNSIGNED16

RO

Yes

UNSIGNED16

0

9 8 7 6 5

MSB

Bit Definition

0

1

2

7

8

9

10

5

6

3

4

11

Ready to swtich on

Switch on

Operation enabled (status of servo on)

Fault (Drive will servo off)

Voltage enabled

Quick stop

Switch on disabled

Warning (drive still servo on)

N/A

Remote

Target reached

Internal limit active (Not supported)

4 time

3 2 1 0

LSB

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12

PP

Set-point acknowledge

HM

Homing attained

IP

IP mode active

PV

Zero Speed

13

Following error

14

N/A

15

N/A

Homing error

N/A

N/A

N/A

SYNC OK

N/A

N/A

N/A

N/A

Note:

Set-point acknowledge: Trajectory generator has assumed the positioning values

Homing attained: Homing mode carried out successfully

IP mode active: interpolated position mode active – mode is running in IP mode

SYNC OK: SYNC frame is reached before path generator starts

Object 605B h

: Shutdown option code

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

605B h

INTEGER16

RW

Yes

Shutdown option code

VAR

Value Range

Default Value

INDEX

Name

INTEGER16

0

Comment 0:Disable drive function

-1:Dynamic break enable

Object 605E h

: Fault reaction option code

605E h

Fault reaction option code

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

Comment

VAR

INTEGER16

RW

Yes

INTEGER16

2

0:Disable drive, motor is free to rotate

1:slow down on slow down ramp

2:slow down on quick stop ramp

PT

N/A

N/A

N/A

N/A

40

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Object 6060 h

: Modes of operation

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

6060 h

INTEGER8

RW

Yes

INTEGER8

0

Modes of operation

VAR

Comment 0:Reserved

1:Profile position mode

3:Profile velocity mode

4:Profile torque mode

6:Homing mode

7:Interpolated position mode

Object 6061 h

: Modes of operation display

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

6061 h

Modes of operation display

VAR

INTEGER8

RW

Yes

INTEGER8

Default Value 0

Object 6062 h

: Position demand value

INDEX

Name

6062 h

Position demand value

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

Comment

VAR

INTEGER32

RO

Yes

INTEGER32

0

Position command calculated by Interpolation theory

Unit: PUU

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Object 6063 h

: Position demand value

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

6063 h

Position actual value*

VAR

INTEGER32

RO

Yes

INTEGER32

0

Comment Unit: increments

Object 6064 h

: Position actual value

INDEX

Name

6064 h

Position actual value

Object Code

Data Type

Access

VAR

INTEGER32

RO

PDO Mapping

Value Range

Yes

INTEGER32

Default Value 0

Comment Unit: PUU

Object 6065 h

: Following error window

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

6065 h

Yes

Following error window

VAR

UNSIGNED32

RW

Value Range

Default Value

UNSIGNED32

3840000

Comment

Object 6067 h

: Position window

Unit: PUU

INDEX

Name

6067 h

Position window

Object Code

Data Type

Access

PDO Mapping

VAR

UNSIGNED32

RW

Yes

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Value Range

Default Value

UNSIGNED32

100

Comment Unit: PUU

Object 6068 h

: Position window time

INDEX

Name

Object Code

6068 h

Position window time

VAR

Data Type

Access

PDO Mapping

Value Range

Default Value

UNSIGNED16

RW

Yes

UNSIGNED16

0

Comment Unit: millisecond

Object 606B h

: Velocity demand value

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

Comment

606B h

Velocity demand value

VAR

INTEGER32

RO

Yes

INTEGER32

Unit: 0.1rpm

Object 606C h

: Velocity actual value

INDEX

Name

Object Code

606C h

Velocity actual value

VAR

Data Type

Access

PDO Mapping

Value Range

Comment

INTEGER32

RO

Yes

INTEGER32

Unit: 0.1rpm

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Object 606D h

: Velocity window

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

606D h

Velocity window

VAR

INTEGER16

RO

Yes

0~3000

100

Comment Unit: 0.1rpm

Object 606E h

: Velocity window time

INDEX

Name

606E h

Velocity window time

Object Code

Data Type

Access

VAR

UNSIGNED16

RW

PDO Mapping

Value Range

Yes

UNSIGNED16

Default Value 0

Comment Unit: millisecond

Object 606F h

: Velocity threshold

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

606F h

Yes

Velocity threshold

VAR

UNSIGNED16

RW

0~2000

100

Unit: 0.1rpm

Value Range

Default Value

Comment

Object 6071 h

: Target torque

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

6071 h

Target torque

VAR

INTEGER16

RW

Yes

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Value Range

Default Value

Comment

-3000~3000

0

Unit: per thousand of rated torque

Object 6074 h

: Torque demand value

INDEX

Name

Object Code

6074 h

Torque demand value

VAR

Data Type

Access

PDO Mapping

INTEGER16

RO

Yes

Value Range INTEGER16

Comment Unit: per thousand of rated torque

Object 6075 h

: Motor rated current

INDEX

Name

6075 h

Motor rated current

Object Code

Data Type

Access

VAR

UNSIGNED32

RO

PDO Mapping

Value Range

Yes

UNSIGNED32

Comment Unit: milliamp

Object 6076 h

: Motor rated toruqe

INDEX

Name

Object Code

Data Type

6076 h

Motor rated torque

VAR

UNSIGNED32

Access

PDO Mapping

Value Range

RO

Yes

UNSIGNED32

Comment Unit: per thousand of rate torque

Object 6077 h

: Torque actual value

INDEX

Name

6077 h

Torque actual value

Object Code

Data Type

Access

VAR

INTEGER16

RO

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PDO Mapping

Value Range

Yes

INTEGER16

Comment Unit: per thousand of rate torque

Object 6078 h

: Current actual value

INDEX

Name

Object Code

6078 h

Current actual value

VAR

Data Type

Access

PDO Mapping

INTEGER16

RO

Yes

Value Range INTEGER16

Comment

Object 607A h

: Target position

Unit: per thousand of rated current

INDEX

Name

607A h

Target position

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

Comment

VAR

INTEGER32

RW

Yes

INTEGER32

0

For Profile position mode 6060 h

=1

Unit: PUU

Object 607C h

: Home offset

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

Comment

607C h

Home offset

VAR

INTEGER32

RW

Yes

INTEGER32

0

Unit : PUU

46

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Home

Position home offset

Home offset

Object 607F h

: Max profile velocity

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

607F h

Max profile velocity

VAR

UNSIGNED32

RW

Yes

UNSIGNED32

P1-55(rpm) * 10

Comment Unit:0.1rpm

Object 6080 h

: Max motor speed

INDEX

Name

6080 h

Max motor speed

Object Code

Data Type

Access

VAR

UNSIGNED32

RW

PDO Mapping

Value Range

Yes

UNSIGNED32

Default Value P1-55(rpm)

Comment

Object 6081 h

: Profile velocity

Unit:rpm

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

Comment

6081 h

Yes

Profile Velocity

VAR

UNSIGNED32

RW

UNSIGNED32

10000

For Profile position mode 6060 h

Unit: PUU per second

=1

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Zero

Position

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Object 6083 h

: Profile acceleration

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

6083h

Profile acceleration

VAR

UNSIGNED32

RW

Yes

Value Range

Default Value

INDEX

Name

1~UNSIGNED32

200

Comment For Profile position mode 6060h=1

Unit: millisecond (time from 0rpm to 3000rpm)

Object 6084 h

: Profile deceleration

6084 h

Profile deceleration

Object Code

Data Type

Access

VAR

UNSIGNED32

RW

PDO Mapping

Value Range

Yes

1~UNSIGNED32

Default Value 200

Comment For Profile position mode 6060 h

=1

Unit: millisecond (time from 0rpm to 3000rpm)

Object 6085 h

: Quick stop deceleration

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

6085 h

Yes

Quick stop acceleration

VAR

UNSIGNED32

RW

Value Range

Default Value

UNSIGNED32

0

Comment Unit: millisecond (time from 0rpm to 3000rpm)

Object 6086 h

: Motion profile type

INDEX

Name

Object Code

Data Type

6086

Motion profile type

VAR h

INTEGER16

48

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Access

PDO Mapping

Value Range

Default Value

Object 6087 h

: Torque slope

INDEX

Name

Object Code

Data Type

Access

RW

Yes

INTEGER16

0

6087 h

Torque slope

VAR

UNSIGNED32

RW

PDO Mapping

Value Range

Default Value

Comment

Yes

UNSIGNED32

0

Unit: millisecond (time from 0 to 100

rated torque)

Object 6093 h

: Position factor

INDEX

Name

Object Code

6093 h

Position factor

ARRAY

Data Type

Access

PDO Mapping

Comment

UNSIGNED32

RW

Yes

Position factor =

Numerator / Feed_constant

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

0

Number of entries

UNSIGNED8

RO

No

2

2

Sub-Index

Description

Data Type

Access

PDO Mapping

1

Numerator

UNSIGNED32

RW

Yes

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Default Value

Comment

1

Same as P1-44

Sub-Index

Description

Data Type

Access

PDO Mapping

Default Value

Comment

2

Feed_constant

UNSIGNED32

RW

Yes

1

Same as P1-45

Object 6098 h

: Homing method

INDEX

Name

Object Code

Data Type

6098 h

Homing method

VAR

INTEGER8

Access

PDO Mapping

Value Range

Default Value

RW

Yes

0~35

0

1

Index Pulse

Negtive Limit Switch

Method1

Homing on the negative limit switch and index pulse

50

Index Pulse

Positive Limit Switch

Method2

Homing on the positive limit switch and index pulse

2

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3

3

4

4

Index Pulse

Home Switch

Method 3 and 4

Homing on the positive home switch and index pulse

5

5

6

6

Index Pulse

Home Switch

Method 5 and 6

Homing on the negative home switch and index pulse

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8

7

7

7

8

8

9

9

9

10

10

10

Index Pulse

Home Switch

Positive Limit Switch

14

14

13

13

13

14

12

11

11

12

12

11

Index Pulse

Home Switch

Negative Limit Switch

Method 7 to 14

Homing on the home switch and index pulse

Method 15 and 16

Reserved (no picture)

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19

19

20

20

Home Switch

Method 17 to 30

Homing without an index pulse

Method 31 and 32

Reserved (no picture)

33

34

Index Pulse

Method 33 to 34

Homing on the index pulse

Method 35

Homing on the current position (no picture)

Object 6099 h

: Homing speeds

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

6099 h

UNSIGNED32

RW

Yes

Homing speeds

ARRAY

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

0

Number of entries

UNSIGNED8

2

2

RO

Yes

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Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

Comment

1

Speed during search for switch

UNSIGNED32

RW

Yes

1~2000rpm

100

P1-01 = 0x0B, Uint:rpm

P1-01 = 0x0C, Uint:0.1rpm

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

2

Speed during search for zero

UNSIGNED32

RW

Yes

1~500rpm

Default Value

Comment

20

P1-01 = 0x0B, Uint:rpm

P1-01 = 0x0C, Uint:0.1rpm

Object 609A h

: Homing acceleration

INDEX

Name

Object Code

609A h

Homing acceleration

VAR

Data Type

Access

PDO Mapping

Value Range

Default Value

UNSIGNED32

RW

Yes

UNSIGNED32

100

Comment Unit: millisecond (time of acc from 0rpm to

3000rpm)

Object 60B0 h

: Position offset

INDEX

Name

Object Code

Data Type

60B0 h

Position offset

VAR

INTEGER32

Access

PDO Mapping

Value Range

RW

Yes

INTEGER32

54

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Default Value 0

Comment

Object 60B1 h

: Velocity offset

Not implement yet.

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

Comment

60B1 h

Velocity offset

VAR

INTEGER32

RW

Yes

INTEGER32

0

Not implement yet.

Object 60B2 h

: Torque offset

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

60B2 h

Torque offset

VAR

INTEGER16

RW

Yes

INTEGER16

0

Comment Not implement yet.

Object 60C0 h

: Interpolation sub mode select

INDEX

Name

Object Code

60C0 h

Interpolation sub mode select

VAR

Data Type

Access

PDO Mapping

Value Range

Default Value

Comment

INTEGER16

RW

Yes

INTEGER16

0

P1-01 = 0x0B,

0, -1: manufacturer specific

( Delta definition -- need pos difference[OD-60C1sub3])

-2: manufacturer specific

(Linear interpolation --

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not need pos difference[OD-60C1sub3])

P1-01 = 0x0C,

0: manufacturer specific

(Linear interpolation --

not need pos difference[OD-60C1sub2])

-1: manufacturer specific

( Delta definition -- need pos difference[OD-60C1sub2])

P1-01 = 0x0B,

Object 60C1 h

: Interpolation data record

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Comment

60C1

ARRAY

UNSIGNED32

RW h

Interpolation data record

Yes

Set this record by PDO every T msec before

SYNC message

Where T is specified by 1006 h

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

3

3

0

Number of entries

UNSIGNED8

RO

No

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

Comment

1

Pos_Cmd (Low Word)

UNSIGNED16

RW

Yes

UNSIGNED16

0

Unit: low word of 32-bit CMD_PUU

Sub-Index 2

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Description

Data Type

Access

PDO Mapping

Value Range

Default Value

Comment

Pos_Cmd (High Word)

UNSIGNED16

RW

Yes

UNSIGNED16

0

Unit: high word of 32-bit CMD_PUU

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

Comment

3

Velocity – Pos_Cmd difference

INTEGER16

RW

Yes

INTEGER16

0

X i

= (X i+1

– X i-1

)/2

(it is also the same as velocity)

Unit: PUU

P1-01 = 0x0C,

Object 60C1 h

: Interpolation data record

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Comment

60C1 h

Interpolation data record

ARRAY

INTEGER32

RW

Yes

Set this record by PDO every T msec before

SYNC message

Where T is specified by 60C2 h

:01 h

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

0

Number of entries

UNSIGNED8

RO

No

2

2

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Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

Default Value

Comment

Sub-Index

Description

Data Type

Access

PDO Mapping

Value Range

1

Pos_Cmd

INTEGER32

RW

Yes

INTEGER32

0

Unit: 32-bit CMD_PUU

2

Velocity – Pos_Cmd difference

INTEGER16

RW

Yes

INTEGER16

Default Value

Comment

0

X i

= (X i+1

– X i-1

)/2

(it is also the same as velocity)

Unit: PUU

Object 60C2 h

: Interpolation time period

INDEX

Name

Object Code

60C2 h

Interpolation time period

RECORD

Data Type

Access

PDO Mapping

Comment

UNSIGNED8

RW

Yes

The unit of the interpolation time unit is given in 10

interpolation time index

seconds

Sub-Index

Description

Data Type

Access

0

Number of entries

UNSIGNED8

RO

PDO Mapping

Value Range

Default Value

No

2

2

Sub-Index

Description

Data Type

1

Interpolation time units

UNSIGNED8

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Access

PDO Mapping

Value Range

Default Value

RW

Yes

UNSIGNED8

1

Sub-Index

Description

Data Type

Access

PDO Mapping

2

Interpolation time index

INTEGER8

RW

Yes

Value Range -128~63

Default Value -3

Object 60C5 h

: Max acceleration

INDEX

Name

60C5 h

Max acceleration

Object Code

Data Type

Access

VAR

UNSIGNED32

RW

PDO Mapping

Value Range

Yes

UNSIGNED32

Default Value 200

Object 60C6 h

: Max deceleration

INDEX

Name

Object Code

Data Type

60C6 h

Max deceleration

VAR

UNSIGNED32

Access

PDO Mapping

Value Range

RW

Yes

UNSIGNED32

Default Value 200

Object 60F2 h

: Positioning option code

INDEX

Name

60F2 h

Positioning option code

Object Code

Data Type

Access

PDO Mapping

VAR

UNSIGNED16

RW

Yes

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Value Range UNSIGNED16

Default Value 0

Object 60F4 h

: Following error actual value

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

60F4 h

Following error actual value

VAR

INTEGER32

RO

Yes

INTEGER32

Comment Unit: PUU

Object 60FC h

: Position demand value*

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

60FC h

INTEGER32

RO

Yes

Position demand value*

VAR

Value Range INTEGER32

Comment

Object 60FF h

: Target velocity

Unit: increment

INDEX

Name

Object Code

Data Type

Access

60FF h

Target velocity

VAR

INTEGER32

RW

PDO Mapping

Value Range

Yes

INTEGER32

Comment Unit: 0.1rpm

Object 6502 h

: Supported drive modes

INDEX

Name

Object Code

6502 h

Supported drive modes

VAR

Data Type

Access

PDO Mapping

UNSIGNED32

Ro

Yes

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Value Range

Default Value

UNSIGNED32

6D h

Object 2xxx h

: Manufacturer parameter

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

2xxx h

Manufacturer parameter

VAR

INTEGER16/INTEGER32

RW

Yes

NTEGER16/INTEGER32

N/A

Object 2xxx is defined to parameter.

If user wants to use CANopen protocol for simulate Keypad press, he or she could read and write

Keypad parameter via SDO protocol.

Pa-bc <==> 2aBC h

BC’ is hexadecimal format of ‘bc

User could query Index first for knowing Length of Parameter and then could change the data by SDO or

PDO.

Example 1:

Object 2300 h

: Node-ID

P3-00

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

Default Value

2300 h

Node-ID

VAR

INTEGER16

RW

Yes

INTEGER16

7F

h

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Example 2:

Object 212C h

: Electronic Gear

P1-44

INDEX

Name

Object Code

Data Type

Access

PDO Mapping

Value Range

212C h

Electronic Gear

VAR

INTEGER32

RW

Yes

INTEGER32

5 Diagnostics and Troubleshooting

5.1 CANopen Communication Fault Messages

Emergency Object

Byte

Content

0 1

Emergency Error

Code

2

Error register

3 4

Panel Alarm Code

5 6

N/A

7

Display

Fault Messages ( If ALARM code is not showed here, please refer to User Manual )

Fault Name Fault Description Clearing Method

AL185

CANbus error

(Warning)

CANbus off or Error Tx Counter exceeds 128.

NMT-ResetNode or

6040h fault reset

(Check enough bandwidth)

NMT-ResetNode or

6040h fault reset

AL186

CANbus error

(Bus-Off)

CANbus off or Error Tx Counter exceeds 255.

(Check enough bandwidth)

AL170

AL180

Node guarding or

Heartbeat error

(Servo On)

Node guarding or

Heartbeat error

(Servo Off)

Error about node guarding or heartbeat of

CANopen protocol

Error about node guarding or heartbeat of

CANopen protocol

NMT-ResetNode or

6040h fault reset

NMT-ResetNode or

6040h fault reset

AL111

CANopen SDO receive SDO Rx buffer overrun is detected (receive two or

NMT-ResetNode or buffer overrun more SDO packets in 1ms).

6040h fault reset

AL112

CANopen PDO receive PDO Rx buffer overrun is detected (receive two or

NMT-ResetNode or buffer overrun more PDO (same COBID) packets in 1ms).

6040h fault reset

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AL121

AL122

AL123

AL124

AL125

Index error occurs when accessing

CANopen PDO object.

The specified Index in the message does not exist.

NMT-ResetNode or

6040h fault reset

Sub-index error occurs

The specified Sub-index in the message does not

NMT-ResetNode or when accessing

CANopen PDO object. exist.

6040h fault reset

Data type (size) error occurs when accessing

The data length in the message does not match the specified object.

CANopen PDO object.

Data range error occurs

The data in the message has exceeded the data when accessing range of the specified object.

CANopen PDO object.

CANopen PDO object is read-only and write-protected.

The specified object in the message is read-only and write-protected (cannot be changed).

NMT-ResetNode or

6040h fault reset

NMT-ResetNode or

6040h fault reset

NMT-ResetNode or

6040h fault reset

AL126

CANopen PDO object The specified object in the message does not does not support PDO. support PDO.

NMT-ResetNode or

6040h fault reset

AL127

AL128

AL129

AL130

AL131

CANopen PDO object is write-protected when write-protected (cannot be changed) when Servo

Servo On.

The specified object in the message is

On.

Error occurs when An error occurs when loading the default settings reading CANopen PDO from EE-PROM at start-up. All CANopen objects object from EE-PROM. return to their default settings automatically.

Error occurs when writing CANopen PDO object into EE-PROM.

An error occurs when writing the current settings into EE-PROM.

NMT-ResetNode or

6040h fault reset

NMT-ResetNode or

6040h fault reset

NMT-ResetNode or

6040h fault reset

EE-PROM invalid address range

The amount of the data saved in EE-PROM has exceeded the space determined by the firmware.

NMT-ResetNode or

Maybe the firmware version has been upgraded, and it causes that the data of old firmware version

6040h fault reset saved in EE-PROM cannot be used.

EE-PROM checksum error

AL132 Password error

The data saved in EE-PROM has been damaged and all CANopen objects return to their default settings automatically.

NMT-ResetNode or

6040h fault reset

The parameter is password protected when using

CANopen communication to access the

NMT-ResetNode or parameter. The users must enter the valid password to unlock the parameter.

6040h fault reset

P2-08 = 10 or

AL201

CANopen load/save

1010/1011 error

Fail while Read/Write data from/to EEPROM

P2-08 = 30,28 after firmware upgrade

AL301

CANopen SYNC failed The synchronous communication with the external

NMT-ResetNode or

(Servo On) controller has failed.

6040h fault reset

AL302

CANopen SYNC signal

The CANopen SYNC signal is received too early. error (Servo On)

NMT-ResetNode or

6040h fault reset

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AL303

CANopen SYNC time out (Servo On)

The CANopen SYNC signal is not received within

NMT-ResetNode or the specified time.

6040h fault reset

AL304

CANopen IP command Internal command of CANopen IP mode cannot be

NMT-ResetNode or failed (Servo On) sent and received.

6040h fault reset

AL305

SYNC period error

(Servo On)

Object 0x1006 data error. SYNC period 1006h value is invalid.

NMT-ResetNode or

6040h fault reset

AL3E1

CANopen SYNC failed The synchronous communication with the external

NMT-ResetNode or

(Servo Off) controller has failed.

6040h fault reset

AL3E2

CANopen SYNC signal

The CANopen SYNC signal is received too early. error (Servo Off)

NMT-ResetNode or

6040h fault reset

AL3E3

CANopen SYNC time out (Servo Off)

The CANopen SYNC signal is not received within

NMT-ResetNode or the specified time.

6040h fault reset

AL3E4

CANopen IP command Internal command of CANopen IP mode cannot be

NMT-ResetNode or failed (Servo Off) sent and received.

6040h fault reset

AL3E5

SYNC period error

(Servo Off)

AL401 CANopen state error

Object 0x1006 data error. SYNC period 1006h value is invalid.

NMT-ResetNode or

6040h fault reset

NMT reset or NMT stop is received when drive is NMT-ResetNode or enabled 6040h fault reset

5.2 Error Code Table

Display Description

AL001

AL002

AL003

AL004

AL005

AL006

AL007

AL008

AL009

AL010

AL011

AL012

Overcurrent

Overvoltage

Undervoltage

Motor error

Regeneration error

Overload

Overspeed

Abnormal pulse control command

Excessive deviation

Reserved

Encoder error

Adjustment error

32bit-ErrorCode

(16bit-ErrorCode +

16bit-Additional Info)

2310-0001 h

3110-0002 h

3120-0003 h

7122-0004 h

3210-0005 h

3230-0006 h

8400-0007 h

8600-0008 h

8611-0009 h

0000-0010 h

7305-0011 h

6320-0012 h

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AL185

AL186

AL170

AL180

AL111

AL112

AL121

AL122

AL123

AL124

AL125

AL126

AL022

AL023

AL024

AL025

AL026

AL027

AL030

AL031

AL013

AL014

AL015

AL016

AL017

AL018

AL019

AL020

AL021

AL040

AL099

AL201

AL283

AL285

Emergency stop activated

Reverse limit switch error

Forward limit switch error

IGBT temperature error

Memory error

Encoder output error

Serial communication error

Serial communication time out

Reserved

Input power phase loss

Pre-overload warning

Encoder initial magnetic field error

Encoder internal error

Encoder internal error

Encoder data error

Motor protection error

U,V,W wiring error

Ful closed-loop excessive deviation

DSP firmware upgrade

CANopen Data Initial Error

Forward software limit

Reverse software limit

CANbus error (Warning)

(Servo On / Servo off according to setting)

CANbus error (Bus-off)

(Servo On / Servo off according to setting)

Node guarding or Heartbeat error (Servo On)

Node guarding or Heartbeat error (Servo Off)

CANopen SDO receive buffer overrun

CANopen PDO receive buffer overrun

Index error occurs when accessing CANopen PDO object.

Sub-index error occurs when accessing CANopen PDO object.

Data type (size) error occurs when accessing CANopen

PDO object.

Data range error occurs when accessing CANopen PDO object.

CANopen PDO object is read-only and write-protected.

CANopen PDO object does not support PDO.

5441-0013 h

5443-0014 h

5442-0015 h

4210-0016 h

5330-0017 h

7306-0018 h

7510-0019 h

7520-0020 h

Reserved

3130-0022 h

3231-0023 h

7305-0024 h

7305-0025 h

7305-0026 h

7305-0027 h

7121-0030 h

3300-0031 h

8610-0040 h

5500-0099h

6310-0201 h

5444-0283 h

5445-0285 h

8120-0185 h

8100-0186 h

8130-0170 h

8130-0180 h

8110-0111 h

8110-0112 h

8200-0121 h

8200-0122 h

8200-0123 h

8200-0124 h

8200-0125 h

8200-0126 h

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AL127

AL128

AL129

AL130

AL131

AL132

AL201

AL301

AL302

AL303

AL304

AL305

AL3E1

AL3E2

AL3E3

AL3E4

AL3E5

AL401

CANopen PDO object is write-protected when Servo On.

Error occurs when reading CANopen PDO object from

EEPROM.

Error occurs when writing CANopen PDO object into

EEPROM.

EEPROM invalid address range.

EEPROM checksum error.

EEPROM zone error.

CANopen load/save 1010/1011 error

CANopen SYNC failed (Servo On)

CANopen SYNC signal error (Servo On)

CANopen SYNC time out (Servo On)

CANopen IP command failed (Servo On)

SYNC period error (Servo On)

CANopen SYNC failed (Servo Off)

CANopen SYNC signal error (Servo Off)

CANopen SYNC time out (Servo Off)

CANopen IP command failed (Servo Off)

SYNC period error (Servo Off)

CANopen state error

8200-0127 h

8200-0128 h

8200-0129 h

8200-0130 h

8200-0131 h

8200-0132 h

6310-0201 h

6200-0301 h

6200-0302 h

6200-0303 h

6200-0304 h

6200-0305 h

6200-03E1 h

6200-03E2 h

6200-03E3 h

6200-03E4 h

6200-03E5 h

8100-0401 h

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5.3 SDO Error Message Abort Codes

Abort Code Description

05040001 h

Client/server command specifier not valid or unknown

06010002

h

Attempt to write a read only object

06020000

h

Object does not exist in the object dictionary

06040041

h

Object cannot be mapped to the PDO

06040042

h

The number and length of the objects to be mapped would exceed PDO length

06060000

h

Access failed due to an hardware error(store or restore error)

06070010

h

Data type does not match, length of service parameter does not match

06090011

h

Sub-index does not exist

06090030

h

Value range of parameter exceeded(only for write access)

08000000

h

General error

080000a1

h

Object error when reading from EEPROM

080000a2

h

Object error when writing to EEPROM

080000a3

h

Invalid Range when accessing EEPROM

080000a4

h

Checksum error when accessing EEPROM

080000a5

h

Password error when writing encryption zone

08000020

h

Data cannot be transferred or stored to the application (store or restore signature error)

08000021

h

Data cannot be transferred or stored to the application because of the local control(store or restore while wrong state)

08000022

h

Object is on the fly

6 Reference

1. CANopen Application Layer and Communication Profile, CiA Draft Standard 301, Version 4.02,

Date: 13 February 2002

2. CANopen Device Profile Drives and Motion Control, CiA Draft Standard Proposal 402, Version 2.0,

Date: 26 July 2002

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