Documentation AX8000 Object Dictionary - Beckhoff · PDF fileDocumentation AX8000 Object Dictionary Axis module: FW v1.00 -- Power supply module: FW v1.00 1.0 2017-05-04 ... 3.9 Objects

Documentation

AX8000 Object Dictionary

Axis module: FW v1.00 -- Power supply module: FW v1.00

1.02017-05-04

Version:Date:

Table of content

AX8000 Object Dictionary 3Version: 1.0

Table of content1 Foreword .................................................................................................................................................... 7

1.1 Notes on the documentation........................................................................................................... 71.2 Safety instructions .......................................................................................................................... 8

2 Power supply modules ............................................................................................................................. 92.1 Standard-Objects............................................................................................................................ 9

2.1.1 1000 Device type ............................................................................................................... 92.1.2 1008 Device name ............................................................................................................. 92.1.3 1009 Hardware version.................................................................................................... 102.1.4 100A Software version..................................................................................................... 102.1.5 100B Bootloader version.................................................................................................. 112.1.6 1018:x Identity.................................................................................................................. 112.1.7 10F3:x Diagnosis History ................................................................................................. 132.1.8 10F8 Actual Time Stamp.................................................................................................. 252.1.9 1C00:x Sync manager type.............................................................................................. 252.1.10 1C12:x RxPDO assign ..................................................................................................... 272.1.11 1C13:x TxPDO assign...................................................................................................... 272.1.12 1C33:x SM input parameter ............................................................................................. 302.1.13 6000:x PSM Controlword for axis .................................................................................... 352.1.14 6001:x PSM Actual process values ................................................................................. 382.1.15 6002:x PSM Warning register .......................................................................................... 402.1.16 6003:x PSM Diagnostics process data ............................................................................ 432.1.17 6004:x PSM Memory interface data................................................................................. 452.1.18 6005:x PSM Statusword .................................................................................................. 462.1.19 8000:x PSM Parameters .................................................................................................. 492.1.20 8001:x PSM Memory interface config .............................................................................. 542.1.21 8002:x PSM Memory control............................................................................................ 562.1.22 8003 PSM Reset errors.................................................................................................... 582.1.23 8004:x PSM Parameters error manager .......................................................................... 592.1.24 8005:x PSM Factory settings ........................................................................................... 602.1.25 9002:x PSM Device ids.................................................................................................... 652.1.26 9003:x PSM Power pcb ids.............................................................................................. 692.1.27 9004:x PSM Link pcb ids ................................................................................................. 782.1.28 9005:x PSM Option pcb ids ............................................................................................. 862.1.29 9006:x PSM Internal info.................................................................................................. 952.1.30 9007:x PSM Display pcb ids ............................................................................................ 992.1.31 A000:x PSM Actual internal values................................................................................ 1082.1.32 A001:x PSM Internal diagnostics ................................................................................... 1102.1.33 A002:x PSM Diagnostics ............................................................................................... 1112.1.34 F000:x Modular device profile ........................................................................................ 1122.1.35 F008 Code word ............................................................................................................ 1132.1.36 F010:x Module list .......................................................................................................... 114

3 Axis modules ......................................................................................................................................... 1153.1 Standard-Objects........................................................................................................................ 115

3.1.1 1000 Device type ........................................................................................................... 1153.1.2 1001 Error register ......................................................................................................... 1163.1.3 1008 Device name ......................................................................................................... 1173.1.4 1009 Hardware version.................................................................................................. 1183.1.5 100A Software version................................................................................................... 1193.1.6 1018:x Identity................................................................................................................ 1203.1.7 10F3:x Diagnosis History ............................................................................................... 1223.1.8 10F8 Actual Time Stamp................................................................................................ 1573.1.9 1C00:x Sync manager type............................................................................................ 158

Table of content

AX8000 Object Dictionary4 Version: 1.0

3.1.10 1C12:x RxPDO assign ................................................................................................... 1603.1.11 1C13:x TxPDO assign.................................................................................................... 1653.1.12 1C32:x SM output parameter ......................................................................................... 1753.1.13 1C33:x SM input parameter ........................................................................................... 1793.1.14 F030:x Configured modules........................................................................................... 1843.1.15 F050:x Detected modules .............................................................................................. 216

3.2 Objects of module DeviceMain ................................................................................................... 2493.2.1 2C00:x InputPDO1......................................................................................................... 2493.2.2 2C01:x Device actual values.......................................................................................... 2503.2.3 2C02:x DeviceMain Parameters .................................................................................... 2513.2.4 2C03:x DeviceMain Power supply Connection .............................................................. 2533.2.5 2C04:x DeviceMain Power supply Informations ............................................................ 2553.2.6 2C10:x DeviceMain production info ControlPcb ............................................................ 2583.2.7 2C11:x DeviceMain production info FrontPcb................................................................ 2593.2.8 2C12:x DeviceMain production info AdditionalAxisPcb ................................................. 2603.2.9 2C13:x DeviceMain production info DisplayPcb ............................................................ 2613.2.10 2C14:x DeviceMain production info SafetyPcb.............................................................. 2623.2.11 2C15:x DeviceMain production info CpuPcb ................................................................. 2633.2.12 2C1E:x DeviceMain error counter .................................................................................. 2643.2.13 2C1F:x DeviceMain info ................................................................................................. 2703.2.14 6079 DC link circuit voltage ........................................................................................... 271

3.3 Objects of module DeviceDebug ................................................................................................ 2723.3.1 2FE0:x TestInputs .......................................................................................................... 2723.3.2 2FE1:x TestOutputs ....................................................................................................... 2733.3.3 2FF0:x Memory000........................................................................................................ 2743.3.4 2FF1:x Memory400........................................................................................................ 2753.3.5 2FF2:x Memory800........................................................................................................ 2763.3.6 2FF3:x MemoryC00 ....................................................................................................... 2773.3.7 2FFE:x developer commands ........................................................................................ 278

3.4 Objects of module AxisMain ....................................................................................................... 2793.4.1 3000:x AxisMain parameters ......................................................................................... 2793.4.2 3001:x AxisMain actual values....................................................................................... 2833.4.3 3002:x AxisMain parameters positive limit switch.......................................................... 2853.4.4 3003:x AxisMain parameters negative limit switch ........................................................ 2873.4.5 3004:x AxisMain parameters error manager.................................................................. 2893.4.6 3005:x AxisMain scaling index....................................................................................... 2923.4.7 3006:x AxisMain command............................................................................................ 2993.4.8 3007:x AxisMain parameters position offset .................................................................. 3013.4.9 301E:x AxisMain error counter....................................................................................... 3043.4.10 301F:x AxisMain info...................................................................................................... 3103.4.11 603E:x TxPDO Data invalid ........................................................................................... 3133.4.12 603F Error code ............................................................................................................. 3153.4.13 6040 Controlword........................................................................................................... 3163.4.14 6041 Statusword ............................................................................................................ 3173.4.15 605E Fault reaction option code .................................................................................... 3183.4.16 6060 Modes of operation ............................................................................................... 3193.4.17 6061 Modes of operation display ................................................................................... 3203.4.18 6064 Position actual value ............................................................................................. 3213.4.19 606C Velocity actual value............................................................................................. 3223.4.20 607B:x Position range limit ............................................................................................ 3233.4.21 608F:x Position encoder resolution................................................................................ 3243.4.22 6091:x Gear ratio ........................................................................................................... 3253.4.23 6092:x Feed constant .................................................................................................... 3263.4.24 6096:x Velocity factor..................................................................................................... 3283.4.25 6097:x Acceleration factor ............................................................................................. 329

Table of content


3.4.26 60A2:x Jerk factor .......................................................................................................... 3303.4.27 60B8 Touch probe control.............................................................................................. 3313.4.28 60B9 Touch probe status............................................................................................... 3323.4.29 60BA Touch probe 1 positive edge................................................................................ 3333.4.30 60BB Touch probe 1 negative edge .............................................................................. 3343.4.31 60BC Touch probe 2 positive edge................................................................................ 3353.4.32 60BD Touch probe 2 negative edge .............................................................................. 3363.4.33 60D0:x Touch probe source........................................................................................... 3373.4.34 60D1 Touch probe time stamp 1 positive edge ............................................................. 3383.4.35 60D2 Touch probe time stamp 1 negative edge ............................................................ 3393.4.36 60D3 Touch probe time stamp 2 positive edge ............................................................. 3403.4.37 60D4 Touch probe time stamp 2 negative edge ............................................................ 3413.4.38 60D9 Supported functions ............................................................................................. 3423.4.39 60DA Function settings.................................................................................................. 3433.4.40 60E4:x Additional position actual value ......................................................................... 3443.4.41 60E5:x Additional velocity actual value.......................................................................... 3453.4.42 60E6:x Additional position encoder resolution encoder increments .............................. 3463.4.43 60E8:x Additional gear ratio motor revolutions .............................................................. 3473.4.44 60E9:x Additional feed constant feed ............................................................................ 3483.4.45 60EB:x Additional position encoder resolution motor revolutions .................................. 3503.4.46 60ED:x Additional gear ratio shaft revolutions ............................................................... 3513.4.47 60EE:x Additional feed constant driving shaft revolutions ............................................. 3523.4.48 60FD Digital inputs......................................................................................................... 3533.4.49 6502 Supported drive modes......................................................................................... 354

3.5 Objects of module Interpolator.................................................................................................... 3553.5.1 3061:x Interpolator actual values ................................................................................... 3553.5.2 3062:x Interpolator parameters feed forward................................................................. 3573.5.3 607A Target position...................................................................................................... 3593.5.4 60B0 Position offset ....................................................................................................... 3603.5.5 60B1 Velocity offset ....................................................................................................... 3613.5.6 60C0 Interpolation sub mode select .............................................................................. 3623.5.7 60FF Target velocity ...................................................................................................... 363

3.6 Objects of module PositionControl ............................................................................................. 3643.6.1 30C0:x PosCtrl parameters mappable........................................................................... 3643.6.2 30C3:x PosCtrl parameters............................................................................................ 3653.6.3 6065 Following error window ......................................................................................... 3663.6.4 6066 Following error time out ........................................................................................ 3673.6.5 60F4 Following error actual value.................................................................................. 368

3.7 Objects of module VelocityControl.............................................................................................. 3693.7.1 3140:x VeloCtrl parameters mappable .......................................................................... 3693.7.2 3141:x VeloCtrl actual values ........................................................................................ 3723.7.3 3142:x VeloCtrl parameters ........................................................................................... 3753.7.4 3143:x VeloCtrl observer ............................................................................................... 3763.7.5 606F Velocity threshold ................................................................................................. 3783.7.6 6070 Velocity threshold time.......................................................................................... 3793.7.7 6085 Quick stop deceleration ........................................................................................ 3803.7.8 60C5 Max acceleration .................................................................................................. 3813.7.9 60C6 Max deceleration .................................................................................................. 382

3.8 Objects of module BiquadFilter................................................................................................... 3833.8.1 3163:x [SL] BiquadFilter parameters ............................................................................. 3833.8.2 3164 [SL] Filter input signal ........................................................................................... 3863.8.3 3165 [SL] Filter output signal ......................................................................................... 3873.8.4 3166 [SL] BiquadFilter scaling index.............................................................................. 388

3.9 Objects of module TorqueControl............................................................................................... 3893.9.1 3240:x TorqueCtrl parameters mappable ...................................................................... 389

Table of content


3.9.2 3241:x TorqueCtrl actual values .................................................................................... 3913.9.3 3242:x TorqueCtrl actual values2 .................................................................................. 3953.9.4 3243:x TorqueCtrl parameters ....................................................................................... 4023.9.5 3244:x TorqueCtrl demand values................................................................................. 4053.9.6 6071 Target torque/force ............................................................................................... 4063.9.7 6072 Bipolar torque/force limit value.............................................................................. 4073.9.8 6077 Torque/force actual value ..................................................................................... 4083.9.9 60B2 Torque/force offset ............................................................................................... 4093.9.10 60E0 Positive torque/force limit value............................................................................ 4103.9.11 60E1 Negative torque/force limit value .......................................................................... 4113.9.12 60EA Commutation angle .............................................................................................. 412

3.10 Objects of module FeedbackHpfDsl ........................................................................................... 4133.10.1 32E0:x [SL] EncoderActualValue................................................................................... 4133.10.2 32E1:x [SL] Encoder Info ............................................................................................... 4153.10.3 32E2:x [SL] Encoder Status........................................................................................... 4263.10.4 32E3:x [SL] Encoder Temperature Sensors .................................................................. 4373.10.5 32E4:x [SL] Encoder File Electronic Data Sheet ........................................................... 4403.10.6 32E5:x [SL] Encoder File Position Offset ....................................................................... 4413.10.7 32E6:x [SL] Encoder File User Data .............................................................................. 4423.10.8 32E7:x [SL] Encoder File Commutation Offset .............................................................. 4443.10.9 32E8:x [SL] Encoder Direct Access ............................................................................... 4453.10.10 32EA:x [SL] Encoder Save File User Data .................................................................... 4473.10.11 32EB:x [SL] Encoder Save File Commutation Offset..................................................... 4493.10.12 32EC:x [SL] Scan Connected Encoder.......................................................................... 451

3.11 Objects of module SyncServoMotor ........................................................................................... 4533.11.1 32C0:x Motor parameters .............................................................................................. 4533.11.2 32C1:x SyncServoMotor actual values .......................................................................... 4593.11.3 32C2:x Motor torque characteristic ................................................................................ 4623.11.4 32C6:x Motor commutation monitoring parameters....................................................... 4653.11.5 32C7:x Motor temperature sensor characteristic ........................................................... 4663.11.6 32C8:x Motor thermal model.......................................................................................... 4733.11.7 6075 Motor standstill current.......................................................................................... 4763.11.8 6076 Motor standstill torque........................................................................................... 4773.11.9 6080 Max motor speed .................................................................................................. 478

3.12 Objects of module AxisDebug .................................................................................................... 4793.12.1 33E1:x Memory000........................................................................................................ 4793.12.2 33E2:x Memory400........................................................................................................ 4803.12.3 33E3:x Memory800........................................................................................................ 4813.12.4 33E4:x MemoryC00 ....................................................................................................... 4823.12.5 33E5:x DebugIn ............................................................................................................. 4833.12.6 33E6:x DebugOut .......................................................................................................... 485

4 Support and Service.............................................................................................................................. 487

Foreword


1 Foreword

1.1 Notes on the documentationThis description is only intended for the use of trained specialists in control and automation engineering whoare familiar with the applicable national standards.It is essential that the documentation and the following notes and explanations are followed when installingand commissioning the components. It is the duty of the technical personnel to use the documentation published at the respective time of eachinstallation and commissioning.

The responsible staff must ensure that the application or use of the products described satisfy all therequirements for safety, including all the relevant laws, regulations, guidelines and standards.

Disclaimer

The documentation has been prepared with care. The products described are, however, constantly underdevelopment.We reserve the right to revise and change the documentation at any time and without prior announcement.No claims for the modification of products that have already been supplied may be made on the basis of thedata, diagrams and descriptions in this documentation.

Trademarks

Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE®, XFC® and XTS® are registeredtrademarks of and licensed by Beckhoff Automation GmbH.Other designations used in this publication may be trademarks whose use by third parties for their ownpurposes could violate the rights of the owners.

Patent Pending

The EtherCAT Technology is covered, including but not limited to the following patent applications andpatents:EP1590927, EP1789857, DE102004044764, DE102007017835with corresponding applications or registrations in various other countries.

The TwinCAT Technology is covered, including but not limited to the following patent applications andpatents:EP0851348, US6167425 with corresponding applications or registrations in various other countries.

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,Germany

Copyright

© Beckhoff Automation GmbH & Co. KG, Germany.The reproduction, distribution and utilization of this document as well as the communication of its contents toothers without express authorization are prohibited.Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of apatent, utility model or design.

Foreword


1.2 Safety instructions

Safety regulations

Please note the following safety instructions and explanations!Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,commissioning etc.

Exclusion of liability

All the components are supplied in particular hardware and software configurations appropriate for theapplication. Modifications to hardware or software configurations other than those described in thedocumentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.

Personnel qualification

This description is only intended for trained specialists in control, automation and drive engineering who arefamiliar with the applicable national standards.

Description of symbols

In this documentation the following symbols are used with an accompanying safety instruction or note. Thesafety instructions must be read carefully and followed without fail!

DANGER

Serious risk of injury!Failure to follow the safety instructions associated with this symbol directly endangers thelife and health of persons.

WARNING

Risk of injury!Failure to follow the safety instructions associated with this symbol endangers the life andhealth of persons.

CAUTION

Personal injuries!Failure to follow the safety instructions associated with this symbol can lead to injuries topersons.

Attention

Damage to the environment or devicesFailure to follow the instructions associated with this symbol can lead to damage to the en-vironment or equipment.

Note

Tip or pointerThis symbol indicates information that contributes to better understanding.

Power supply modules


2 Power supply modules

2.1 Standard-Objects

2.1.1 1000 Device typesee ETG.1000.6 EtherCAT specification - CoE

Description ValueIndex 0x1000 (Device)Subindex 0x00Datatype UINT32Min. ValueDefault 62919561 (0x03C01389)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.2 1008 Device namesee ETG.1000.6 EtherCAT specification - CoE

Description ValueIndex 0x1008 (Device)Subindex 0x00Datatype VISIBLE_STRINGMin. ValueDefault AX8620Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All



2.1.3 1009 Hardware versionsee ETG.1000.6 EtherCAT specification - CoE

Description ValueIndex 0x1009 (Device)Subindex 0x00Datatype VISIBLE_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.4 100A Software versionsee ETG.1000.6 EtherCAT specification - CoE

Description ValueIndex 0x100A (Device)Subindex 0x00Datatype VISIBLE_STRINGMin. ValueDefault 00Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All



2.1.5 100B Bootloader versionsee ETG.1000.6 EtherCAT specification - CoE

Description ValueIndex 0x100B (Device)Subindex 0x00Datatype VISIBLE_STRINGMin. ValueDefault N/AMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.6 1018:x Identitysee ETG.1000.6 EtherCAT specification - CoE

Description ValueIndex 0x1018 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.6.1 1018:01 Vendor ID

see ETG.1000.6 EtherCAT specification - CoE




2.1.6.2 1018:02 Product code


Description ValueIndex 0x1018 (Device)Subindex 0x02Datatype UINT32Min. ValueDefault 564944914 (0x21AC6012)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.6.3 1018:03 Revision


Description ValueIndex 0x1018 (Device)Subindex 0x03Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.6.4 1018:04 Serial number





2.1.7 10F3:x Diagnosis Historysee ETG.1020 Protocol Enhancements

Description ValueIndex 0x10F3 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 35 (0x23)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.7.1 10F3:01 Maximum Messages

see ETG.1020 Protocol Enhancements

Description ValueIndex 0x10F3 (Device)Subindex 0x01Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.7.2 10F3:02 Newest Message





2.1.7.3 10F3:03 Newest Acknowledged Message


Description ValueIndex 0x10F3 (Device)Subindex 0x03Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

2.1.7.4 10F3:04 New Messages Available


Description ValueIndex 0x10F3 (Device)Subindex 0x04Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.7.5 10F3:05 Flags





2.1.7.6 10F3:06 Diagnosis Message 001


Description ValueIndex 0x10F3 (Device)Subindex 0x06Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All












2.1.7.10 10F3:0A Diagnosis Message 005


Description ValueIndex 0x10F3 (Device)Subindex 0x0ADatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.7.11 10F3:0B Diagnosis Message 006


Description ValueIndex 0x10F3 (Device)Subindex 0x0BDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All



2.1.7.12 10F3:0C Diagnosis Message 007


Description ValueIndex 0x10F3 (Device)Subindex 0x0CDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.7.13 10F3:0D Diagnosis Message 008


Description ValueIndex 0x10F3 (Device)Subindex 0x0DDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.7.14 10F3:0E Diagnosis Message 009


Description ValueIndex 0x10F3 (Device)Subindex 0x0EDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All



2.1.7.15 10F3:0F Diagnosis Message 010


Description ValueIndex 0x10F3 (Device)Subindex 0x0FDatatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All











































































2.1.8 10F8 Actual Time Stampsee ETG.1000.6 EtherCAT specification - CoE

Description ValueIndex 0x10F8 (Device)Subindex 0x00Datatype UINT64Min. ValueDefaultMax. ValueUnit nsAccess / EtherCAT-State RoPDO MappingRevision All

2.1.9 1C00:x Sync manager typesee ETG.1000.6 EtherCAT specification - CoE

Description ValueIndex 0x1C00 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.9.1 1C00:01 SubIndex 001





2.1.9.2 1C00:02 SubIndex 002



2.1.9.3 1C00:03 SubIndex 003



2.1.9.4 1C00:04 SubIndex 004





2.1.10 1C12:x RxPDO assignsee ETG.1000.6 EtherCAT specification - CoE

Description ValueIndex 0x1C12 (Device)Subindex 0x00Datatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All

2.1.11 1C13:x TxPDO assignsee ETG.1000.6 EtherCAT specification - CoE


2.1.11.1 1C13:01 Subindex 001


Description ValueIndex 0x1C13 (Device)Subindex 0x01Datatype UINT16Min. ValueDefault 6656 (0x1A00)Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All



2.1.11.2 1C13:02 Subindex 002


Description ValueIndex 0x1C13 (Device)Subindex 0x02Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All

2.1.11.3 1C13:03 Subindex 003



2.1.11.4 1C13:04 Subindex 004





2.1.11.5 1C13:05 Subindex 005



2.1.11.6 1C13:06 Subindex 006



2.1.11.7 1C13:07 Subindex 007





2.1.11.8 1C13:08 Subindex 008



2.1.12 1C33:x SM input parametersee ETG.1000.6 EtherCAT specification - CoE


2.1.12.1 1C33:01 Sync mode


Description ValueIndex 0x1C33 (Device)Subindex 0x01Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All



2.1.12.2 1C33:02 Cycle time


Description ValueIndex 0x1C33 (Device)Subindex 0x02Datatype UINT32Min. ValueDefault 125000 (0x0001E848)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

2.1.12.3 1C33:03 Shift time



2.1.12.4 1C33:04 Sync modes supported





2.1.12.5 1C33:05 Minimum cycle time


Description ValueIndex 0x1C33 (Device)Subindex 0x05Datatype UINT32Min. ValueDefault 125000 (0x0001E848)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.12.6 1C33:06 Calc and copy time


Description ValueIndex 0x1C33 (Device)Subindex 0x06Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.12.7 1C33:07 Minimum delay time





2.1.12.8 1C33:08 Command


Description ValueIndex 0x1C33 (Device)Subindex 0x08Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

2.1.12.9 1C33:09 Maximum delay time



2.1.12.10 1C33:0B SM event missed counter


Description ValueIndex 0x1C33 (Device)Subindex 0x0BDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All



2.1.12.11 1C33:0C Cycle exceeded counter


Description ValueIndex 0x1C33 (Device)Subindex 0x0CDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.12.12 1C33:0D Shift too short counter


Description ValueIndex 0x1C33 (Device)Subindex 0x0DDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.12.13 1C33:20 Sync error


Description ValueIndex 0x1C33 (Device)Subindex 0x20Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All



2.1.13 6000:x PSM Controlword for axisDescription ValueIndex 0x6000 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 12 (0x0C)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.13.1 6000:01 Non-generative brake order_n

Order for the axis to brake without generating energy back in the power supply module. Active low

Description ValueIndex 0x6000 (Device)Subindex 0x01Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

2.1.13.2 6000:02 Ready to operate

High if no errors, mains voltage between tolerances, dc link loaded and relays closed. It allows the axis to beenabled. If this gets low in operation, the axis do not be disabled but rather it avoids the axis to be enabledagain.




2.1.13.3 6000:03 TorqueOFF order_n

Order for the axis to switch off the torque. Active low


2.1.13.4 6000:04 Generative brake order_n

Order for the axis to brake generating energy back in the power supply module. Active low


2.1.13.5 6000:05 Limit dc link current_order_n

Order for the axis to limit the requested current from the DC link. Active low. Cause: Motoric load (6001:04)greater than 102%.




2.1.13.6 6000:06 NC handling_order_n

Order for the NC to handle. Active low


2.1.13.7 6000:0C Counter

Sign for the axis, that the power supply module is in SAFEOP or OP.

Description ValueIndex 0x6000 (Device)Subindex 0x0CDatatype BIT5Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All



2.1.14 6001:x PSM Actual process valuesDescription ValueIndex 0x6001 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 6 (0x06)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.14.1 6001:01 Actual DC link voltage

Actual voltage value at the DC link.

Description ValueIndex 0x6001 (Device)Subindex 0x01Datatype UINT32Min. ValueDefaultMax. ValueUnit mVAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

2.1.14.2 6001:02 Actual mains voltage

Actual RMS-value of mains voltage




2.1.14.3 6001:03 Actual DC link current

Actual input current in the dc link.

Description ValueIndex 0x6001 (Device)Subindex 0x03Datatype INT16Min. ValueDefaultMax. ValueUnit 0,01 AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

2.1.14.4 6001:04 Actual motoric load

Actual input load in the dc link in percent of nominal current.

Description ValueIndex 0x6001 (Device)Subindex 0x04Datatype UINT16Min. ValueDefaultMax. ValueUnit %Access / EtherCAT-State RoPDO Mapping TransmitRevision All

2.1.14.5 6001:05 Actual brake resistor continuous power

Actual continuous power converted in the brake resistor.

Description ValueIndex 0x6001 (Device)Subindex 0x05Datatype UINT16Min. ValueDefaultMax. ValueUnit WAccess / EtherCAT-State RoPDO Mapping TransmitRevision All



2.1.14.6 6001:06 Actual brake resistor short-time energy

Actual brake energy generated in last second in % of maximal short-time energy (by on-time 1s)

Description ValueIndex 0x6001 (Device)Subindex 0x06Datatype UINT16Min. ValueDefaultMax. ValueUnit %Access / EtherCAT-State RoPDO Mapping TransmitRevision All

2.1.15 6002:x PSM Warning registerDescription ValueIndex 0x6002 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 7 (0x07)Max. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

2.1.15.1 6002:01 Warning__A0 Reserviert




2.1.15.2 6002:02 Warning__A1 Brake resistor power overload

Actual brake power or energy above brake resistor power warning threshold (8000:0D).


2.1.15.3 6002:03 Warning__A2 Device overtemperature

Actual heatsink temperature above heatsink temperature warning threshold (8000:0A).


2.1.15.4 6002:04 Warning__A3 DC link continuous overcurrent

DC link current above DC link continuous overcurrent warning threshold (8000:02).




2.1.15.5 6002:05 Warning__A4 Fan malfunction

Fan does not work.


2.1.15.6 6002:06 Warning__A5 Mains overvoltage

Actual mains voltage above mains voltage max tolerance (8000:07).


2.1.15.7 6002:07 Warning__A6 Mains undervoltage

Actual mains voltage below mains voltage min tolerance (8000:08).




2.1.16 6003:x PSM Diagnostics process dataDescription ValueIndex 0x6003 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 3 (0x03)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.16.1 6003:01 DcLink state machine

Actual state of the DcLink state machine.

Description ValueIndex 0x6003 (Device)Subindex 0x01Datatype ENUM (UINT8)Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

Enum Value Description9 (0x09) Err_TorqueOff8 (0x08) Err_WaitForDisabled7 (0x07) RtO_ChargeInOperation6 (0x06) RtO_PowerLoss5 (0x05) RtO_ShortPowerLoss4 (0x04) RtO_Run3 (0x03) CheckDcLinkMinVoltage2 (0x02) BypassChargeResistor1 (0x01) WaitingForCharging0 (0x00) StartBrakeResistorTest



2.1.16.2 6003:02 Umains state machine

Actual state of the Umains state machine.

Description ValueIndex 0x6003 (Device)Subindex 0x02Datatype ENUM (UINT8)Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

Enum Value Description5 (0x05) UmainsLoss4 (0x04) UmainsTooLow3 (0x03) UmainsTooHigh2 (0x02) UmainsOk1 (0x01) PowerSupplyTypeDetection0 (0x00) UmainsOff

2.1.16.3 6003:03 Error code

This object shall provide the error code of the last error, which occurred in this power supply module.

Description ValueIndex 0x6003 (Device)Subindex 0x03Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All



2.1.17 6004:x PSM Memory interface dataDescription ValueIndex 0x6004 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

2.1.17.1 6004:01 Data 1

Actual value of debug pointer 1.

Description ValueIndex 0x6004 (Device)Subindex 0x01Datatype INT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

2.1.17.2 6004:02 Data 2

Actual value of debug pointer 2.

Description ValueIndex 0x6004 (Device)Subindex 0x02Datatype INT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All



2.1.18 6005:x PSM StatuswordDescription ValueIndex 0x6005 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 8 (0x08)Max. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

2.1.18.1 6005:01 Ready to operate

High if no errors, mains voltage between tolerances, dc link loaded and relays closed. It allows the axis to beenabled. If this gets low in operation, the axis do not be disabled but rather it avoids the axis to be enabledagain.


2.1.18.2 6005:02 Error

High if any error is set. To know the error look at the Diag-History.




2.1.18.3 6005:03 Warning

High if any warning is set. To know the warning look at the warning register (6002).


2.1.18.4 6005:04 Relays closed

High if relays are closed.


2.1.18.5 6005:05 Brake chopper active

High if brake chopper is switched on.




2.1.18.6 6005:06 Fan active

High if fan is turning.


2.1.18.7 6005:07 Reserve 6


2.1.18.8 6005:08 Reserve 7




2.1.19 8000:x PSM ParametersDescription ValueIndex 0x8000 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 14 (0x0E)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

2.1.19.1 8000:01 DC link max voltage

Threshold for dc link overvoltage error. The brake resistor switchOn threshold voltage 9006:12 (calculatedfrom this parameter) must be greater than mains overvoltage threshold xSqrt(2).

Description ValueIndex 0x8000 (Device)Subindex 0x01Datatype UINT16Min. Value 0Default 8750 (0x222E)Max. Value 8750 (0x222E)Unit 0,1 VAccess / EtherCAT-State RwPDO MappingRevision All

2.1.19.2 8000:02 DC link continuous overcurrent warning threshold

By actual motoric load (6001:04) above this value (percent of nominal dc link current) the DC link continuousovercurrent warning (6002:04) is set.

Description ValueIndex 0x8000 (Device)Subindex 0x02Datatype UINT16Min. Value 0Default 90 (0x005A)Max. Value 101 (0x0065)Unit %Access / EtherCAT-State RwPDO MappingRevision All



2.1.19.3 8000:04 Mains type

According to this value following mains supply modes can be set: AC 3 phases (0), AC 1 phase (1) oder DC(2),

Description ValueIndex 0x8000 (Device)Subindex 0x04Datatype ENUM (UINT8)Min. ValueDefault AC 3 phases (0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description2 (0x02) DC1 (0x01) AC 1 phase0 (0x00) AC 3 phases

2.1.19.4 8000:06 Mains voltage

Connected mains RMS-voltage.

Description ValueIndex 0x8000 (Device)Subindex 0x06Datatype UINT16Min. Value 180 (0x00B4)Default 4000 (0x0FA0)Max. Value 7000 (0x1B58)Unit 0,1 VAccess / EtherCAT-State RwPDO MappingRevision All



2.1.19.5 8000:07 Mains voltage max tolerance

Positive tolerance of parametrized mains voltage (8000:06), above that the mains overvoltage waning is set.For values >20% this threshold is also assumed to set the mains overvoltage error.

Description ValueIndex 0x8000 (Device)Subindex 0x07Datatype UINT16Min. Value 0Default 10 (0x000A)Max. Value 50 (0x0032)Unit %Access / EtherCAT-State RwPDO MappingRevision All

2.1.19.6 8000:08 Mains voltage min tolerance

Negative tolerance of parametrized mains voltage (8000:06), below that the mains undervoltage waning isset. For values >30% this threshold is also assumed to set the mains undervoltage error.

Description ValueIndex 0x8000 (Device)Subindex 0x08Datatype UINT16Min. Value 0Default 25 (0x0019)Max. Value 50 (0x0032)Unit %Access / EtherCAT-State RwPDO MappingRevision All

2.1.19.7 8000:0A Device temperature warning threshold

Percent of heatsink max temperature, above which the device overtemperature warning (6002:03) is set.

Description ValueIndex 0x8000 (Device)Subindex 0x0ADatatype UINT16Min. Value 0Default 90 (0x005A)Max. Value 101 (0x0065)Unit %Access / EtherCAT-State RwPDO MappingRevision All



2.1.19.8 8000:0B External brake resistor value

Resistance value of brake resistor. The default value is the resistance of the internal brake resistor.

Description ValueIndex 0x8000 (Device)Subindex 0x0BDatatype UINT16Min. Value 330 (0x014A)Default 330 (0x014A)Max. Value 500 (0x01F4)Unit 0,1 WAccess / EtherCAT-State RwPDO MappingRevision All

2.1.19.9 8000:0C External brake resistor continuous power

Threshold of brake continuous power, above which the error brake resistor overload by dc link overvoltage isset. A brake resistor power until 125% of this value is allowed, until the brake resistor is disabled.

Description ValueIndex 0x8000 (Device)Subindex 0x0CDatatype UINT16Min. Value 0Default 100 (0x0064)Max. Value 1600 (0x0640)Unit WAccess / EtherCAT-State RwPDO MappingRevision All

2.1.19.10 8000:0D Brake resistor power warning threshold

Percent of brake resistor max power (8000:0c) and percent of brake resistor max short time energy (1second on-time), above which the brake resistor power overload warning (6002:02) is set.

Description ValueIndex 0x8000 (Device)Subindex 0x0DDatatype UINT16Min. Value 0Default 90 (0x005A)Max. Value 101 (0x0065)Unit %Access / EtherCAT-State RwPDO MappingRevision All



2.1.19.11 8000:0E Brake resistor connection mode

According to this value following modes can be set: Internal(0) or external brake resistor(1),

Description ValueIndex 0x8000 (Device)Subindex 0x0EDatatype ENUM (UINT4)Min. ValueDefault Internal brake resistor (0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description1 (0x01) External brake resistor0 (0x00) Internal brake resistor



2.1.20 8001:x PSM Memory interface configDescription ValueIndex 0x8001 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 7 (0x07)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

2.1.20.1 8001:01 Address 1

Memory address of internal variable for debug pointer 1.

Description ValueIndex 0x8001 (Device)Subindex 0x01Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

2.1.20.2 8001:02 Address 2





2.1.20.3 8001:05 Byte lenght 1

Lenght in bytes of internal variable to be debugged by debug pointer 1.

Description ValueIndex 0x8001 (Device)Subindex 0x05Datatype ENUM (UINT8)Min. ValueDefault 2 byte (2)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description4 (0x04) 4 bytes2 (0x02) 2 byte1 (0x01) 1 bytes

2.1.20.4 8001:06 Byte lenght 2

Lenght in bytes of internal variable to be debugged by debug pointer 2.

Description ValueIndex 0x8001 (Device)Subindex 0x06Datatype ENUM (UINT8)Min. ValueDefault 2 bytes (2)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description4 (0x04) 4 bytes2 (0x02) 2 bytes1 (0x01) 1 bytes



2.1.20.5 8001:07 Debug parameter



2.1.21 8002:x PSM Memory controlDescription ValueIndex 0x8002 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 5 (0x05)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

2.1.21.1 8002:01 Read error memory

By rising edge and slave in PREOP the error memory is read and shown at the diag-history.

Description ValueIndex 0x8002 (Device)Subindex 0x01Datatype BOOLMin. ValueDefault FALSEMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All



2.1.21.2 8002:02 Reset error memory

By rising edge, slave in PREOP and right password the error memory is reseted. Internal use only.


2.1.21.3 8002:03 Write ids

By rising edge, slave in PREOP and right password the pcb (9003, 9004, 9005, 9007) and device ids (9002)are written in the EEPROM. Internal use only.


2.1.21.4 8002:04 Write factory settings

By rising edge, slave in PREOP and right password the factory settings (2000) are written in the EEPROM.Internal use only.




2.1.21.5 8002:05 Reset operating time

By rising edge, slave in PREOP and right password the operating time (A000:01) is reseted. Internal useonly.


2.1.22 8003 PSM Reset errorsDescription ValueIndex 0x8003 (Device)Subindex 0x00Datatype BOOLMin. ValueDefault FALSEMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All



2.1.23 8004:x PSM Parameters error managerDescription ValueIndex 0x8004 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

2.1.23.1 8004:01 Choose force reaction

This object shall indicate the forced error reaction.

Description ValueIndex 0x8004 (Device)Subindex 0x01Datatype ENUM (INT16)Min. ValueDefault BrakeChopperOff (-4)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description0 (0x0000) TorqueOffOrder-1 (0xFFFF) NCHandlingOrder-2 (0xFFFE) NonGenerativeBrakeOrder-3 (0xFFFD) GenerativeBrakeOrder-4 (0xFFFC) BrakeChopperOff



2.1.23.2 8004:02 Force reaction

This object is to perform the forced error reaction.


2.1.24 8005:x PSM Factory settingsDescription ValueIndex 0x8005 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 18 (0x12)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

2.1.24.1 8005:01 DC link current scaling gain

Description ValueIndex 0x8005 (Device)Subindex 0x01Datatype INT16Min. Value 800 (0x0320)Default 1000 (0x03E8)Max. Value 1200 (0x04B0)Unit 0,01 A/(2^x dig.)Access / EtherCAT-State RwPDO MappingRevision All



2.1.24.2 8005:02 DC link current offset

Description ValueIndex 0x8005 (Device)Subindex 0x02Datatype INT16Min. Value -50 (0xFFCE)Default 0Max. Value 50 (0x0032)Unit 0,01 AAccess / EtherCAT-State RwPDO MappingRevision All

2.1.24.3 8005:03 DC link voltage scaling gain

Description ValueIndex 0x8005 (Device)Subindex 0x03Datatype INT16Min. Value 800 (0x0320)Default 1000 (0x03E8)Max. Value 1200 (0x04B0)Unit V/(2^x dig.)Access / EtherCAT-State RwPDO MappingRevision All

2.1.24.4 8005:04 DC link voltage offset

Description ValueIndex 0x8005 (Device)Subindex 0x04Datatype INT16Min. Value -50 (0xFFCE)Default 0Max. Value 50 (0x0032)Unit 0,1 VAccess / EtherCAT-State RwPDO MappingRevision All



2.1.24.5 8005:05 Mains voltage scaling gain 1

Description ValueIndex 0x8005 (Device)Subindex 0x05Datatype INT16Min. Value 800 (0x0320)Default 1000 (0x03E8)Max. Value 1200 (0x04B0)Unit V/(2^x dig.)Access / EtherCAT-State RwPDO MappingRevision All

2.1.24.6 8005:06 Mains voltage offset1



Description ValueIndex 0x8005 (Device)Subindex 0x07Datatype INT16Min. Value 800 (0x0320)Default 1000 (0x03E8)Max. Value 1200 (0x04B0)Unit 0,1 VAccess / EtherCAT-State RwPDO MappingRevision All



2.1.24.8 8005:08 Mains voltage offset 2



Description ValueIndex 0x8005 (Device)Subindex 0x09Datatype INT16Min. Value 800 (0x0320)Default 1000 (0x03E8)Max. Value 1200 (0x04B0)Unit 0,1 VAccess / EtherCAT-State RwPDO MappingRevision All

2.1.24.10 8005:0A Mains voltage offset 3

Description ValueIndex 0x8005 (Device)Subindex 0x0ADatatype INT16Min. Value -50 (0xFFCE)Default 0Max. Value 50 (0x0032)Unit 0,1 VAccess / EtherCAT-State RwPDO MappingRevision All



2.1.24.11 8005:10 Checksum


2.1.24.12 8005:11 Control word


2.1.24.13 8005:12 Rated brake resistor power

Description ValueIndex 0x8005 (Device)Subindex 0x12Datatype UINT16Min. ValueDefault 0Max. ValueUnit WAccess / EtherCAT-State RwPDO MappingRevision All



2.1.25 9002:x PSM Device idsDescription ValueIndex 0x9002 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 15 (0x0F)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.25.1 9002:01 Vendor id


2.1.25.2 9002:02 Product code




2.1.25.3 9002:03 Revision no


2.1.25.4 9002:04 Serial no


2.1.25.5 9002:05 Manufacturing date




2.1.25.6 9002:06 HW id 1


2.1.25.7 9002:0A HW id 2

Description ValueIndex 0x9002 (Device)Subindex 0x0ADatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

2.1.25.8 9002:0B HW id 3

Description ValueIndex 0x9002 (Device)Subindex 0x0BDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All



2.1.25.9 9002:0C HW id 4

Description ValueIndex 0x9002 (Device)Subindex 0x0CDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

2.1.25.10 9002:0D Free switch code 1

Description ValueIndex 0x9002 (Device)Subindex 0x0DDatatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

2.1.25.11 9002:0E Free switch code 2

Description ValueIndex 0x9002 (Device)Subindex 0x0EDatatype UINT8Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All



2.1.25.12 9002:0F Checksum

Description ValueIndex 0x9002 (Device)Subindex 0x0FDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.26 9003:x PSM Power pcb idsDescription ValueIndex 0x9003 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 26 (0x1A)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.26.1 9003:01 Structure version






2.1.26.3 9003:03 HwId reserve


2.1.26.4 9003:04 HwId Hardware type




2.1.26.5 9003:05 HwId Feature flags


2.1.26.6 9003:06 HwId Supplier


2.1.26.7 9003:07 HwId Component type




2.1.26.8 9003:08 HwId reserve 2


2.1.26.9 9003:09 HwId Hardware index


2.1.26.10 9003:0A HwId Pcb revision




2.1.26.11 9003:0B HwId Pcb type


2.1.26.12 9003:0C HwId Supported no of channels


2.1.26.13 9003:0D HwId Firmware index




2.1.26.14 9003:0F DMC 1

Description ValueIndex 0x9003 (Device)Subindex 0x0FDatatype UINT8Min. ValueDefault 48 (0x30)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

2.1.26.15 9003:10 DMC 2


2.1.26.16 9003:11 DMC 3




2.1.26.17 9003:12 DMC 4


2.1.26.18 9003:13 DMC 5


2.1.26.19 9003:14 DMC 6




2.1.26.20 9003:15 DMC 7


2.1.26.21 9003:16 DMC 8


2.1.26.22 9003:17 DMC 9




2.1.26.23 9003:18 DMC 10


2.1.26.24 9003:1A Checksum




2.1.27 9004:x PSM Link pcb idsDescription ValueIndex 0x9004 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 26 (0x1A)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All







2.1.27.3 9004:03 HwId reserve












2.1.27.8 9004:08 HwId reserve 2








2.1.27.11 9004:0B HwId Pcb type








2.1.27.14 9004:0F DMC 1




2.1.27.15 9004:10 DMC 2


2.1.27.16 9004:11 DMC 3


2.1.27.17 9004:12 DMC 4




2.1.27.18 9004:13 DMC 5


2.1.27.19 9004:14 DMC 6


2.1.27.20 9004:15 DMC 7




2.1.27.21 9004:16 DMC 8


2.1.27.22 9004:17 DMC 9


2.1.27.23 9004:18 DMC 10




2.1.27.24 9004:1A Checksum


2.1.28 9005:x PSM Option pcb idsDescription ValueIndex 0x9005 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 26 (0x1A)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All







2.1.28.3 9005:03 HwId reserve














2.1.28.8 9005:08 HwId reserve 2








2.1.28.11 9005:0B HwId Pcb type








2.1.28.14 9005:0F DMC 1


2.1.28.15 9005:10 DMC 2


2.1.28.16 9005:11 DMC 3




2.1.28.17 9005:12 DMC 4


2.1.28.18 9005:13 DMC 5


2.1.28.19 9005:14 DMC 6




2.1.28.20 9005:15 DMC 7


2.1.28.21 9005:16 DMC 8


2.1.28.22 9005:17 DMC 9




2.1.28.23 9005:18 DMC 10


2.1.28.24 9005:1A Checksum




2.1.29 9006:x PSM Internal infoDescription ValueIndex 0x9006 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 12 (0x0C)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.29.1 9006:01 DC link nominal current

Nominal current supported by device at DC link.

Description ValueIndex 0x9006 (Device)Subindex 0x01Datatype UINT16Min. ValueDefault 2000 (0x07D0)Max. ValueUnit 0,01 AAccess / EtherCAT-State RoPDO MappingRevision All

2.1.29.2 9006:02 DC link peak overcurrent threshold

Current threshold to set the error "Peak over current (device output side)".

Description ValueIndex 0x9006 (Device)Subindex 0x02Datatype UINT16Min. ValueDefault 4000 (0x0FA0)Max. ValueUnit 0,01 AAccess / EtherCAT-State RoPDO MappingRevision All



2.1.29.3 9006:03 24V-Supply nominal current

Nominal current of the 24V-supply supported by device.

Description ValueIndex 0x9006 (Device)Subindex 0x03Datatype UINT16Min. ValueDefault 2000 (0x07D0)Max. ValueUnit 0,01 AAccess / EtherCAT-State RoPDO MappingRevision All

2.1.29.4 9006:04 Device max temperature

Maximal heatsink temperature supported by device, above which the error "Excess temperature device" isset.

Description ValueIndex 0x9006 (Device)Subindex 0x04Datatype UINT16Min. ValueDefault 800 (0x0320)Max. ValueUnit 0,1 °CAccess / EtherCAT-State RoPDO MappingRevision All

2.1.29.5 9006:05 Internal brake resistor value

Resistance value of the internal brake resistor.

Description ValueIndex 0x9006 (Device)Subindex 0x05Datatype UINT16Min. ValueDefault 330 (0x014A)Max. ValueUnit 0,1 WAccess / EtherCAT-State RoPDO MappingRevision All



2.1.29.6 9006:06 Internal brake resistor max power

Maximal continuous power of the internal brake resistor.

Description ValueIndex 0x9006 (Device)Subindex 0x06Datatype UINT16Min. ValueDefault 100 (0x0064)Max. ValueUnit WAccess / EtherCAT-State RoPDO MappingRevision All

2.1.29.7 9006:07 DC link max threshold voltage

Maximal DC link voltage threshold supported by device.

Description ValueIndex 0x9006 (Device)Subindex 0x07Datatype UINT16Min. ValueDefault 9200 (0x23F0)Max. ValueUnit 0,1 VAccess / EtherCAT-State RoPDO MappingRevision All

2.1.29.8 9006:08 DC link min voltage

Minimal DC link voltage for device to be ready to operate.

Description ValueIndex 0x9006 (Device)Subindex 0x08Datatype UINT16Min. ValueDefault 0Max. ValueUnit 0,1 VAccess / EtherCAT-State RoPDO MappingRevision All



2.1.29.9 9006:09 Brake chopper switchOn threshold voltage

Voltage threshold, above which the brake chopper is switched on.

Description ValueIndex 0x9006 (Device)Subindex 0x09Datatype UINT16Min. ValueDefault 0Max. ValueUnit 0,1 VAccess / EtherCAT-State RoPDO MappingRevision All

2.1.29.10 9006:0A Brake chopper switchOff threshold voltage

Voltage threshold, below which the brake chopper is switched off.

Description ValueIndex 0x9006 (Device)Subindex 0x0ADatatype UINT16Min. ValueDefault 0Max. ValueUnit 0,1 VAccess / EtherCAT-State RoPDO MappingRevision All

2.1.29.11 9006:0B Mains voltage max threshold


Description ValueIndex 0x9006 (Device)Subindex 0x0BDatatype UINT16Min. ValueDefault 0Max. ValueUnit 0,1 VAccess / EtherCAT-State RoPDO MappingRevision All



2.1.29.12 9006:0C Mains voltage min threshold


Description ValueIndex 0x9006 (Device)Subindex 0x0CDatatype UINT16Min. ValueDefault 0Max. ValueUnit 0,1 VAccess / EtherCAT-State RoPDO MappingRevision All

2.1.30 9007:x PSM Display pcb idsDescription ValueIndex 0x9007 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 26 (0x1A)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All







2.1.30.3 9007:03 HwId reserve














2.1.30.8 9007:08 HwId reserve 2








2.1.30.11 9007:0B HwId Pcb type








2.1.30.14 9007:0F DMC 1


2.1.30.15 9007:10 DMC 2


2.1.30.16 9007:11 DMC 3




2.1.30.17 9007:12 DMC 4


2.1.30.18 9007:13 DMC 5


2.1.30.19 9007:14 DMC 6




2.1.30.20 9007:15 DMC 7


2.1.30.21 9007:16 DMC 8


2.1.30.22 9007:17 DMC 9




2.1.30.23 9007:18 DMC 10


2.1.30.24 9007:1A Checksum




2.1.31 A000:x PSM Actual internal valuesDescription ValueIndex 0xA000 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.31.1 A000:01 Operating time

Total time of device life, in which the device has been turned on.

Description ValueIndex 0xA000 (Device)Subindex 0x01Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.31.2 A000:02 Actual device temperature

Actual temperature of the heatsink.

Description ValueIndex 0xA000 (Device)Subindex 0x02Datatype INT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All



2.1.31.3 A000:03 Umains frequency

Measured frequency of mains voltage.


2.1.31.4 A000:04 Mains type

Measured mains type.

Description ValueIndex 0xA000 (Device)Subindex 0x04Datatype ENUM (UINT4)Min. ValueDefault AC 3 phases (0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Enum Value Description3 (0x03) Not recognized2 (0x02) DC 1 phase1 (0x01) AC 1 phase0 (0x00) AC 3 phases



2.1.32 A001:x PSM Internal diagnosticsDescription ValueIndex 0xA001 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 3 (0x03)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.32.1 A001:01 EtherCAT ISR overflow

Overflow in the EtherCAT interrupt routine happened. High active.

Description ValueIndex 0xA001 (Device)Subindex 0x01Datatype BOOLMin. ValueDefault FALSEMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.32.2 A001:02 User ISR overflow

Overflow in the user interrupt routine happened. High active.




2.1.32.3 A001:03 Main timeout

Timeout of the main routine happened. High active.


2.1.33 A002:x PSM DiagnosticsDescription ValueIndex 0xA002 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.33.1 A002:01 Diagnostic number

This object shall provide the error code of the first error, which occurred in this power supply module.




2.1.34 F000:x Modular device profilesee ETG.5001.1 MDP GeneralSpec

Description ValueIndex 0xF000 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

2.1.34.1 F000:01 Module index distance

see ETG.5001.1 MDP GeneralSpec


2.1.34.2 F000:02 Maximum number of modules





2.1.35 F008 Code wordsee ETG.5001.1 MDP GeneralSpec

Description ValueIndex 0xF008 (Device)Subindex 0x00Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All



2.1.36 F010:x Module listsee ETG.5001.1 MDP GeneralSpec

Description ValueIndex 0xF010 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All

2.1.36.1 F010:01 SubIndex 001


Description ValueIndex 0xF010 (Device)Subindex 0x01Datatype UINT32Min. ValueDefault 960 (0x000003C0)Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All

Axis modules


3 Axis modules

3.1 Standard-Objects

3.1.1 1000 Device typesee ETG.1000.6 EtherCAT specification - CoE


Axis modules


3.1.2 1001 Error registersee ETG.1000.6 EtherCAT specification - CoE


Axis modules


3.1.3 1008 Device namesee ETG.1000.6 EtherCAT specification - CoE

Description ValueIndex 0x1008 (Device)Subindex 0x00Datatype VISIBLE_STRINGMin. ValueDefault AX8206-0000Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.1.4 1009 Hardware versionsee ETG.1000.6 EtherCAT specification - CoE

Description ValueIndex 0x1009 (Device)Subindex 0x00Datatype VISIBLE_STRINGMin. ValueDefault 00Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.1.5 100A Software versionsee ETG.1000.6 EtherCAT specification - CoE

Description ValueIndex 0x100A (Device)Subindex 0x00Datatype VISIBLE_STRINGMin. ValueDefault 0123456789012345678901234567890123456789Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.1.6 1018:x Identitysee ETG.1000.6 EtherCAT specification - CoE


3.1.6.1 1018:01 Vendor ID



3.1.6.2 1018:02 Product code


Description ValueIndex 0x1018 (Device)Subindex 0x02Datatype UINT32Min. ValueDefault 537813010 (0x200E6012)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.1.6.3 1018:03 Revision



3.1.6.4 1018:04 Serial number



Axis modules


3.1.7 10F3:x Diagnosis Historysee ETG.1020 Protocol Enhancements

Description ValueIndex 0x10F3 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 105 (0x69)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.1.7.1 10F3:01 Maximum Messages



3.1.7.2 10F3:02 Newest Message



Axis modules


3.1.7.3 10F3:03 Newest Acknowledged Message



3.1.7.4 10F3:04 New Messages Available


Description ValueIndex 0x10F3 (Device)Subindex 0x04Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.1.7.5 10F3:05 Flags



Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules











Axis modules





3.1.8 10F8 Actual Time Stampsee ETG.1000.6 EtherCAT specification - CoE

Description ValueIndex 0x10F8 (Device)Subindex 0x00Datatype UINT64Min. ValueDefaultMax. ValueUnit nsAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.1.9 1C00:x Sync manager typesee ETG.1000.6 EtherCAT specification - CoE


3.1.9.1 1C00:01 SubIndex 001



3.1.9.2 1C00:02 SubIndex 002



Axis modules


3.1.9.3 1C00:03 SubIndex 003



3.1.9.4 1C00:04 SubIndex 004



Axis modules


3.1.10 1C12:x RxPDO assignsee ETG.1000.6 EtherCAT specification - CoE


3.1.10.1 1C12:01 Subindex 001


Description ValueIndex 0x1C12 (Device)Subindex 0x01Datatype UINT16Min. ValueDefault 5632 (0x1600)Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All

3.1.10.2 1C12:02 Subindex 002



Axis modules


3.1.10.3 1C12:03 Subindex 003



3.1.10.4 1C12:04 Subindex 004



3.1.10.5 1C12:05 Subindex 005



Axis modules


3.1.10.6 1C12:06 Subindex 006



3.1.10.7 1C12:07 Subindex 007



3.1.10.8 1C12:08 Subindex 008



Axis modules


3.1.10.9 1C12:09 Subindex 009



3.1.10.10 1C12:0A Subindex 010


Description ValueIndex 0x1C12 (Device)Subindex 0x0ADatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All

3.1.10.11 1C12:0B Subindex 011


Description ValueIndex 0x1C12 (Device)Subindex 0x0BDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All

Axis modules


3.1.10.12 1C12:0C Subindex 012


Description ValueIndex 0x1C12 (Device)Subindex 0x0CDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All

3.1.10.13 1C12:0D Subindex 013


Description ValueIndex 0x1C12 (Device)Subindex 0x0DDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All

Axis modules


3.1.11 1C13:x TxPDO assignsee ETG.1000.6 EtherCAT specification - CoE


3.1.11.1 1C13:01 Subindex 001



3.1.11.2 1C13:02 Subindex 002



Axis modules


3.1.11.3 1C13:03 Subindex 003



3.1.11.4 1C13:04 Subindex 004



3.1.11.5 1C13:05 Subindex 005



Axis modules


3.1.11.6 1C13:06 Subindex 006



3.1.11.7 1C13:07 Subindex 007



3.1.11.8 1C13:08 Subindex 008



Axis modules


3.1.11.9 1C13:09 Subindex 009



3.1.11.10 1C13:0A Subindex 010



3.1.11.11 1C13:0B Subindex 011



Axis modules


3.1.11.12 1C13:0C Subindex 012



3.1.11.13 1C13:0D Subindex 013



3.1.11.14 1C13:0E Subindex 014


Description ValueIndex 0x1C13 (Device)Subindex 0x0EDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All

Axis modules


3.1.11.15 1C13:0F Subindex 015


Description ValueIndex 0x1C13 (Device)Subindex 0x0FDatatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State Rw / PreOpPDO MappingRevision All

3.1.11.16 1C13:10 Subindex 016



3.1.11.17 1C13:11 Subindex 017



Axis modules


3.1.11.18 1C13:12 Subindex 018



3.1.11.19 1C13:13 Subindex 019



3.1.11.20 1C13:14 Subindex 020



Axis modules


3.1.11.21 1C13:15 Subindex 021



3.1.11.22 1C13:16 Subindex 022



3.1.11.23 1C13:17 Subindex 023



Axis modules


3.1.11.24 1C13:18 Subindex 024



3.1.11.25 1C13:19 Subindex 025



3.1.11.26 1C13:1A Subindex 026



Axis modules


3.1.11.27 1C13:1B Subindex 027



3.1.11.28 1C13:1C Subindex 028



3.1.11.29 1C13:1D Subindex 029



Axis modules


3.1.12 1C32:x SM output parametersee ETG.1000.6 EtherCAT specification - CoE


3.1.12.1 1C32:01 Sync mode


Description ValueIndex 0x1C32 (Device)Subindex 0x01Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.1.12.2 1C32:02 Cycle time



Axis modules


3.1.12.3 1C32:03 Shift time









Axis modules





3.1.12.7 1C32:08 Command






Axis modules











Axis modules


3.1.12.12 1C32:20 Sync error



3.1.13 1C33:x SM input parametersee ETG.1000.6 EtherCAT specification - CoE


3.1.13.1 1C33:01 Sync mode



Axis modules


3.1.13.2 1C33:02 Cycle time



3.1.13.3 1C33:03 Shift time






Axis modules








3.1.13.7 1C33:07 Minimum delay time



Axis modules


3.1.13.8 1C33:08 Command









Axis modules








3.1.13.13 1C33:20 Sync error



Axis modules


3.1.14 F030:x Configured modulessee ETG.5001.1 MDP GeneralSpec

Description ValueIndex 0xF030 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 96 (0x60)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.1.14.1 F030:01 SubIndex 001



3.1.14.2 F030:02 SubIndex 002


Description ValueIndex 0xF030 (Device)Subindex 0x02Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.1.14.3 F030:03 SubIndex 003



3.1.14.4 F030:04 SubIndex 004



3.1.14.5 F030:05 SubIndex 005



Axis modules


3.1.14.6 F030:06 SubIndex 006



3.1.14.7 F030:07 SubIndex 007



3.1.14.8 F030:08 SubIndex 008



Axis modules


3.1.14.9 F030:09 SubIndex 009



3.1.14.10 F030:0A SubIndex 010


Description ValueIndex 0xF030 (Device)Subindex 0x0ADatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.1.14.11 F030:0B SubIndex 011


Description ValueIndex 0xF030 (Device)Subindex 0x0BDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.1.14.12 F030:0C SubIndex 012


Description ValueIndex 0xF030 (Device)Subindex 0x0CDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.1.14.13 F030:0D SubIndex 013


Description ValueIndex 0xF030 (Device)Subindex 0x0DDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.1.14.14 F030:0E SubIndex 014


Description ValueIndex 0xF030 (Device)Subindex 0x0EDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.1.14.15 F030:0F SubIndex 015


Description ValueIndex 0xF030 (Device)Subindex 0x0FDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.1.14.16 F030:10 SubIndex 016



3.1.14.17 F030:11 SubIndex 017



Axis modules


3.1.14.18 F030:12 SubIndex 018



3.1.14.19 F030:13 SubIndex 019



3.1.14.20 F030:14 SubIndex 020



Axis modules


3.1.14.21 F030:15 SubIndex 021



3.1.14.22 F030:16 SubIndex 022



3.1.14.23 F030:17 SubIndex 023



Axis modules


3.1.14.24 F030:18 SubIndex 024



3.1.14.25 F030:19 SubIndex 025



3.1.14.26 F030:1A SubIndex 026



Axis modules


3.1.14.27 F030:1B SubIndex 027



3.1.14.28 F030:1C SubIndex 028



3.1.14.29 F030:1D SubIndex 029



Axis modules


3.1.14.30 F030:1E SubIndex 030



3.1.14.31 F030:1F SubIndex 031



3.1.14.32 F030:20 SubIndex 032



Axis modules


3.1.14.33 F030:21 SubIndex 033


Description ValueIndex 0xF030 (Device)Subindex 0x21Datatype UINT32Min. ValueDefault 328680 (0x000503E8)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.1.14.34 F030:22 SubIndex 034



3.1.14.35 F030:23 SubIndex 035



Axis modules


3.1.14.36 F030:24 SubIndex 036


Description ValueIndex 0xF030 (Device)Subindex 0x24Datatype UINT32Min. ValueDefault 134072 (0x00020BB8)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.1.14.37 F030:25 SubIndex 037



3.1.14.38 F030:26 SubIndex 038



Axis modules


3.1.14.39 F030:27 SubIndex 039



3.1.14.40 F030:28 SubIndex 040



3.1.14.41 F030:29 SubIndex 041



Axis modules


3.1.14.42 F030:2A SubIndex 042



3.1.14.43 F030:2B SubIndex 043


Description ValueIndex 0xF030 (Device)Subindex 0x2BDatatype UINT32Min. ValueDefault 272144 (0x00042710)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.1.14.44 F030:2C SubIndex 044



Axis modules


3.1.14.45 F030:2D SubIndex 045



3.1.14.46 F030:2E SubIndex 046



3.1.14.47 F030:2F SubIndex 047



Axis modules


3.1.14.48 F030:30 SubIndex 048



3.1.14.49 F030:31 SubIndex 049



3.1.14.50 F030:32 SubIndex 050



Axis modules


3.1.14.51 F030:33 SubIndex 051



3.1.14.52 F030:34 SubIndex 052



3.1.14.53 F030:35 SubIndex 053



Axis modules


3.1.14.54 F030:36 SubIndex 054



3.1.14.55 F030:37 SubIndex 055


Description ValueIndex 0xF030 (Device)Subindex 0x37Datatype UINT32Min. ValueDefault 218608 (0x000355F0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.1.14.56 F030:38 SubIndex 056


Description ValueIndex 0xF030 (Device)Subindex 0x38Datatype UINT32Min. ValueDefault 285145 (0x000459D9)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.1.14.57 F030:39 SubIndex 057



3.1.14.58 F030:3A SubIndex 058



3.1.14.59 F030:3B SubIndex 059



Axis modules


3.1.14.60 F030:3C SubIndex 060



3.1.14.61 F030:3D SubIndex 061



3.1.14.62 F030:3E SubIndex 062



Axis modules


3.1.14.63 F030:3F SubIndex 063



3.1.14.64 F030:40 SubIndex 064



3.1.14.65 F030:41 SubIndex 065


Description ValueIndex 0xF030 (Device)Subindex 0x41Datatype UINT32Min. ValueDefault 328680 (0x000503E8)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.1.14.66 F030:42 SubIndex 066



3.1.14.67 F030:43 SubIndex 067



3.1.14.68 F030:44 SubIndex 068


Description ValueIndex 0xF030 (Device)Subindex 0x44Datatype UINT32Min. ValueDefault 134072 (0x00020BB8)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.1.14.69 F030:45 SubIndex 069



3.1.14.70 F030:46 SubIndex 070



3.1.14.71 F030:47 SubIndex 071



Axis modules


3.1.14.72 F030:48 SubIndex 072



3.1.14.73 F030:49 SubIndex 073



3.1.14.74 F030:4A SubIndex 074



Axis modules


3.1.14.75 F030:4B SubIndex 075


Description ValueIndex 0xF030 (Device)Subindex 0x4BDatatype UINT32Min. ValueDefault 272144 (0x00042710)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.1.14.76 F030:4C SubIndex 076



3.1.14.77 F030:4D SubIndex 077



Axis modules


3.1.14.78 F030:4E SubIndex 078



3.1.14.79 F030:4F SubIndex 079



3.1.14.80 F030:50 SubIndex 080



Axis modules


3.1.14.81 F030:51 SubIndex 081



3.1.14.82 F030:52 SubIndex 082



3.1.14.83 F030:53 SubIndex 083



Axis modules


3.1.14.84 F030:54 SubIndex 084



3.1.14.85 F030:55 SubIndex 085



3.1.14.86 F030:56 SubIndex 086



Axis modules


3.1.14.87 F030:57 SubIndex 087


Description ValueIndex 0xF030 (Device)Subindex 0x57Datatype UINT32Min. ValueDefault 218608 (0x000355F0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.1.14.88 F030:58 SubIndex 088


Description ValueIndex 0xF030 (Device)Subindex 0x58Datatype UINT32Min. ValueDefault 285145 (0x000459D9)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.1.14.89 F030:59 SubIndex 089



Axis modules


3.1.14.90 F030:5A SubIndex 090



3.1.14.91 F030:5B SubIndex 091



3.1.14.92 F030:5C SubIndex 092



Axis modules


3.1.14.93 F030:5D SubIndex 093



3.1.14.94 F030:5E SubIndex 094



3.1.14.95 F030:5F SubIndex 095



Axis modules


3.1.14.96 F030:60 SubIndex 096



3.1.15 F050:x Detected modulessee ETG.5001.1 MDP GeneralSpec


3.1.15.1 F050:01 SubIndex 001



Axis modules


3.1.15.2 F050:02 SubIndex 002


Description ValueIndex 0xF050 (Device)Subindex 0x02Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.1.15.3 F050:03 SubIndex 003



3.1.15.4 F050:04 SubIndex 004



Axis modules


3.1.15.5 F050:05 SubIndex 005



3.1.15.6 F050:06 SubIndex 006



3.1.15.7 F050:07 SubIndex 007



Axis modules


3.1.15.8 F050:08 SubIndex 008



3.1.15.9 F050:09 SubIndex 009



3.1.15.10 F050:0A SubIndex 010


Description ValueIndex 0xF050 (Device)Subindex 0x0ADatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.1.15.11 F050:0B SubIndex 011


Description ValueIndex 0xF050 (Device)Subindex 0x0BDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.1.15.12 F050:0C SubIndex 012


Description ValueIndex 0xF050 (Device)Subindex 0x0CDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.1.15.13 F050:0D SubIndex 013


Description ValueIndex 0xF050 (Device)Subindex 0x0DDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.1.15.14 F050:0E SubIndex 014


Description ValueIndex 0xF050 (Device)Subindex 0x0EDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.1.15.15 F050:0F SubIndex 015


Description ValueIndex 0xF050 (Device)Subindex 0x0FDatatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.1.15.16 F050:10 SubIndex 016



Axis modules


3.1.15.17 F050:11 SubIndex 017



3.1.15.18 F050:12 SubIndex 018



3.1.15.19 F050:13 SubIndex 019



Axis modules


3.1.15.20 F050:14 SubIndex 020



3.1.15.21 F050:15 SubIndex 021



3.1.15.22 F050:16 SubIndex 022



Axis modules


3.1.15.23 F050:17 SubIndex 023



3.1.15.24 F050:18 SubIndex 024



3.1.15.25 F050:19 SubIndex 025



Axis modules


3.1.15.26 F050:1A SubIndex 026



3.1.15.27 F050:1B SubIndex 027



3.1.15.28 F050:1C SubIndex 028



Axis modules


3.1.15.29 F050:1D SubIndex 029



3.1.15.30 F050:1E SubIndex 030



3.1.15.31 F050:1F SubIndex 031



Axis modules


3.1.15.32 F050:20 SubIndex 032



3.1.15.33 F050:21 SubIndex 033


Description ValueIndex 0xF050 (Device)Subindex 0x21Datatype UINT32Min. ValueDefault 328680 (0x000503E8)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.1.15.34 F050:22 SubIndex 034



Axis modules


3.1.15.35 F050:23 SubIndex 035



3.1.15.36 F050:24 SubIndex 036


Description ValueIndex 0xF050 (Device)Subindex 0x24Datatype UINT32Min. ValueDefault 134072 (0x00020BB8)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.1.15.37 F050:25 SubIndex 037



Axis modules


3.1.15.38 F050:26 SubIndex 038



3.1.15.39 F050:27 SubIndex 039



3.1.15.40 F050:28 SubIndex 040



Axis modules


3.1.15.41 F050:29 SubIndex 041



3.1.15.42 F050:2A SubIndex 042



3.1.15.43 F050:2B SubIndex 043


Description ValueIndex 0xF050 (Device)Subindex 0x2BDatatype UINT32Min. ValueDefault 272144 (0x00042710)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.1.15.44 F050:2C SubIndex 044



3.1.15.45 F050:2D SubIndex 045



3.1.15.46 F050:2E SubIndex 046



Axis modules


3.1.15.47 F050:2F SubIndex 047



3.1.15.48 F050:30 SubIndex 048



3.1.15.49 F050:31 SubIndex 049



Axis modules


3.1.15.50 F050:32 SubIndex 050



3.1.15.51 F050:33 SubIndex 051



3.1.15.52 F050:34 SubIndex 052



Axis modules


3.1.15.53 F050:35 SubIndex 053



3.1.15.54 F050:36 SubIndex 054



3.1.15.55 F050:37 SubIndex 055


Description ValueIndex 0xF050 (Device)Subindex 0x37Datatype UINT32Min. ValueDefault 218608 (0x000355F0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.1.15.56 F050:38 SubIndex 056


Description ValueIndex 0xF050 (Device)Subindex 0x38Datatype UINT32Min. ValueDefault 285145 (0x000459D9)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.1.15.57 F050:39 SubIndex 057



3.1.15.58 F050:3A SubIndex 058



Axis modules


3.1.15.59 F050:3B SubIndex 059



3.1.15.60 F050:3C SubIndex 060



3.1.15.61 F050:3D SubIndex 061



Axis modules


3.1.15.62 F050:3E SubIndex 062



3.1.15.63 F050:3F SubIndex 063



3.1.15.64 F050:40 SubIndex 064



Axis modules


3.1.15.65 F050:41 SubIndex 065


Description ValueIndex 0xF050 (Device)Subindex 0x41Datatype UINT32Min. ValueDefault 328680 (0x000503E8)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.1.15.66 F050:42 SubIndex 066



3.1.15.67 F050:43 SubIndex 067



Axis modules


3.1.15.68 F050:44 SubIndex 068


Description ValueIndex 0xF050 (Device)Subindex 0x44Datatype UINT32Min. ValueDefault 134072 (0x00020BB8)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.1.15.69 F050:45 SubIndex 069



3.1.15.70 F050:46 SubIndex 070



Axis modules


3.1.15.71 F050:47 SubIndex 071



3.1.15.72 F050:48 SubIndex 072



3.1.15.73 F050:49 SubIndex 073



Axis modules


3.1.15.74 F050:4A SubIndex 074



3.1.15.75 F050:4B SubIndex 075


Description ValueIndex 0xF050 (Device)Subindex 0x4BDatatype UINT32Min. ValueDefault 272144 (0x00042710)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.1.15.76 F050:4C SubIndex 076



Axis modules


3.1.15.77 F050:4D SubIndex 077



3.1.15.78 F050:4E SubIndex 078



3.1.15.79 F050:4F SubIndex 079



Axis modules


3.1.15.80 F050:50 SubIndex 080



3.1.15.81 F050:51 SubIndex 081



3.1.15.82 F050:52 SubIndex 082



Axis modules


3.1.15.83 F050:53 SubIndex 083



3.1.15.84 F050:54 SubIndex 084



3.1.15.85 F050:55 SubIndex 085



Axis modules


3.1.15.86 F050:56 SubIndex 086



3.1.15.87 F050:57 SubIndex 087


Description ValueIndex 0xF050 (Device)Subindex 0x57Datatype UINT32Min. ValueDefault 218608 (0x000355F0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.1.15.88 F050:58 SubIndex 088


Description ValueIndex 0xF050 (Device)Subindex 0x58Datatype UINT32Min. ValueDefault 285145 (0x000459D9)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.1.15.89 F050:59 SubIndex 089



3.1.15.90 F050:5A SubIndex 090



3.1.15.91 F050:5B SubIndex 091



Axis modules


3.1.15.92 F050:5C SubIndex 092



3.1.15.93 F050:5D SubIndex 093



3.1.15.94 F050:5E SubIndex 094



Axis modules


3.1.15.95 F050:5F SubIndex 095



3.1.15.96 F050:60 SubIndex 096



Axis modules


3.2 Objects of module DeviceMain

3.2.1 2C00:x InputPDO1This object contains manufacturer specific cyclic Writedata to the module DeviceMain.


3.2.1.1 2C00:01 Power supply controlword

This object shall be linked to the Statusword of the connected PowerSupply device. (I.e. AX8620)

Description ValueIndex 0x2C00 (Device)Subindex 0x01Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping ReceiveRevision All

Axis modules


3.2.2 2C01:x Device actual valuesThis object contains manufacturer specific actual Values from the Module DeviceMain.


3.2.2.1 2C01:01 Auxiliary voltage

This object provides the actual value of the auxiliary voltage (nom. 24V).

Description ValueIndex 0x2C01 (Device)Subindex 0x01Datatype UINT16Min. ValueDefaultMax. ValueUnit 0,1 VAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

3.2.2.2 2C01:02 Sync lost counter

This object provides a diagnosis info about the number of Sync1 cycles without an output event.

Description ValueIndex 0x2C01 (Device)Subindex 0x02Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.2.3 2C02:x DeviceMain ParametersThis object contains not mappable parameters of the DeviceMain module.


3.2.3.1 2C02:01 Min DC link voltage

This object can be used to configure the minimal DC link voltage. Operating the drive with an actual DC linkvoltage below the configured value causes an error.

Description ValueIndex 0x2C02 (Device)Subindex 0x01Datatype UINT16Min. Value 0Default 400 (0x0190)Max. Value 500 (0x01F4)Unit VAccess / EtherCAT-State RwPDO MappingRevision All

3.2.3.2 2C02:02 Max DC link voltage

This object can be used to configure the maximum DC link voltage. Operating the drive with an actual DClink voltage above the configured value causes an error.

Description ValueIndex 0x2C02 (Device)Subindex 0x02Datatype UINT16Min. Value 0Default 875 (0x036B)Max. Value 875 (0x036B)Unit VAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.2.3.3 2C02:03 Device max current

This object provides the peak current of the device.

Description ValueIndex 0x2C02 (Device)Subindex 0x03Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO MappingRevision All

3.2.3.4 2C02:04 Device rated current

This object provides the rated current of the device.

Description ValueIndex 0x2C02 (Device)Subindex 0x04Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO MappingRevision All

3.2.3.5 2C02:05 Mains max voltage

This object configures the maximal mains voltage of the device.

Description ValueIndex 0x2C02 (Device)Subindex 0x05Datatype UINT16Min. Value 0Default 5280 (0x14A0)Max. Value 5280 (0x14A0)Unit 0,1 VAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.2.4 2C03:x DeviceMain Power supply ConnectionThis object contains Parameters about the Connected Power supply Device.


3.2.4.1 2C03:01 Power supply EtherCAT Address

Please enter the EtherCAT Address of the connected Power supply device here.

Description ValueIndex 0x2C03 (Device)Subindex 0x01Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.2.4.2 2C03:02 Address valid

Shall be set to TRUE internally, if the given power supply EtherCAT Address is valid.


Axis modules


3.2.4.3 2C03:03 Statusword active

Shall be set to TRUE internally, if the given power supply statusword seems to be alive.


3.2.4.4 2C03:04 Readdata valid

Shall be set to TRUE internally, if the given power supply read data is valid.


3.2.4.5 2C03:05 Device compatible

Shall be set to TRUE internally, if the connected power supply is detected as compatible.


Axis modules


3.2.5 2C04:x DeviceMain Power supply InformationsThis object contains parameters about the connected power supply.


3.2.5.1 2C04:01 Device type

Power supply device type. (Object 0x1000 read from the power supply via the configured EtherCAT address)


3.2.5.2 2C04:02 Device name

Power supply device name (Object 0x1008 read from the power supply via the configured EtherCATaddress)

Description ValueIndex 0x2C04 (Device)Subindex 0x02Datatype VISIBLE_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.2.5.3 2C04:03 Hardware version

Power supply hardware version (Object 0x1009 read from the power supply via the configured EtherCATaddress)


3.2.5.4 2C04:04 Software version

Power supply software version (Object 0x100A read from the power supply via the configured EtherCATaddress)


3.2.5.5 2C04:05 Vendor ID

Power supply vendor ID (Object 0x1018:01 read from the power supply via the configured EtherCATaddress)


Axis modules


3.2.5.6 2C04:06 Product code

Power supply product code (Object 0x1018:02 read from the power supply via the configured EtherCATaddress)


3.2.5.7 2C04:07 Revision

Power supply revision (Object 0x1018:03 read from the power supply via the configured EtherCAT address)


3.2.5.8 2C04:08 Serial number

Power supply serial number (Object 0x1018:04 read from the power supply via the configured EtherCATaddress)


Axis modules


3.2.6 2C10:x DeviceMain production info ControlPcbinternal use only


Axis modules


3.2.7 2C11:x DeviceMain production info FrontPcbinternal use only


Axis modules


3.2.8 2C12:x DeviceMain production info AdditionalAxisPcbinternal use only


Axis modules


3.2.9 2C13:x DeviceMain production info DisplayPcbinternal use only


Axis modules


3.2.10 2C14:x DeviceMain production info SafetyPcbinternal use only


Axis modules


3.2.11 2C15:x DeviceMain production info CpuPcbinternal use only


Axis modules


3.2.12 2C1E:x DeviceMain error counterThis object contains internal diagnosis informations.

Description ValueIndex 0x2C1E (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 17 (0x11)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.2.12.1 2C1E:01 Motor overload shut down

This object is a counter, which increments each diagnosis message of type 'Motor overload shut down'.

Description ValueIndex 0x2C1E (Device)Subindex 0x01Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.2.12.2 2C1E:02 Motor overtemperature shut down

This object is a counter, which increments each diagnosis message of type 'Motor overtemperature shutdown'.


Axis modules


3.2.12.3 2C1E:03 Drive overtemperature shut down

This object is a counter, which increments each diagnosis message of type 'Drive overtemperature shutdown'.


3.2.12.4 2C1E:04 Control voltage error

This object is a counter, which increments each diagnosis message of type 'Control voltage error'.


3.2.12.5 2C1E:05 Feedback error

This object is a counter, which increments each diagnosis message of type 'Feedback error'.


Axis modules


3.2.12.6 2C1E:06 Commutation error

This object is a counter, which increments each diagnosis message of type 'Commutation error'.


3.2.12.7 2C1E:07 Overcurrent error

This object is a counter, which increments each diagnosis message of type 'Overcurrent error'.


3.2.12.8 2C1E:08 Overvoltage error

This object is a counter, which increments each diagnosis message of type 'Overvoltage error'.


Axis modules


3.2.12.9 2C1E:09 Undervoltage error

This object is a counter, which increments each diagnosis message of type 'Undervoltage error'.


3.2.12.10 2C1E:0A Power supply phase error

This object is a counter, which increments each diagnosis message of type 'Power supply phase error'.

Description ValueIndex 0x2C1E (Device)Subindex 0x0ADatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.2.12.11 2C1E:0B Communication error

This object is a counter, which increments each diagnosis message of type 'Communication error'.

Description ValueIndex 0x2C1E (Device)Subindex 0x0BDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.2.12.12 2C1E:0C TorqueOff with emergency brake

This object is a counter, which increments each diagnosis message of type 'TorqueOff with emergencybrake'.

Description ValueIndex 0x2C1E (Device)Subindex 0x0CDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.2.12.13 2C1E:0D Motor connection error

This object is a counter, which increments each diagnosis message of type 'Motor connection error'.

Description ValueIndex 0x2C1E (Device)Subindex 0x0DDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.2.12.14 2C1E:0E Safety STO error

This object is a counter, which increments each diagnosis message of type 'Safety STO error'.

Description ValueIndex 0x2C1E (Device)Subindex 0x0EDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.2.12.15 2C1E:0F Overspeed error

This object is a counter, which increments each diagnosis message of type 'Overspeed error'.

Description ValueIndex 0x2C1E (Device)Subindex 0x0FDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.2.12.16 2C1E:10 Motor Brake connection error

This object is a counter, which increments each diagnosis message of type 'Motor Brake connection error'.


3.2.12.17 2C1E:11 DC link connection overcurrent error

This object is a counter, which increments each diagnosis message of type 'DC link connection overcurrenterror'.


Axis modules


3.2.13 2C1F:x DeviceMain infoThis object contains internal diagnosis informations.

Description ValueIndex 0x2C1F (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.2.13.1 2C1F:01 Operating time drive control

This object contains the operating time of the drive control (24V power up time).

Description ValueIndex 0x2C1F (Device)Subindex 0x01Datatype UINT32Min. ValueDefaultMax. ValueUnit sAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.2.14 6079 DC link circuit voltageThis object provides the actual value of the DC link voltage of the drive device.


Axis modules


3.3 Objects of module DeviceDebug

3.3.1 2FE0:x TestInputsinternal use only

Description ValueIndex 0x2FE0 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.3.2 2FE1:x TestOutputsinternal use only

Description ValueIndex 0x2FE1 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.3.3 2FF0:x Memory000internal use only

Description ValueIndex 0x2FF0 (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 128 (0x80)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules




Axis modules




Axis modules


3.3.6 2FF3:x MemoryC00internal use only


Axis modules


3.3.7 2FFE:x developer commandsinternal use only

Description ValueIndex 0x2FFE (Device)Subindex 0x00Datatype UINT8Min. ValueDefault 3 (0x03)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.4 Objects of module AxisMain

3.4.1 3000:x AxisMain parametersThis object contains parameters to manage the automatic motor brake control.

Description ValueIndex AxisMainSlot: 0x3000 (Ch A)/ 0x3400 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 8 (0x08)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.4.1.1 3000:01 Motor brake type

Activates drive internal automatic brake control.

Description ValueIndex AxisMainSlot: 0x3000 (Ch A)/ 0x3400 (Ch B)Subindex 0x01Datatype ENUM (INT16)Min. Value No_motor_brake (0)Default No_motor_brake (0)Max. Value Currentless_locked_motor_brake (1)UnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description1 (0x01) Currentless_locked_motor_brake0 (0x00) No_motor_brake

Axis modules


3.4.1.2 3000:02 Motor brake usage

Configures the error reaction behaviour of the motor brake.

Description ValueIndex AxisMainSlot: 0x3000 (Ch A)/ 0x3400 (Ch B)Subindex 0x02Datatype ENUM (INT16)Min. Value Standard_holding_brake (0)Default Standard_holding_brake (0)Max. Value Holding_brake_Emergency_brake (1)UnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description1 (0x01) Holding_brake_Emergency_brake0 (0x00) Standard_holding_brake

3.4.1.3 3000:03 Drive on delay time

With the transition of the PDS state machine to "operation enabled" "drive on delay time" is started. The drivefollows the command values after the "drive on delay time" has elapsed. The motor brake management usesthis time to unlock the motor brake before motion is enabled.

Description ValueIndex AxisMainSlot: 0x3000 (Ch A)/ 0x3400 (Ch B)Subindex 0x03Datatype UINT32Min. Value 0Default 100 (0x00000064)Max. Value 5000 (0x00001388)Unit msAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.4.1.4 3000:04 Drive off delay time

After "operation enabled" of the PDS state machine is removed and the axis is in the standstill window, thelocking of the brake is initiated and the drive off delay time is started. The torque/force remains activated inthe drive until the configured drive off delay time is elapsed. The motor brake management uses this time tolock the motor brake before the torque/force is switched off..

Description ValueIndex AxisMainSlot: 0x3000 (Ch A)/ 0x3400 (Ch B)Subindex 0x04Datatype UINT32Min. Value 0Default 150 (0x00000096)Max. Value 5000 (0x00001388)Unit msAccess / EtherCAT-State RwPDO MappingRevision All

3.4.1.5 3000:05 Motor brake current monitoring level

If the motor brake current remains below the specified threshold, an error is reported. Motor brake currentmonitoring level is only active if brake control is enabled.

Description ValueIndex AxisMainSlot: 0x3000 (Ch A)/ 0x3400 (Ch B)Subindex 0x05Datatype REAL32Min. Value 0.0Default 0.05Max. Value 2.0Unit AAccess / EtherCAT-State RwPDO MappingRevision All

3.4.1.6 3000:06 Configured drive type

This object indicates the configured drive type.

Description ValueIndex AxisMainSlot: 0x3000 (Ch A)/ 0x3400 (Ch B)Subindex 0x06Datatype VISIBLE_STRINGMin. ValueDefault not setMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.4.1.7 3000:07 Motor brake force

Force drive internal brake.

Description ValueIndex AxisMainSlot: 0x3000 (Ch A)/ 0x3400 (Ch B)Subindex 0x07Datatype ENUM (INT16)Min. Value Release_force (0)Default Release_force (0)Max. Value Force_unlock (2)UnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description2 (0x02) Force_unlock1 (0x01) Force_lock0 (0x00) Release_force

3.4.1.8 3000:08 Modulo Data storage

Store module remainder cyclic and powersafe.

Description ValueIndex AxisMainSlot: 0x3000 (Ch A)/ 0x3400 (Ch B)Subindex 0x08Datatype ENUM (UINT16)Min. Value Modulo_data_storage_enabled (0)Default Modulo_data_storage_enabled (0)Max. Value Modulo_data_storage_disabled (1)UnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description1 (0x01) Modulo_data_storage_disabled0 (0x00) Modulo_data_storage_enabled

Axis modules


3.4.2 3001:x AxisMain actual valuesThis object contains manufacturer specific actual values from the module AxisMain.


3.4.2.1 3001:01 Actual motor brake current

The actual motor brake current in ampere.

Description ValueIndex AxisMainSlot: 0x3001 (Ch A)/ 0x3401 (Ch B)Subindex 0x01Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

3.4.2.2 3001:02 IGBT temperature

This object provides the actual power stage temperature of this channel.

Description ValueIndex AxisMainSlot: 0x3001 (Ch A)/ 0x3401 (Ch B)Subindex 0x02Datatype INT16Min. ValueDefaultMax. ValueUnit °CAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.4.2.3 3001:03 Missing output cycle counter increments

This object provides a diagnosis info about the number of missed output cycle counter increments, if thefeature is enabled.

Description ValueIndex AxisMainSlot: 0x3001 (Ch A)/ 0x3401 (Ch B)Subindex 0x03Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.4.3 3002:x AxisMain parameters positive limit switchThis object contains parameters to configure a positive limit switch.


3.4.3.1 3002:01 Configuration

This object configures the type of the limit switch.

Description ValueIndex AxisMainSlot: 0x3002 (Ch A)/ 0x3402 (Ch B)Subindex 0x01Datatype ENUM (UINT8)Min. Value No_limit_switch (0)Default No_limit_switch (0)Max. Value Normally_open (2)UnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description2 (0x02) Normally_open1 (0x01) Normally_closed0 (0x00) No_limit_switch

Axis modules


3.4.3.2 3002:02 Input number

This object configures the digital input number of the limit switch.

Description ValueIndex AxisMainSlot: 0x3002 (Ch A)/ 0x3402 (Ch B)Subindex 0x02Datatype ENUM (UINT8)Min. Value Digital_input_1 (0)Default Digital_input_3 (2)Max. Value Digital_input_4 (3)UnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description3 (0x03) Digital_input_42 (0x02) Digital_input_31 (0x01) Digital_input_20 (0x00) Digital_input_1

Axis modules


3.4.4 3003:x AxisMain parameters negative limit switchThis object contains parameters to configure a negative limit switch.


3.4.4.1 3003:01 Configuration

This object configures the type of the limit switch.

Description ValueIndex AxisMainSlot: 0x3003 (Ch A)/ 0x3403 (Ch B)Subindex 0x01Datatype ENUM (UINT8)Min. Value No_limit_switch (0)Default No_limit_switch (0)Max. Value Normally_open (2)UnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description2 (0x02) Normally_open1 (0x01) Normally_closed0 (0x00) No_limit_switch

Axis modules


3.4.4.2 3003:02 Input number

This object configures the digital input number of the limit switch.

Description ValueIndex AxisMainSlot: 0x3003 (Ch A)/ 0x3403 (Ch B)Subindex 0x02Datatype ENUM (UINT8)Min. Value Digital_input_1 (0)Default Digital_input_4 (3)Max. Value Digital_input_4 (3)UnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description3 (0x03) Digital_input_42 (0x02) Digital_input_31 (0x01) Digital_input_20 (0x00) Digital_input_1

Axis modules


3.4.5 3004:x AxisMain parameters error managerThis object contains parameters to configure the error manager.


3.4.5.1 3004:01 Error reaction delay time

This object shall indicate the delay time if an error reaction is performed in the PDS.

Description ValueIndex AxisMainSlot: 0x3004 (Ch A)/ 0x3404 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.0Default 0.0Max. Value 3000.0Unit sAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.4.5.2 3004:02 Choose force reaction

This object shall indicate the forced error reaction.

Description ValueIndex AxisMainSlot: 0x3004 (Ch A)/ 0x3404 (Ch B)Subindex 0x02Datatype ENUM (INT16)Min. ValueDefault Torque_Off (0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description2 (0x0002) Closed_loop_ramp0 (0x0000) Torque_Off-1 (0xFFFF) NC_Handling

3.4.5.3 3004:03 Force reaction

This object is to perform the forced error reaction.

Description ValueIndex AxisMainSlot: 0x3004 (Ch A)/ 0x3404 (Ch B)Subindex 0x03Datatype BOOLMin. Value FALSEDefault FALSEMax. Value TRUEUnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.4.5.4 3004:04 Extended fault reset

Unlock Fault reset command for errors with extended reset condition.

Description ValueIndex AxisMainSlot: 0x3004 (Ch A)/ 0x3404 (Ch B)Subindex 0x04Datatype ENUM (UINT8)Min. Value Extended_fault_reset_disabled (0)Default Extended_fault_reset_disabled (0)Max. Value Extended_fault_reset_enabled (1)UnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description1 (0x01) Extended_fault_reset_enabled0 (0x00) Extended_fault_reset_disabled

Axis modules


3.4.6 3005:x AxisMain scaling indexThis object contains scaling informations for objects with not fixed scaling.

Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 10 (0x0A)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.4.6.1 3005:01 Scaling index position NC

Scaling of DS402/integer position values.

Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x01Datatype ENUM (UINT32)Min. ValueDefault Scale_360Degree_as_2Pow20 (4628)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description6662 (0x1A06) Scale_1_Picometer6661 (0x1A05) Scale_10_Picometer6660 (0x1A04) Scale_100_Picometer6659 (0x1A03) Scale_1_Nanometer6658 (0x1A02) Scale_10_Nanometer6657 (0x1A01) Scale_100_Nanometer6656 (0x1A00) Scale_1_Micrometer4636 (0x121C) Scale_360Degree_as_2Pow284635 (0x121B) Scale_360Degree_as_2Pow274634 (0x121A) Scale_360Degree_as_2Pow264633 (0x1219) Scale_360Degree_as_2Pow254632 (0x1218) Scale_360Degree_as_2Pow244631 (0x1217) Scale_360Degree_as_2Pow234630 (0x1216) Scale_360Degree_as_2Pow224629 (0x1215) Scale_360Degree_as_2Pow214628 (0x1214) Scale_360Degree_as_2Pow204627 (0x1213) Scale_360Degree_as_2Pow194626 (0x1212) Scale_360Degree_as_2Pow184625 (0x1211) Scale_360Degree_as_2Pow174624 (0x1210) Scale_360Degree_as_2Pow16

Axis modules


3.4.6.2 3005:02 Scaling index velocity NC

Scaling of DS402/integer velocity values.

Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x02Datatype ENUM (UINT32)Min. ValueDefault Scale_0dot0001_rpm (8192)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description8448 (0x2100) Scale_0dot1_um_per_Second8192 (0x2000) Scale_0dot0001_rpm

3.4.6.3 3005:03 Scaling index acceleration

Scaling of acceleration values.

Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x03Datatype ENUM (UINT32)Min. ValueDefault Scale_1_Degree_per_Second_squared (12288)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description12544 (0x3100) Scale_1_um_per_Second_squared12288 (0x3000) Scale_1_Degree_per_Second_squared

Axis modules


3.4.6.4 3005:04 Scaling index jerk

Scaling of jerk values.

Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x04Datatype ENUM (UINT32)Min. ValueDefault Scale_100_Degree_per_Second_cubed (16384)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description16640 (0x4100) Scale_100_um_per_Second_cubed16384 (0x4000) Scale_100_Degree_per_Second_cubed

3.4.6.5 3005:05 Scaling index torque or force

Scaling of torque or force values.

Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x05Datatype ENUM (UINT32)Min. ValueDefault Scale_1_Nm (20480)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description20736 (0x5100) Scale_1_N20480 (0x5000) Scale_1_Nm

Axis modules


3.4.6.6 3005:06 Scaling index position NC per second

Scaling of derivative DS402/integer position values.

Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x06Datatype ENUM (UINT32)Min. ValueDefault Scale_360Degree_as_2Pow20_per_Second (25108)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description27142 (0x6A06) Scale_1_Picometer_per_Second27141 (0x6A05) Scale_10_Picometer_per_Second27140 (0x6A04) Scale_100_Picometer_per_Second27139 (0x6A03) Scale_1_Nanometer_per_Second27138 (0x6A02) Scale_10_Nanometer_per_Second27137 (0x6A01) Scale_100_Nanometer_per_Second27136 (0x6A00) Scale_1_Micrometer_per_Second25116 (0x621C) Scale_360Degree_as_2Pow28_per_Second25115 (0x621B) Scale_360Degree_as_2Pow27_per_Second25114 (0x621A) Scale_360Degree_as_2Pow26_per_Second25113 (0x6219) Scale_360Degree_as_2Pow25_per_Second25112 (0x6218) Scale_360Degree_as_2Pow24_per_Second25111 (0x6217) Scale_360Degree_as_2Pow23_per_Second25110 (0x6216) Scale_360Degree_as_2Pow22_per_Second25109 (0x6215) Scale_360Degree_as_2Pow21_per_Second25108 (0x6214) Scale_360Degree_as_2Pow20_per_Second25107 (0x6213) Scale_360Degree_as_2Pow19_per_Second25106 (0x6212) Scale_360Degree_as_2Pow18_per_Second25105 (0x6211) Scale_360Degree_as_2Pow17_per_Second25104 (0x6210) Scale_360Degree_as_2Pow16_per_Second

Axis modules


3.4.6.7 3005:07 Scaling index velocity NC per second

Scaling of derivative DS402/integer velocity values.

Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x07Datatype ENUM (UINT32)Min. ValueDefault Scale_0dot0001_rpm_per_Second (28672)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description28928 (0x7100) Scale_0dot1_um_per_Second_squared28672 (0x7000) Scale_0dot0001_rpm_per_Second

3.4.6.8 3005:08 Scaling index velocity native

Scaling of floating point velocity values.

Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x08Datatype ENUM (UINT32)Min. ValueDefault Scale_rpm (32768)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description33024 (0x8100) Scale_m_per_Second32768 (0x8000) Scale_rpm

Axis modules


3.4.6.9 3005:09 Scaling index velocity proportional gain

Scaling of velocity proportional gain.

Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x09Datatype ENUM (UINT32)Min. ValueDefault Scale_Nm_per_rad_per_Second (36864)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description37120 (0x9100) Scale_N_per_rad_per_Second36864 (0x9000) Scale_Nm_per_rad_per_Second

3.4.6.10 3005:0A Scaling index spring rate

Scaling of a spring rate.

Description ValueIndex AxisMainSlot: 0x3005 (Ch A)/ 0x3405 (Ch B)Subindex 0x0ADatatype ENUM (UINT32)Min. ValueDefault Scale_Nm_per_rad (40960)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description41216 (0xA100) Scale_N_per_m40960 (0xA000) Scale_Nm_per_rad

Axis modules


3.4.7 3006:x AxisMain commandExecute Commands on AxisMain


3.4.7.1 3006:01 Command

Execute Commands on AxisMain

Description ValueIndex AxisMainSlot: 0x3006 (Ch A)/ 0x3406 (Ch B)Subindex 0x01Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.4.7.2 3006:02 Status

Description ValueIndex AxisMainSlot: 0x3006 (Ch A)/ 0x3406 (Ch B)Subindex 0x02Datatype ENUM (UINT8)Min. ValueDefault eCoeCmdStatus_CmdCompletedNoErrorNoRespData (0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Enum Value Description255 (0xFF) eCoeCmdStatus_CmdIsExecuting3 (0x03) eCoeCmdStatus_CmdCompletedErrorRespDataAvailable2 (0x02) eCoeCmdStatus_CmdCompletedErrorNoRespData1 (0x01) eCoeCmdStatus_CmdCompletedNoErrorRespDataAvailable0 (0x00) eCoeCmdStatus_CmdCompletedNoErrorNoRespData

3.4.7.3 3006:03 Response

Description ValueIndex AxisMainSlot: 0x3006 (Ch A)/ 0x3406 (Ch B)Subindex 0x03Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.4.8 3007:x AxisMain parameters position offsetThis object contains parameters to manage the position offset configuration.


3.4.8.1 3007:01 Offset position actual value

This object provides the offset which will be added on the position actual value.

Description ValueIndex AxisMainSlot: 0x3007 (Ch A)/ 0x3407 (Ch B)Subindex 0x01Datatype INT32Min. ValueDefault 0Max. ValueUnit depends on value of Object (default = x * (360/1048576)°)

0x3005/01 (Ch A)/ 0x3405/01 (Ch B)Access / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.4.8.2 3007:02 Offset position actual value source

This object configures the memory source of the "Offset position actual value".

Description ValueIndex AxisMainSlot: 0x3007 (Ch A)/ 0x3407 (Ch B)Subindex 0x02Datatype ENUM (UINT16)Min. ValueDefault disabled (0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description2 (0x02) drive_memory1 (0x01) encoder_memory0 (0x00) disabled

3.4.8.3 3007:03 Offset additional position actual value

This object provides the offset which will be added on the additional position actual value.

Description ValueIndex AxisMainSlot: 0x3007 (Ch A)/ 0x3407 (Ch B)Subindex 0x03Datatype INT32Min. ValueDefault 0Max. ValueUnit depends on value of Object (default = x * (360/1048576)°)


Axis modules


3.4.8.4 3007:04 Offset additional position actual value source

This object configures the memory source of the "Offset additional position actual value".

Description ValueIndex AxisMainSlot: 0x3007 (Ch A)/ 0x3407 (Ch B)Subindex 0x04Datatype ENUM (UINT16)Min. ValueDefault disabled (0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description2 (0x02) drive_memory1 (0x01) encoder_memory0 (0x00) disabled

Axis modules


3.4.9 301E:x AxisMain error counterThis object contains internal diagnosis informations.

Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 17 (0x11)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.4.9.1 301E:01 Motor overload shut down

This object is a counter, which increments each diagnosis message of type 'Motor overload shut down'.

Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x01Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.4.9.2 301E:02 Motor overtemperature shut down

This object is a counter, which increments each diagnosis message of type 'Motor overtemperature shutdown'.


Axis modules


3.4.9.3 301E:03 Drive overtemperature shut down

This object is a counter, which increments each diagnosis message of type 'Drive overtemperature shutdown'.


3.4.9.4 301E:04 Control voltage error

This object is a counter, which increments each diagnosis message of type 'Control voltage error'.


3.4.9.5 301E:05 Feedback error

This object is a counter, which increments each diagnosis message of type 'Feedback error'.


Axis modules


3.4.9.6 301E:06 Commutation error

This object is a counter, which increments each diagnosis message of type 'Commutation error'.


3.4.9.7 301E:07 Overcurrent error

This object is a counter, which increments each diagnosis message of type 'Overcurrent error'.


3.4.9.8 301E:08 Overvoltage error

This object is a counter, which increments each diagnosis message of type 'Overvoltage error'.


Axis modules


3.4.9.9 301E:09 Undervoltage error

This object is a counter, which increments each diagnosis message of type 'Undervoltage error'.


3.4.9.10 301E:0A Power supply phase error

This object is a counter, which increments each diagnosis message of type 'Power supply phase error'.

Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x0ADatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.4.9.11 301E:0B Communication error

This object is a counter, which increments each diagnosis message of type 'Communication error'.

Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x0BDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.4.9.12 301E:0C TorqueOff with emergency brake

This object is a counter, which increments each diagnosis message of type 'TorqueOff with emergencybrake'.

Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x0CDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.4.9.13 301E:0D Motor connection error

This object is a counter, which increments each diagnosis message of type 'Motor connection error'.

Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x0DDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.4.9.14 301E:0E Safety STO error

This object is a counter, which increments each diagnosis message of type 'Safety STO error'.

Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x0EDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.4.9.15 301E:0F Overspeed error

This object is a counter, which increments each diagnosis message of type 'Overspeed error'.

Description ValueIndex AxisMainSlot: 0x301E (Ch A)/ 0x341E (Ch B)Subindex 0x0FDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.4.9.16 301E:10 Motor Brake connection error

This object is a counter, which increments each diagnosis message of type 'Motor Brake connection error'.


3.4.9.17 301E:11 DC link connection overcurrent error

This object is a counter, which increments each diagnosis message of type 'DC link connection overcurrenterror'.


Axis modules


3.4.10 301F:x AxisMain infoThis object contains internal diagnosis informations.

Description ValueIndex AxisMainSlot: 0x301F (Ch A)/ 0x341F (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 7 (0x07)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.4.10.1 301F:01 Operating time power stage

This object contains the operating time of the power stage (power stage enabled time).

Description ValueIndex AxisMainSlot: 0x301F (Ch A)/ 0x341F (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefaultMax. ValueUnit sAccess / EtherCAT-State RoPDO MappingRevision All

3.4.10.2 301F:02 Persistent data primary feedback valid values

Description ValueIndex AxisMainSlot: 0x301F (Ch A)/ 0x341F (Ch B)Subindex 0x02Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.4.10.3 301F:03 Persistent data primary feedback serial number

Description ValueIndex AxisMainSlot: 0x301F (Ch A)/ 0x341F (Ch B)Subindex 0x03Datatype VISIBLE_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.4.10.4 301F:04 Persistent data primary feedback offset


3.4.10.5 301F:05 Persistent data secondary feedback valid values


Axis modules


3.4.10.6 301F:06 Persistent data secondary feedback serial number

Description ValueIndex AxisMainSlot: 0x301F (Ch A)/ 0x341F (Ch B)Subindex 0x06Datatype VISIBLE_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.4.10.7 301F:07 Persistent data secondary feedback offset


Axis modules


3.4.11 603E:x TxPDO Data invalidThis object shall indicate if the encoder measured values are in invalid state.

Description ValueIndex 0x603E (Ch A)/ 0x683E (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.4.11.1 603E:01 Velocity sensor actual value invalid

This object shall indicate if the velocity encoder measured value is in invalid State.

Description ValueIndex 0x603E (Ch A)/ 0x683E (Ch B)Subindex 0x01Datatype BOOLMin. ValueDefault TRUEMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

3.4.11.2 603E:02 Position actual value invalid

This object shall indicate if the position encoder measured value is in invalid state.


Axis modules


3.4.11.3 603E:03 1st Additional position actual value invalid

This object shall indicate if the first position encoder measured value is in invalid state.


3.4.11.4 603E:04 2nd Additional position actual value invalid

This object shall indicate if the second position encoder measured value is in invalid state.


Axis modules


3.4.12 603F Error codeThis object shall provide the text id of the last DiagMessage of type error, which occurred in this axis.

Description ValueIndex 0x603F (Ch A)/ 0x683F (Ch B)Subindex 0x00Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.4.13 6040 ControlwordThis object shall indicate the received command controlling the PDS FSA.

Description ValueIndex 0x6040 (Ch A)/ 0x6840 (Ch B)Subindex 0x00Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping ReceiveRevision All

Axis modules


3.4.14 6041 StatuswordThis object shall provide the status of the PDS FSA.

Description ValueIndex 0x6041 (Ch A)/ 0x6841 (Ch B)Subindex 0x00Datatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.4.15 605E Fault reaction option codeThis object shall indicate which action is performed when fault is detected in the PDS.

Description ValueIndex 0x605E (Ch A)/ 0x685E (Ch B)Subindex 0x00Datatype ENUM (INT16)Min. ValueDefault Closed_loop_ramp (2)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description2 (0x0002) Closed_loop_ramp0 (0x0000) Torque_Off-1 (0xFFFF) NC_Handling

Axis modules


3.4.16 6060 Modes of operationThis object shall indicate the requested operation mode.

Description ValueIndex 0x6060 (Ch A)/ 0x6860 (Ch B)Subindex 0x00Datatype ENUM (INT8)Min. ValueDefault Cyclic_synchronous_position_mode_CSP (8)Max. ValueUnitAccess / EtherCAT-State RwPDO Mapping ReceiveRevision All

Enum Value Description11 (0x0B) Cyclic_synchronous_torque_mode_with_commutation_angle_CST

CA10 (0x0A) Cyclic_synchronous_torque_mode_CST9 (0x09) Cyclic_synchronous_velocity_mode_CSV8 (0x08) Cyclic_synchronous_position_mode_CSP0 (0x00) No_mode_change

Axis modules


3.4.17 6061 Modes of operation displayThis object shall provide the actual operation mode.

Description ValueIndex 0x6061 (Ch A)/ 0x6861 (Ch B)Subindex 0x00Datatype ENUM (INT8)Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

Enum Value Description11 (0x0B) Cyclic_synchronous_torque_mode_with_commutation_angle_CST

CA10 (0x0A) Cyclic_synchronous_torque_mode_CST9 (0x09) Cyclic_synchronous_velocity_mode_CSV8 (0x08) Cyclic_synchronous_position_mode_CSP0 (0x00) No_mode_change

Axis modules


3.4.18 6064 Position actual valueThis object shall provide the actual value of the position measurement device.

Description ValueIndex 0x6064 (Ch A)/ 0x6864 (Ch B)Subindex 0x00Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * (360/1048576)°)

0x3005/01 (Ch A)/ 0x3405/01 (Ch B)Access / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.4.19 606C Velocity actual valueThis object shall provide the actual velocity value derived either from the velocity sensor or the positionsensor.

Description ValueIndex 0x606C (Ch A)/ 0x686C (Ch B)Subindex 0x00Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 0.0001 rpm)


Axis modules


3.4.20 607B:x Position range limitThis object shall indicate the configured maximal and minimal position range limits. It shall limit the numericalrange of the input value.

Description ValueIndex 0x607B (Ch A)/ 0x687B (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.4.20.1 607B:01 Min position range limit

The minimum position range limit.

Description ValueIndex 0x607B (Ch A)/ 0x687B (Ch B)Subindex 0x01Datatype INT32Min. ValueDefault -2147483648 (0x80000000)Max. ValueUnit depends on value of Object (default = x * (360/1048576)°)

0x3005/01 (Ch A)/ 0x3405/01 (Ch B)Access / EtherCAT-State RwPDO MappingRevision All

3.4.20.2 607B:02 Max position range limit

The maximum position range limit.

Description ValueIndex 0x607B (Ch A)/ 0x687B (Ch B)Subindex 0x02Datatype INT32Min. ValueDefault 2147483647 (0x7FFFFFFF)Max. ValueUnit depends on value of Object (default = x * (360/1048576)°)


Axis modules


3.4.21 608F:x Position encoder resolutionThis object shall indicate the configured encoder increments and number of motor revolutions.

Description ValueIndex 0x608F (Ch A)/ 0x688F (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.4.21.1 608F:01 Encoder increments

Position encoder resolution numerator.

Description ValueIndex 0x608F (Ch A)/ 0x688F (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefault 262144 (0x00040000)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.4.21.2 608F:02 Motor revolutions

Position encoder resolution denominator.

Description ValueIndex 0x608F (Ch A)/ 0x688F (Ch B)Subindex 0x02Datatype UINT32Min. ValueDefault 1 (0x00000001)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.4.22 6091:x Gear ratioThis object shall indicate the configured number of motor shaft revolutions and number of driving shaftrevolutions.

Description ValueIndex 0x6091 (Ch A)/ 0x6891 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.4.22.1 6091:01 Motor shaft revolutions

Gear ratio numerator.

Description ValueIndex 0x6091 (Ch A)/ 0x6891 (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefault 1 (0x00000001)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.4.22.2 6091:02 Driving shaft revolutions

Gear ratio denominator.


Axis modules


3.4.23 6092:x Feed constantThis object shall indicate the configured feed constant, this is the measurement distance per one revolutionof the driving shaft of the gearbox.


3.4.23.1 6092:01 Feed

Feed constant numerator.

Description ValueIndex 0x6092 (Ch A)/ 0x6892 (Ch B)Subindex 0x01Datatype ENUM (UINT32)Min. ValueDefault eFeedConstant_2Pow20 (1048576)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description1000000000 (0x3B9ACA00) eFeedConstant_10Pow9268435456 (0x10000000) eFeedConstant_2Pow28134217728 (0x08000000) eFeedConstant_2Pow27100000000 (0x05F5E100) eFeedConstant_10Pow867108864 (0x04000000) eFeedConstant_2Pow2633554432 (0x02000000) eFeedConstant_2Pow2516777216 (0x01000000) eFeedConstant_2Pow2410000000 (0x00989680) eFeedConstant_10Pow78388608 (0x00800000) eFeedConstant_2Pow234194304 (0x00400000) eFeedConstant_2Pow222097152 (0x00200000) eFeedConstant_2Pow211048576 (0x00100000) eFeedConstant_2Pow201000000 (0x000F4240) eFeedConstant_10Pow6524288 (0x00080000) eFeedConstant_2Pow19262144 (0x00040000) eFeedConstant_2Pow18131072 (0x00020000) eFeedConstant_2Pow17100000 (0x000186A0) eFeedConstant_10Pow5

Axis modules


Enum Value Description65536 (0x00010000) eFeedConstant_2Pow1610000 (0x00002710) eFeedConstant_10Pow41000 (0x000003E8) eFeedConstant_10Pow3100 (0x00000064) eFeedConstant_10Pow210 (0x0000000A) eFeedConstant_10Pow11 (0x00000001) eFeedConstant_10Pow0

3.4.23.2 6092:02 Shaft revolutions

Feed constant denominator.


Axis modules


3.4.24 6096:x Velocity factorThe velocity factor can be used to match the velocity units to the user defined velocity units.


3.4.24.1 6096:01 Numerator

Velocity factor numerator.

Description ValueIndex 0x6096 (Ch A)/ 0x6896 (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefault 600000 (0x000927C0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.4.24.2 6096:02 Divisor

Velocity factor denominator.


Axis modules


3.4.25 6097:x Acceleration factorThe acceleration factor can be used to match the acceleration units to the user defined acceleration units.


3.4.25.1 6097:01 Numerator

Acceleration factor numerator.


3.4.25.2 6097:02 Divisor

Acceleration factor denominator.

Description ValueIndex 0x6097 (Ch A)/ 0x6897 (Ch B)Subindex 0x02Datatype UINT32Min. ValueDefault 600000 (0x000927C0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.4.26 60A2:x Jerk factorThe jerk factor can be used to match the jerk units to the user defined jerk units.

Description ValueIndex 0x60A2 (Ch A)/ 0x68A2 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.4.26.1 60A2:01 Numerator

Jerk factor numerator.

Description ValueIndex 0x60A2 (Ch A)/ 0x68A2 (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefault 360 (0x00000168)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.4.26.2 60A2:02 Divisor

Jerk factor denominator.

Description ValueIndex 0x60A2 (Ch A)/ 0x68A2 (Ch B)Subindex 0x02Datatype UINT32Min. ValueDefault 60000000 (0x03938700)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.4.27 60B8 Touch probe controlThis object shall indicate the configured function of the touch probe. We recommend to configure touchprobe source via object 0x60D0.

Description ValueIndex 0x60B8 (Ch A)/ 0x68B8 (Ch B)Subindex 0x00Datatype UINT16Min. Value 0Default 14392 (0x3838)Max. Value 65535 (0xFFFF)UnitAccess / EtherCAT-State RwPDO Mapping ReceiveRevision All

Axis modules


3.4.28 60B9 Touch probe statusThis object shall provide the status of the touch probe.

Description ValueIndex 0x60B9 (Ch A)/ 0x68B9 (Ch B)Subindex 0x00Datatype UINT16Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.4.29 60BA Touch probe 1 positive edgeThis object shall provide the position value of the touch probe 1 at positive edge.

Description ValueIndex 0x60BA (Ch A)/ 0x68BA (Ch B)Subindex 0x00Datatype INT32Min. ValueDefault 0Max. ValueUnit depends on value of Object (default = x * (360/1048576)°)


Axis modules


3.4.30 60BB Touch probe 1 negative edgeThis object shall provide the position value of the touch probe 1 at negative edge.

Description ValueIndex 0x60BB (Ch A)/ 0x68BB (Ch B)Subindex 0x00Datatype INT32Min. ValueDefault 0Max. ValueUnit depends on value of Object (default = x * (360/1048576)°)


Axis modules


3.4.31 60BC Touch probe 2 positive edgeThis object shall provide the position value of the touch probe 2 at positive edge.

Description ValueIndex 0x60BC (Ch A)/ 0x68BC (Ch B)Subindex 0x00Datatype INT32Min. ValueDefault 0Max. ValueUnit depends on value of Object (default = x * (360/1048576)°)


Axis modules


3.4.32 60BD Touch probe 2 negative edgeThis object shall provide the position value of the touch probe 2 at negative edge.

Description ValueIndex 0x60BD (Ch A)/ 0x68BD (Ch B)Subindex 0x00Datatype INT32Min. ValueDefault 0Max. ValueUnit depends on value of Object (default = x * (360/1048576)°)


Axis modules


3.4.33 60D0:x Touch probe sourceThis object shall provide the source of the touch probe functions.

Description ValueIndex 0x60D0 (Ch A)/ 0x68D0 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 2 (0x02)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.4.33.1 60D0:01 Touch probe 1 source

This object shall provide the source of the touch probe functions.

Description ValueIndex 0x60D0 (Ch A)/ 0x68D0 (Ch B)Subindex 0x01Datatype INT16Min. Value 1 (0x0001)Default 3 (0x0003)Max. Value 6 (0x0006)UnitAccess / EtherCAT-State RwPDO MappingRevision All

3.4.33.2 60D0:02 Touch probe 2 source

This object shall provide the source of the touch probe functions.

Description ValueIndex 0x60D0 (Ch A)/ 0x68D0 (Ch B)Subindex 0x02Datatype INT16Min. Value 1 (0x0001)Default 4 (0x0004)Max. Value 6 (0x0006)UnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.4.34 60D1 Touch probe time stamp 1 positive edgeThis object shall provide the time stamp value of the touch probe 1 at positive edge.

Description ValueIndex 0x60D1 (Ch A)/ 0x68D1 (Ch B)Subindex 0x00Datatype UINT32Min. ValueDefault 0Max. ValueUnit nsAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.4.35 60D2 Touch probe time stamp 1 negative edgeThis object shall provide the time stamp value of the touch probe 1 at negative edge.


Axis modules


3.4.36 60D3 Touch probe time stamp 2 positive edgeThis object shall provide the time stamp value of the touch probe 2 at positive edge.


Axis modules


3.4.37 60D4 Touch probe time stamp 2 negative edgeThis object shall provide the time stamp value of the touch probe 1 at negative edge.


Axis modules


3.4.38 60D9 Supported functionsThis object shall provide information on the supported function in the device. (see ETG6010)

Description ValueIndex 0x60D9 (Ch A)/ 0x68D9 (Ch B)Subindex 0x00Datatype UINT32Min. ValueDefault 7 (0x00000007)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.4.39 60DA Function settingsThis object shall enable/disable supported functions in the device. (see ETG6010)

Description ValueIndex 0x60DA (Ch A)/ 0x68DA (Ch B)Subindex 0x00Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.4.40 60E4:x Additional position actual valueThis object provides the additional position actual values.

Description ValueIndex 0x60E4 (Ch A)/ 0x68E4 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.4.40.1 60E4:01 1st additional position actual value

This Subindex contains the Value for the first additional Encoder. (The first additional Encoder is the secondencoder.)

Description ValueIndex 0x60E4 (Ch A)/ 0x68E4 (Ch B)Subindex 0x01Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * (360/1048576)°)


Axis modules


3.4.41 60E5:x Additional velocity actual valueThis object provides the additional velocity actual values.


3.4.41.1 60E5:01 1st additional velocity actual value

This Subindex contains the Value for the first additional Encoder. (The first additional Encoder is the secondencoder.)

Description ValueIndex 0x60E5 (Ch A)/ 0x68E5 (Ch B)Subindex 0x01Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 0.0001 rpm)


Axis modules


3.4.42 60E6:x Additional position encoder resolution encoderincrements

This object provides the encoder increments for the additional position encoder resolution. This object shallbe used with the corresponding sub-index of the object 60EBh (motor revolutions for the additional positionencoder resolution).


3.4.42.1 60E6:01 1st additional position encoder resolution - encoder increments

This sub-index contains the value for the first additional encoder. (The first additional encoder is the secondencoder.)

Description ValueIndex 0x60E6 (Ch A)/ 0x68E6 (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefault 262144 (0x00040000)Max. ValueUnit incAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.4.43 60E8:x Additional gear ratio motor revolutionsThis object provides the motor shaft revolutions for the additional gear ratio calculation. This object shall beused with the corresponding sub-index of the object 60EDh (driving shaft revolutions for the additional gearratio calculation).


3.4.43.1 60E8:01 1st additional gear ratio - motor revolutions


Description ValueIndex 0x60E8 (Ch A)/ 0x68E8 (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefault 1 (0x00000001)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.4.44 60E9:x Additional feed constant feedThis object provides the feed for the additional feed constant calculation. This object shall be used with thecorresponding sub-index of the object 60EEh (driving shaft revolutions for the additional feed constantcalculation).


3.4.44.1 60E9:01 1st additional feed constant - feed


Description ValueIndex 0x60E9 (Ch A)/ 0x68E9 (Ch B)Subindex 0x01Datatype ENUM (UINT32)Min. ValueDefault eFeedConstant_2Pow20 (1048576)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description1000000000 (0x3B9ACA00) eFeedConstant_10Pow9268435456 (0x10000000) eFeedConstant_2Pow28134217728 (0x08000000) eFeedConstant_2Pow27100000000 (0x05F5E100) eFeedConstant_10Pow867108864 (0x04000000) eFeedConstant_2Pow2633554432 (0x02000000) eFeedConstant_2Pow2516777216 (0x01000000) eFeedConstant_2Pow2410000000 (0x00989680) eFeedConstant_10Pow78388608 (0x00800000) eFeedConstant_2Pow234194304 (0x00400000) eFeedConstant_2Pow222097152 (0x00200000) eFeedConstant_2Pow211048576 (0x00100000) eFeedConstant_2Pow201000000 (0x000F4240) eFeedConstant_10Pow6524288 (0x00080000) eFeedConstant_2Pow19262144 (0x00040000) eFeedConstant_2Pow18131072 (0x00020000) eFeedConstant_2Pow17

Axis modules


Enum Value Description100000 (0x000186A0) eFeedConstant_10Pow565536 (0x00010000) eFeedConstant_2Pow1610000 (0x00002710) eFeedConstant_10Pow41000 (0x000003E8) eFeedConstant_10Pow3100 (0x00000064) eFeedConstant_10Pow210 (0x0000000A) eFeedConstant_10Pow11 (0x00000001) eFeedConstant_10Pow0

Axis modules


3.4.45 60EB:x Additional position encoder resolution motorrevolutions

This object provides the motor revolutions for the additional position encoder resolution. This object shall beused with the corresponding sub-index of the object 60E6h (encoder increments for the additional positionencoder resolution).

Description ValueIndex 0x60EB (Ch A)/ 0x68EB (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.4.45.1 60EB:01 1st additional position encoder resolution - motor revolutions


Description ValueIndex 0x60EB (Ch A)/ 0x68EB (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefault 1 (0x00000001)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.4.46 60ED:x Additional gear ratio shaft revolutionsThis object provides the driving shaft revolutions for the additional gear ratio calculation. This object shall beused with the corresponding sub-index of the object 60E8h (motor shaft revolutions for the additional gearratio calculation).

Description ValueIndex 0x60ED (Ch A)/ 0x68ED (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.4.46.1 60ED:01 1st additional gear ratio - driving shaft revolutions


Description ValueIndex 0x60ED (Ch A)/ 0x68ED (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefault 1 (0x00000001)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.4.47 60EE:x Additional feed constant driving shaft revolutionsThis object provides the driving shaft revolutions for the additional feed constant calculation. This object shallbe used with the corresponding sub-index of the object 60E9h (feed for the additional feed constantcalculation).

Description ValueIndex 0x60EE (Ch A)/ 0x68EE (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.4.47.1 60EE:01 1st additional feed constant - driving shaft revolutions


Description ValueIndex 0x60EE (Ch A)/ 0x68EE (Ch B)Subindex 0x01Datatype UINT32Min. ValueDefault 1 (0x00000001)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.4.48 60FD Digital inputsThis object shall provide digital inputs. This object represents the physical input levels.

Description ValueIndex 0x60FD (Ch A)/ 0x68FD (Ch B)Subindex 0x00Datatype UINT32Min. ValueDefault 0Max. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.4.49 6502 Supported drive modesThis object shall provide information on the supported drive modes.

Description ValueIndex 0x6502 (Ch A)/ 0x6D02 (Ch B)Subindex 0x00Datatype UINT32Min. ValueDefault 1920 (0x00000780)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.5 Objects of module Interpolator

3.5.1 3061:x Interpolator actual valuesThis object contains manufacturer specific actual values from the module Interpolator.

Description ValueIndex InterpolatorSlot: 0x3061 (Ch A)/ 0x3461 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.5.1.1 3061:01 Interpolated position demand value

This object contains the position demand value of the interpolator.

Description ValueIndex InterpolatorSlot: 0x3061 (Ch A)/ 0x3461 (Ch B)Subindex 0x01Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * (360/1048576)°)


Axis modules


3.5.1.2 3061:02 Interpolated velocity demand value

This object contains the velocity demand value of the interpolator.

Description ValueIndex InterpolatorSlot: 0x3061 (Ch A)/ 0x3461 (Ch B)Subindex 0x02Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 rpm)


3.5.1.3 3061:03 Interpolated acceleration demand value

This object indicates the torque/force controller demand value from the interpolator.

Description ValueIndex InterpolatorSlot: 0x3061 (Ch A)/ 0x3461 (Ch B)Subindex 0x03Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 °/s^2)


3.5.1.4 3061:04 IpoStatus

TODO:Not implemented Yet

Description ValueIndex InterpolatorSlot: 0x3061 (Ch A)/ 0x3461 (Ch B)Subindex 0x04Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.5.2 3062:x Interpolator parameters feed forwardThis object contains parameters to configure the feed forward control

Description ValueIndex InterpolatorSlot: 0x3062 (Ch A)/ 0x3462 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.5.2.1 3062:01 Velocity feed forward gain

This object contains the gain of the velocity feed forward signal.

Description ValueIndex InterpolatorSlot: 0x3062 (Ch A)/ 0x3462 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.0Default 1.0Max. Value 1.2UnitAccess / EtherCAT-State RwPDO MappingRevision All

3.5.2.2 3062:02 Velocity feed forward filter time constant

This object contains the filter time constant of the velocity feed forward signal.

Description ValueIndex InterpolatorSlot: 0x3062 (Ch A)/ 0x3462 (Ch B)Subindex 0x02Datatype REAL32Min. Value 0.0Default 0.0Max. Value 0.01Unit sAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.5.2.3 3062:03 Acceleration feed forward gain

This object contains the gain of the acceleration feed forward signal.

Description ValueIndex InterpolatorSlot: 0x3062 (Ch A)/ 0x3462 (Ch B)Subindex 0x03Datatype REAL32Min. Value 0.0Default 0.0Max. Value 2.0UnitAccess / EtherCAT-State RwPDO MappingRevision All

3.5.2.4 3062:04 Acceleration feed forward filter time constant

This object contains the filter time constant of the acceleration feed forward signal.

Description ValueIndex InterpolatorSlot: 0x3062 (Ch A)/ 0x3462 (Ch B)Subindex 0x04Datatype REAL32Min. Value 0.0Default 0.0Max. Value 0.01Unit sAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.5.3 607A Target positionThis object shall indicate the commanded position that the drive should move to in position profile modeusing the current settings of motion control parameters such as velocity, acceleration, deceleration, motionprofile type etc.

Description ValueIndex 0x607A (Ch A)/ 0x687A (Ch B)Subindex 0x00Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * (360/1048576)°)

0x3005/01 (Ch A)/ 0x3405/01 (Ch B)Access / EtherCAT-State RoPDO Mapping ReceiveRevision All

Axis modules


3.5.4 60B0 Position offsetThis object shall provide the offset of the target position. The offset shall be given in userdefined positionunits.

Description ValueIndex 0x60B0 (Ch A)/ 0x68B0 (Ch B)Subindex 0x00Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * (360/1048576)°)


Axis modules


3.5.5 60B1 Velocity offsetThis object shall provide the offset for the velocity value. The offset shall be given in userdefined velocityunits.

Description ValueIndex 0x60B1 (Ch A)/ 0x68B1 (Ch B)Subindex 0x00Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 0.0001 rpm)


Axis modules


3.5.6 60C0 Interpolation sub mode selectThis object shall indicate the actually chosen interpolation mode for the cyclic synchronous position mode(CSP).

Description ValueIndex 0x60C0 (Ch A)/ 0x68C0 (Ch B)Subindex 0x00Datatype ENUM (INT16)Min. ValueDefault Linear (0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description0 (0x0000) Linear-2 (0xFFFE) Cubic

Axis modules


3.5.7 60FF Target velocityThis object shall indicate the configured target velocity and shall be used as input for the trajectorygenerator. The value shall be given in user-defined velocity units.

Description ValueIndex 0x60FF (Ch A)/ 0x68FF (Ch B)Subindex 0x00Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 0.0001 rpm)


Axis modules


3.6 Objects of module PositionControl

3.6.1 30C0:x PosCtrl parameters mappableThis record contains all mappable parameters of this module.

Description ValueIndex PositionControlSlot: 0x30C0 (Ch A)/ 0x34C0 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.6.1.1 30C0:01 Position control proportional gain

This object contains the proportional gain of the position controller.

Description ValueIndex PositionControlSlot: 0x30C0 (Ch A)/ 0x34C0 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.0Default 1.0Max. ValueUnit 1/sAccess / EtherCAT-State RwPDO Mapping ReceiveRevision All

Axis modules


3.6.2 30C3:x PosCtrl parametersThis object contains not mappable parameters of the position control module.

Description ValueIndex PositionControlSlot: 0x30C3 (Ch A)/ 0x34C3 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 1 (0x01)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.6.2.1 30C3:01 Velocity demand value filter time constant

This object contains the filter time constant of the velocity feed forward signal.

Description ValueIndex PositionControlSlot: 0x30C3 (Ch A)/ 0x34C3 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.0Default 0.0Max. Value 0.01Unit sAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.6.3 6065 Following error windowThis object shall indicate the configured range of tolerated position values symmetrically to the positiondemand value. If the position actual value is out of the following error window, a following error occurs. Afollowing error may occur when a drive is blocked, unreachable profile velocity occurs, or at wrong closed-loop coefficients. The value shall be given in userdefined position units. If the value of the following errorwindow is FFFF FFFFh or 0000 0000h, the following control shall be switched off.

Description ValueIndex 0x6065 (Ch A)/ 0x6865 (Ch B)Subindex 0x00Datatype UINT32Min. Value 0Default 1048576 (0x00100000)Max. Value 4294967295 (0xFFFFFFFF)Unit depends on value of Object (default = x * (360/1048576)°)


Axis modules


3.6.4 6066 Following error time outThis object shall indicate the configured time for a following error condition.

Description ValueIndex 0x6066 (Ch A)/ 0x6866 (Ch B)Subindex 0x00Datatype UINT16Min. Value 0Default 0Max. Value 65535 (0xFFFF)Unit msAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.6.5 60F4 Following error actual valueThis object shall provide the actual value of the following error. The value shall be given in user-definedposition units.

Description ValueIndex 0x60F4 (Ch A)/ 0x68F4 (Ch B)Subindex 0x00Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * (360/1048576)°)


Axis modules


3.7 Objects of module VelocityControl

3.7.1 3140:x VeloCtrl parameters mappableThis record contains all mappable parameters of this module.

Description ValueIndex VelocityControlSlot: 0x3140 (Ch A)/ 0x3540 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 7 (0x07)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.7.1.1 3140:01 Velocity control proportional gain

This object contains the proportional gain of the velocity controller.

Description ValueIndex VelocityControlSlot: 0x3140 (Ch A)/ 0x3540 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.0Default 0.01Max. ValueUnit depends on value of Object (default = x * 1 Nm/rad/s)

0x3005/09 (Ch A)/ 0x3405/09 (Ch B)Access / EtherCAT-State RwPDO Mapping ReceiveRevision All

3.7.1.2 3140:02 Velocity control integral action time

This object contains the integral action time of the velocity controller.

Description ValueIndex VelocityControlSlot: 0x3140 (Ch A)/ 0x3540 (Ch B)Subindex 0x02Datatype REAL32Min. Value 0.0Default 0.01Max. Value 5.0Unit sAccess / EtherCAT-State RwPDO Mapping ReceiveRevision All

Axis modules


3.7.1.3 3140:03 Bipolar velocity limit value

In this object you can configure the maximum velocity of this axis.

Description ValueIndex VelocityControlSlot: 0x3140 (Ch A)/ 0x3540 (Ch B)Subindex 0x03Datatype REAL32Min. Value 0.0Default 0.0Max. ValueUnit depends on value of Object (default = x * 1 rpm)


3.7.1.4 3140:04 Reserved

This object is reserved for further development

Description ValueIndex VelocityControlSlot: 0x3140 (Ch A)/ 0x3540 (Ch B)Subindex 0x04Datatype REAL32Min. ValueDefault 0.0Max. ValueUnitAccess / EtherCAT-State RwPDO Mapping ReceiveRevision All

3.7.1.5 3140:05 Weight counterbalance

In object you can configure the stationary torque/force of a vertical axis.

Description ValueIndex VelocityControlSlot: 0x3140 (Ch A)/ 0x3540 (Ch B)Subindex 0x05Datatype REAL32Min. ValueDefault 0.0Max. ValueUnit depends on value of Object (default = x * 1 Nm)


Axis modules


3.7.1.6 3140:06 Reserved 2


Description ValueIndex VelocityControlSlot: 0x3140 (Ch A)/ 0x3540 (Ch B)Subindex 0x06Datatype REAL32Min. ValueDefault 0.0Max. ValueUnitAccess / EtherCAT-State RwPDO Mapping ReceiveRevision All

3.7.1.7 3140:07 Load inertia

This object is to configure the inertia of the application or load

Description ValueIndex VelocityControlSlot: 0x3140 (Ch A)/ 0x3540 (Ch B)Subindex 0x07Datatype REAL32Min. Value 0.0Default 0.0Max. ValueUnit kg m^2Access / EtherCAT-State RwPDO Mapping ReceiveRevision All

Axis modules


3.7.2 3141:x VeloCtrl actual valuesThis object contains manufacturer specific actual values from the module VelocityControl.


3.7.2.1 3141:01 PosCtrl velocity demand value

This object contains the velocity demand value of the position controller.

Description ValueIndex VelocityControlSlot: 0x3141 (Ch A)/ 0x3541 (Ch B)Subindex 0x01Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 rpm)


3.7.2.2 3141:02 Limited velocity demand value

This object contains the velocity demand value inside the actual velocity limit range.



Axis modules


3.7.2.3 3141:03 Velocity actual value velocity observer

This object contains the velocity actual value of the configured velocity observer.



3.7.2.4 3141:04 Velocity error

This object contains the velocity error of the velocity controller.



3.7.2.5 3141:05 Velocity resulting from differentiation

This object contains the velocity actual value resulting from the position differentiation.

Description ValueIndex VelocityControlSlot: 0x3141 (Ch A)/ 0x3541 (Ch B)Subindex 0x05Datatype INT32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 0.0001 rpm)


Axis modules


3.7.2.6 3141:06 Total inertia

This object contains the total inertia. Its summarized inertia application and j/m of motor, brake and encoder.

Description ValueIndex VelocityControlSlot: 0x3141 (Ch A)/ 0x3541 (Ch B)Subindex 0x06Datatype REAL32Min. ValueDefaultMax. ValueUnit kg m^2Access / EtherCAT-State RoPDO Mapping TransmitRevision All

3.7.2.7 3141:07 VeloCtrl statusword

This object contains the velocity control statusword.

Description ValueIndex VelocityControlSlot: 0x3141 (Ch A)/ 0x3541 (Ch B)Subindex 0x07Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.7.3 3142:x VeloCtrl parametersThis object contains not mappable parameters of the velocity control module.


3.7.3.1 3142:01 Velocity error tolerance

This parameter is to relax/raise the level of the overspeed error. The default level is value of the object "Maxmotor speed". The value of this parameter will be added to the default level. The value shall be given perthousand of the object "Max motor speed".

Description ValueIndex VelocityControlSlot: 0x3142 (Ch A)/ 0x3542 (Ch B)Subindex 0x01Datatype UINT32Min. Value 0Default 0Max. Value 5000 (0x00001388)Unit 0,1 %Access / EtherCAT-State RwPDO MappingRevision All

3.7.3.2 3142:02 Quick stop jerk

This object shall indicate the configured jerk used to stop the motor with fault reaction slow down ramp.

Description ValueIndex VelocityControlSlot: 0x3142 (Ch A)/ 0x3542 (Ch B)Subindex 0x02Datatype UINT32Min. Value 0Default 0Max. Value 615208748 (0x24AB572C)Unit depends on value of Object (default = x * 100 °/s^3)


Axis modules


3.7.4 3143:x VeloCtrl observerThis object contains parameters to configure the velocity observer.


3.7.4.1 3143:01 Damping

This object configures the damping coefficient of the observer.

Description ValueIndex VelocityControlSlot: 0x3143 (Ch A)/ 0x3543 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.2Default 0.707Max. Value 1.0UnitAccess / EtherCAT-State RwPDO MappingRevision All

3.7.4.2 3143:02 Bandwidth

This object configures the bandwidth of the observer.

Description ValueIndex VelocityControlSlot: 0x3143 (Ch A)/ 0x3543 (Ch B)Subindex 0x02Datatype REAL32Min. Value 25.0Default 500.0Max. Value 2000.0Unit HzAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.7.4.3 3143:03 Correction factor torque to acceleration

This object configures the torque/force actual to acceleration factor. It is to feed forward the observer with theactual torque/force to estimate the acceleration.

Description ValueIndex VelocityControlSlot: 0x3143 (Ch A)/ 0x3543 (Ch B)Subindex 0x03Datatype REAL32Min. Value 0.0Default 1.0Max. Value 8.0UnitAccess / EtherCAT-State RwPDO MappingRevision All

3.7.4.4 3143:04 Observer type

This object indicates the observer type. Choose Off for differential calculation of Velocity actual value,choose Basic to enable third order observing.

Description ValueIndex VelocityControlSlot: 0x3143 (Ch A)/ 0x3543 (Ch B)Subindex 0x04Datatype ENUM (INT16)Min. ValueDefault Off (0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description2 (0x02) Advanced1 (0x01) Basic0 (0x00) Off

Axis modules


3.7.5 606F Velocity thresholdThis object shall indicate the configured velocity threshold. The value shall be given in user defined velocityunits.

Description ValueIndex 0x606F (Ch A)/ 0x686F (Ch B)Subindex 0x00Datatype UINT32Min. Value 0Default 50000 (0x0000C350)Max. Value 4294967295 (0xFFFFFFFF)Unit depends on value of Object (default = x * 0.0001 rpm)


Axis modules


3.7.6 6070 Velocity threshold timeThis object shall indicate the configured velocity threshold time.

Description ValueIndex 0x6070 (Ch A)/ 0x6870 (Ch B)Subindex 0x00Datatype UINT16Min. Value 0Default 0Max. Value 65535 (0xFFFF)Unit msAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.7.7 6085 Quick stop decelerationThis object shall indicate the configured deceleration used to stop the motor with fault reaction slow downramp.

Description ValueIndex 0x6085 (Ch A)/ 0x6885 (Ch B)Subindex 0x00Datatype UINT32Min. Value 30 (0x0000001E)Default 36000 (0x00008CA0)Max. Value 4294967295 (0xFFFFFFFF)Unit depends on value of Object (default = x * 1 °/s^2)


Axis modules


3.7.8 60C5 Max accelerationThis object shall indicate the configured maximum acceleration.

Description ValueIndex 0x60C5 (Ch A)/ 0x68C5 (Ch B)Subindex 0x00Datatype UINT32Min. Value 0Default 4294967295 (0xFFFFFFFF)Max. Value 4294967295 (0xFFFFFFFF)Unit depends on value of Object (default = x * 1 °/s^2)


Axis modules


3.7.9 60C6 Max decelerationThis object shall indicate the configured maximum deceleration.

Description ValueIndex 0x60C6 (Ch A)/ 0x68C6 (Ch B)Subindex 0x00Datatype UINT32Min. Value 0Default 4294967295 (0xFFFFFFFF)Max. Value 4294967295 (0xFFFFFFFF)Unit depends on value of Object (default = x * 1 °/s^2)


Axis modules


3.8 Objects of module BiquadFilter

3.8.1 3163:x [SL] BiquadFilter parametersThis object contains parameters to configure a filter

Description ValueIndex BiquadFilter1: 0x3163 (Ch A)/ 0x3563 (Ch B)

BiquadFilter2: 0x3183 (Ch A)/ 0x3583 (Ch B)BiquadFilter3: 0x31A3 (Ch A)/ 0x35A3 (Ch B)BiquadFilter4: 0x31C3 (Ch A)/ 0x35C3 (Ch B)

Subindex 0x00Datatype UINT8Min. ValueDefault 5 (0x05)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.8.1.1 3163:01 Low pass frequency

This object is to configure the low pass frequency of the configured filter type.



Subindex 0x01Datatype REAL32Min. Value 0.0Default 0.0Max. Value 4000.0Unit HzAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.8.1.2 3163:02 Low pass damping

This object is to configure the low pass damping of the configured filter type.



Subindex 0x02Datatype REAL32Min. Value 0.0Default 0.0Max. Value 1.0UnitAccess / EtherCAT-State RwPDO MappingRevision All

3.8.1.3 3163:03 High pass frequency

This object is to configure the high pass frequency of the configured filter type.



Subindex 0x03Datatype REAL32Min. Value 0.0Default 0.0Max. Value 4000.0Unit HzAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.8.1.4 3163:04 High pass damping

This object is to configure the high pass damping of the configured filter type.



Subindex 0x04Datatype REAL32Min. Value 0.0Default 0.0Max. Value 1.0UnitAccess / EtherCAT-State RwPDO MappingRevision All

3.8.1.5 3163:05 Filter type

This object is to configure the required filter type.



Subindex 0x05Datatype ENUM (INT16)Min. ValueDefault No_Filter (0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description5 (0x05) Notch_filter4 (0x04) Phase_correction_filter_2_order3 (0x03) Low_pass_filter_2_order2 (0x02) Phase_correction_filter_1_order1 (0x01) Low_pass_filter_1_order0 (0x00) No_Filter

Axis modules


3.8.2 3164 [SL] Filter input signalThis object contains the filter input signal.



Subindex 0x00Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 Nm)

BiquadFilter1: 0x3166/00 (Ch A)/ 0x3566/00 (Ch B)BiquadFilter2: 0x3186/00 (Ch A)/ 0x3586/00 (Ch B)BiquadFilter3: 0x31A6/00 (Ch A)/ 0x35A6/00 (Ch B)BiquadFilter4: 0x31C6/00 (Ch A)/ 0x35C6/00 (Ch B)

Access / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.8.3 3165 [SL] Filter output signalThis object contains the filter output signal.



Subindex 0x00Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 Nm)

BiquadFilter1: 0x3166/00 (Ch A)/ 0x3566/00 (Ch B)BiquadFilter2: 0x3186/00 (Ch A)/ 0x3586/00 (Ch B)BiquadFilter3: 0x31A6/00 (Ch A)/ 0x35A6/00 (Ch B)BiquadFilter4: 0x31C6/00 (Ch A)/ 0x35C6/00 (Ch B)

Access / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.8.4 3166 [SL] BiquadFilter scaling indexThis object contains the scaling index of the filtered values.



Subindex 0x00Datatype UINT32Min. ValueDefault 20480 (0x00005000)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.9 Objects of module TorqueControl

3.9.1 3240:x TorqueCtrl parameters mappableThis record contains all mappable parameters of this module.

Description ValueIndex TorqueControlSlot: 0x3240 (Ch A)/ 0x3640 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 4 (0x04)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.9.1.1 3240:01 Torque control proportional gain q

This object contains the proportional gain of the torque/force controller.

Description ValueIndex TorqueControlSlot: 0x3240 (Ch A)/ 0x3640 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.0Default 100.0Max. Value 1000.0Unit V/AAccess / EtherCAT-State RwPDO Mapping ReceiveRevision All

3.9.1.2 3240:02 Torque control integral action time q

This object contains the integral action time of the torque/force controller.

Description ValueIndex TorqueControlSlot: 0x3240 (Ch A)/ 0x3640 (Ch B)Subindex 0x02Datatype REAL32Min. Value 0.0001Default 0.001Max. Value 0.01Unit sAccess / EtherCAT-State RwPDO Mapping ReceiveRevision All

Axis modules


3.9.1.3 3240:03 Torque control proportional gain d

This object contains the second proportional gain of the torque/force controller.

Description ValueIndex TorqueControlSlot: 0x3240 (Ch A)/ 0x3640 (Ch B)Subindex 0x03Datatype REAL32Min. Value 0.0Default 0.0Max. Value 1000.0Unit V/AAccess / EtherCAT-State RwPDO Mapping ReceiveRevision All

3.9.1.4 3240:04 Torque control integral action time d

This object contains the second integral action time of the torque/force controller.

Description ValueIndex TorqueControlSlot: 0x3240 (Ch A)/ 0x3640 (Ch B)Subindex 0x04Datatype REAL32Min. Value 0.0001Default 0.001Max. Value 0.01Unit sAccess / EtherCAT-State RwPDO Mapping ReceiveRevision All

Axis modules


3.9.2 3241:x TorqueCtrl actual valuesThis object contains manufacturer specific actual values from the module torque/force control.

Description ValueIndex TorqueControlSlot: 0x3241 (Ch A)/ 0x3641 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 10 (0x0A)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.9.2.1 3241:01 VeloCtrl torque/force demand value

This object indicates the torque/force controller demand value from the velocity controller.

Description ValueIndex TorqueControlSlot: 0x3241 (Ch A)/ 0x3641 (Ch B)Subindex 0x01Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 Nm)


3.9.2.2 3241:02 Ipo torque/force demand value

This object indicates the torque/force controller feed forward value from the Interpolator.



Axis modules


3.9.2.3 3241:03 Limited torque/force demand value

This object indicates the effective torque/force demand value.



3.9.2.4 3241:04 Filtered torque/force demand value

This object indicates the filtered torque/force demand value.



3.9.2.5 3241:05 Reserved


Description ValueIndex TorqueControlSlot: 0x3241 (Ch A)/ 0x3641 (Ch B)Subindex 0x05Datatype REAL32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.9.2.6 3241:06 Torque ctrl statusword

This object shall provide the status of the torque/force controller.

Description ValueIndex TorqueControlSlot: 0x3241 (Ch A)/ 0x3641 (Ch B)Subindex 0x06Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

3.9.2.7 3241:07 Pos torque/force limit effective

This object indicates the effective positve torque/force limit.



3.9.2.8 3241:08 Neg torque/force limit effective

This object indicates the effective negative torque/force limit.



Axis modules


3.9.2.9 3241:09 TorCtrl torque/force actual value

This object indicates the actual value of torque/force.



3.9.2.10 3241:0A Deceleration torque/force limit actual

This object indicates the actual torque/force limit for deceleration due to regenerative power limitations.

Description ValueIndex TorqueControlSlot: 0x3241 (Ch A)/ 0x3641 (Ch B)Subindex 0x0ADatatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 Nm)


Axis modules


3.9.3 3242:x TorqueCtrl actual values2This object contains parameters to configure the torque/force controller.


3.9.3.1 3242:01 Iq TorqueProportional demand

internal current value

Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x01Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

3.9.3.2 3242:02 Id demand



Axis modules


3.9.3.3 3242:03 Iq TorqueProportional actual



3.9.3.4 3242:04 Iq actual



3.9.3.5 3242:05 Id actual



Axis modules


3.9.3.6 3242:06 Iu actual



3.9.3.7 3242:07 Iv actual



3.9.3.8 3242:08 Iw actual



Axis modules


3.9.3.9 3242:09 Ialpha actual



3.9.3.10 3242:0A Ibeta actual


Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x0ADatatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

3.9.3.11 3242:0B Irms actual


Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x0BDatatype REAL32Min. ValueDefault 0.0Max. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.9.3.12 3242:0C Thermal channel utilization

This object contains the actual thermal IGBT utilization.

Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x0CDatatype REAL32Min. ValueDefaultMax. ValueUnit %Access / EtherCAT-State RoPDO Mapping TransmitRevision All

3.9.3.13 3242:0D I2 Channel


Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x0DDatatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

3.9.3.14 3242:0F Uq actual

internal voltage value

Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x0FDatatype REAL32Min. ValueDefaultMax. ValueUnit VAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.9.3.15 3242:10 Ud actual

internal voltage value

Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x10Datatype REAL32Min. ValueDefaultMax. ValueUnit VAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

3.9.3.16 3242:11 Urms actual

Internal motor phase voltage value. (2/3 of Motor voltage)

Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x11Datatype REAL32Min. ValueDefaultMax. ValueUnit VAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

3.9.3.17 3242:12 Electrical power

Internal motor phase power value. (2/3 of motor power)

Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x12Datatype REAL32Min. ValueDefaultMax. ValueUnit WAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.9.3.18 3242:13 Mechanical power

Internal power value. (Motor)

Description ValueIndex TorqueControlSlot: 0x3242 (Ch A)/ 0x3642 (Ch B)Subindex 0x13Datatype REAL32Min. ValueDefaultMax. ValueUnit WAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

3.9.3.19 3242:14 Iuvw sum



Axis modules


3.9.4 3243:x TorqueCtrl parametersThis object contains not mappable parameters of the TorqueControl module.


3.9.4.1 3243:01 Configured channel rated current

This object configures the channel rated current. The range of this object depends on 'Channel ratedcurrent' (0x3243:03) and the on the configuration of the optional other channel. The summation is limited.

Description ValueIndex TorqueControlSlot: 0x3243 (Ch A)/ 0x3643 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.0Default 0.0Max. Value 10000.0Unit AAccess / EtherCAT-State RwPDO MappingRevision All

3.9.4.2 3243:02 Configured channel peak current

This object configures the channel peak current. The range of this object depends on 'Channel peakcurrent' (0x3243:04) and the on the configuration of the optional other channel. The summation is limited.

Description ValueIndex TorqueControlSlot: 0x3243 (Ch A)/ 0x3643 (Ch B)Subindex 0x02Datatype REAL32Min. Value 0.0Default 0.0Max. Value 10000.0Unit AAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.9.4.3 3243:03 Channel rated current

This read only object indicates the maximal channel rated current. This value dependents on the mainsvoltage and the PWM frequency.

Description ValueIndex TorqueControlSlot: 0x3243 (Ch A)/ 0x3643 (Ch B)Subindex 0x03Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO MappingRevision All

3.9.4.4 3243:04 Channel peak current

This read only object indicates the maximal channel peak current. This value dependents on the mainsvoltage and the PWM frequency.

Description ValueIndex TorqueControlSlot: 0x3243 (Ch A)/ 0x3643 (Ch B)Subindex 0x04Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO MappingRevision All

3.9.4.5 3243:05 Configured channel peak torque/force

This read only object provides the configured channel peak torque/force. The value of this object depends onthe motor and the configured peak current.



Axis modules


3.9.4.6 3243:06 Max channel accepted velocity

This object contains maximum accepted velocity demand value to prevent high back EMF.

Description ValueIndex TorqueControlSlot: 0x3243 (Ch A)/ 0x3643 (Ch B)Subindex 0x06Datatype REAL32Min. ValueDefaultMax. ValueUnit depends on value of Object (default = x * 1 rpm)


3.9.4.7 3243:07 Iuvw max sum

This object configures the maximum accepted value in Iuvw sum.

Description ValueIndex TorqueControlSlot: 0x3243 (Ch A)/ 0x3643 (Ch B)Subindex 0x07Datatype REAL32Min. Value 0.0Default 2.5Max. ValueUnit AAccess / EtherCAT-State RwPDO MappingRevision All

3.9.4.8 3243:08 Amplifier output voltage slope

This object configures the channel maximum voltage slope.

Description ValueIndex TorqueControlSlot: 0x3243 (Ch A)/ 0x3643 (Ch B)Subindex 0x08Datatype REAL32Min. ValueDefault 0.0Max. ValueUnit V/sAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.9.5 3244:x TorqueCtrl demand valuesThis record contains mappable demand values of this module.


3.9.5.1 3244:01 Id demand value

This object contains the d-Current demand value of the torque/force controller. (only active in CSTCA)

Description ValueIndex TorqueControlSlot: 0x3244 (Ch A)/ 0x3644 (Ch B)Subindex 0x01Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping ReceiveRevision All

Axis modules


3.9.6 6071 Target torque/forceThis object shall indicate the configured input value for the torque/force controller. The value shall be givenper thousand of motor standstill torque/force (0x6076).

Description ValueIndex 0x6071 (Ch A)/ 0x6871 (Ch B)Subindex 0x00Datatype INT16Min. Value -5000 (0xEC78)Default 0Max. Value 5000 (0x1388)Unit 0,1 %Access / EtherCAT-State RoPDO Mapping ReceiveRevision All

Axis modules


3.9.7 6072 Bipolar torque/force limit valueThis object indicates the configured maximum bipolar permissible torque/force in the motor. The value shallbe given per thousand of standstill motor torque/force (0x6076).

Description ValueIndex 0x6072 (Ch A)/ 0x6872 (Ch B)Subindex 0x00Datatype UINT16Min. Value 0Default 5000 (0x1388)Max. Value 5000 (0x1388)Unit 0,1 %Access / EtherCAT-State RwPDO Mapping ReceiveRevision All

Axis modules


3.9.8 6077 Torque/force actual valueThis object shall indicate the configured input value for the torque/force controller. The value shall be givenper thousand of motor standstill torque/force (0x6076) M0.

Description ValueIndex 0x6077 (Ch A)/ 0x6877 (Ch B)Subindex 0x00Datatype INT16Min. ValueDefaultMax. ValueUnit 0,1 %Access / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.9.9 60B2 Torque/force offsetThis object shall provide the offset for the torque/force value. The offset shall be given in per thousand ofmotor standstill torque/force. In cyclic synchronous position mode and cyclic synchronous velocity mode, thisobject contains the input value for an external calculated torque/force feed forward. In cyclic synchronoustorque mode it contains the commanded additive torque/force of the drive, which is added to the targettorque/force value.

Description ValueIndex 0x60B2 (Ch A)/ 0x68B2 (Ch B)Subindex 0x00Datatype INT16Min. Value -1000 (0xFC18)Default 0Max. Value 1000 (0x03E8)Unit 0,1 %Access / EtherCAT-State RoPDO Mapping ReceiveRevision All

Axis modules


3.9.10 60E0 Positive torque/force limit valueThis object indicates the configured maximum positive torque/force in the motor. The value shall be givenper thousand of standstill torque/force (0x6076). Positive torque/force takes effect in the case of motiveoperation is positive velocity or regenerative operation is negative velocity.

Description ValueIndex 0x60E0 (Ch A)/ 0x68E0 (Ch B)Subindex 0x00Datatype UINT16Min. Value 0Default 5000 (0x1388)Max. Value 5000 (0x1388)Unit 0,1 %Access / EtherCAT-State RwPDO Mapping ReceiveRevision All

Axis modules


3.9.11 60E1 Negative torque/force limit valueThis object indicates the configured maximum negative torque/force in the motor. The value shall be givenper thousand of standstill torque/force (0x6076). Negative torque/force takes effect in the case of motiveoperation is negative velocity or regenerative operation is positive velocity.

Description ValueIndex 0x60E1 (Ch A)/ 0x68E1 (Ch B)Subindex 0x00Datatype UINT16Min. Value 0Default 5000 (0x1388)Max. Value 5000 (0x1388)Unit 0,1 %Access / EtherCAT-State RwPDO Mapping ReceiveRevision All

Axis modules


3.9.12 60EA Commutation angleThis object indicates the electrical commutation angle for the space vector modulation.

Description ValueIndex 0x60EA (Ch A)/ 0x68EA (Ch B)Subindex 0x00Datatype UINT16Min. Value 0Default 0Max. Value 65535 (0xFFFF)Unit x * (360/65536)°Access / EtherCAT-State RwPDO Mapping ReceiveRevision All

Axis modules


3.10 Objects of module FeedbackHpfDsl

3.10.1 32E0:x [SL] EncoderActualValueDescription ValueIndex Primary Feedback: 0x32E0 (Ch A)/ 0x36E0 (Ch B)

Secondary Feedback: 0x3300 (Ch A)/ 0x3700 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 6 (0x06)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.10.1.1 32E0:01 Position

This object contains the raw position value from the encoder.

Description ValueIndex Primary Feedback: 0x32E0 (Ch A)/ 0x36E0 (Ch B)

Secondary Feedback: 0x3300 (Ch A)/ 0x3700 (Ch B)Subindex 0x01Datatype INT64Min. ValueDefaultMax. ValueUnit incAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

3.10.1.2 32E0:02 RawPosition

This object contains the raw position value from the encoder.


Secondary Feedback: 0x3300 (Ch A)/ 0x3700 (Ch B)Subindex 0x02Datatype INT64Min. ValueDefaultMax. ValueUnit incAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.10.1.3 32E0:03 MaxPositionEstimatorDeviation


Secondary Feedback: 0x3300 (Ch A)/ 0x3700 (Ch B)Subindex 0x03Datatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

3.10.1.4 32E0:04 Status



3.10.1.5 32E0:05 rsvd



Axis modules


3.10.1.6 32E0:06 Valid



3.10.2 32E1:x [SL] Encoder InfoTODO:AddSomeInformationHere



3.10.2.1 32E1:01 Interface

TODO:AddSomeInformationHere


Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x01Datatype UINT64Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.10.2.2 32E1:02 IpCore Version



3.10.2.3 32E1:03 EncoderId0



3.10.2.4 32E1:04 EncoderId1



Axis modules


3.10.2.5 32E1:05 EncoderId2



3.10.2.6 32E1:06 Encoder Base Type



3.10.2.7 32E1:07 Encoder Hardware Version



Axis modules


3.10.2.8 32E1:08 rsvd0



3.10.2.9 32E1:09 Resolution



3.10.2.10 32E1:0A Range


Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x0ADatatype UINT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.10.2.11 32E1:0B Base Type Code Name


Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x0BDatatype VISIBLE_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.10.2.12 32E1:0C Serial Number


Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x0CDatatype VISIBLE_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.10.2.13 32E1:0D Firmware Revision Number


Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x0DDatatype VISIBLE_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.10.2.14 32E1:0E Firmware Date


Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x0EDatatype VISIBLE_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.10.2.15 32E1:0F Eeprom Size


Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x0FDatatype UINT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.10.2.16 32E1:10 Min Allowed Encoder Temperature


Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x10Datatype INT16Min. ValueDefaultMax. ValueUnit 0,1 °CAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.10.2.17 32E1:11 Max Allowed Encoder Temperature



3.10.2.18 32E1:12 Max Encoder Speed


Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x12Datatype UINT16Min. ValueDefaultMax. ValueUnit rpmAccess / EtherCAT-State RoPDO MappingRevision All

3.10.2.19 32E1:13 Position Offset


Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x13Datatype UINT64Min. ValueDefaultMax. ValueUnit incAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.10.2.20 32E1:14 Max Application Acc


Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x14Datatype REAL32Min. ValueDefaultMax. ValueUnit rad/s^2Access / EtherCAT-State RoPDO MappingRevision All

3.10.2.21 32E1:15 Max Accepted Position Deviation


Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x15Datatype REAL32Min. ValueDefaultMax. ValueUnit °Access / EtherCAT-State RoPDO MappingRevision All

3.10.2.22 32E1:16 Max Sync Jitter



Axis modules


3.10.2.23 32E1:17 Encoder Status Mask 0









Axis modules


3.10.2.26 32E1:1A Encoder Status Mask 3



3.10.2.27 32E1:1B Encoder Status Mask 4


Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x1BDatatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.10.2.28 32E1:1C Encoder Status Mask 5


Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x1CDatatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.10.2.29 32E1:1D Encoder Status Mask 6


Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x1DDatatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.10.2.30 32E1:1E Encoder Status Mask 7


Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x1EDatatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.10.2.31 32E1:1F rsvd1


Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x1FDatatype INT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.10.2.32 32E1:20 rsvd2


Secondary Feedback: 0x3301 (Ch A)/ 0x3701 (Ch B)Subindex 0x20Datatype INT32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.10.3 32E2:x [SL] Encoder StatusTODO:AddSomeInformationHere



3.10.3.1 32E2:01 Delay Register




Axis modules


3.10.3.2 32E2:02 Master Quality Monitor



3.10.3.3 32E2:03 SRSSI



3.10.3.4 32E2:04 Edges Register



Axis modules


3.10.3.5 32E2:05 Summary Register



3.10.3.6 32E2:06 rsvd0



3.10.3.7 32E2:07 Encoder Temperature



Axis modules


3.10.3.8 32E2:08 LED Current


Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x08Datatype UINT16Min. ValueDefaultMax. ValueUnit 0,1 AAccess / EtherCAT-State RoPDO MappingRevision All

3.10.3.9 32E2:09 Supply Voltage


Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x09Datatype UINT16Min. ValueDefaultMax. ValueUnit mVAccess / EtherCAT-State RoPDO MappingRevision All

3.10.3.10 32E2:0A Encoder Status 0



Axis modules


3.10.3.11 32E2:0B Encoder Status 1



3.10.3.12 32E2:0C Encoder Status 2



3.10.3.13 32E2:0D Encoder Status 3



Axis modules


3.10.3.14 32E2:0E Encoder Status 4


Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x0EDatatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.10.3.15 32E2:0F Encoder Status 5


Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x0FDatatype UINT8Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.10.3.16 32E2:10 Encoder Status 6



Axis modules


3.10.3.17 32E2:11 Encoder Status 7



3.10.3.18 32E2:12 Operation Time


Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x12Datatype UINT32Min. ValueDefaultMax. ValueUnit minAccess / EtherCAT-State RoPDO MappingRevision All

3.10.3.19 32E2:13 Total Shaft Turns



Axis modules


3.10.3.20 32E2:14 Max Occured Position Deviation


Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x14Datatype REAL32Min. ValueDefaultMax. ValueUnit °Access / EtherCAT-State RoPDO MappingRevision All

3.10.3.21 32E2:15 Posistion Deviation Limit Exceeded



3.10.3.22 32E2:16 rsvd1



Axis modules


3.10.3.23 32E2:17 Total VPOS Errors



3.10.3.24 32E2:18 Total ACC Errors



3.10.3.25 32E2:19 Total VRT Errors



Axis modules


3.10.3.26 32E2:1A Total POS Errors



3.10.3.27 32E2:1B Total LINK Errors



3.10.3.28 32E2:1C Total Encoding Errors



Axis modules


3.10.3.29 32E2:1D rsvd2



3.10.3.30 32E2:1E Temperature Sensor Resistance


Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x1EDatatype UINT32Min. ValueDefaultMax. ValueUnit OhmAccess / EtherCAT-State RoPDO MappingRevision All

3.10.3.31 32E2:1F Parameter Channel Read Cycle Counter


Secondary Feedback: 0x3302 (Ch A)/ 0x3702 (Ch B)Subindex 0x1FDatatype INT16Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.10.3.32 32E2:20 Parameter Channel Read Error Counter



3.10.4 32E3:x [SL] Encoder Temperature SensorsTODO:AddSomeInformationHere



Axis modules


3.10.4.1 32E3:01 Encoder Connected Sensor Data State



Secondary Feedback: 0x3303 (Ch A)/ 0x3703 (Ch B)Subindex 0x01Datatype ENUM (INT16)Min. ValueDefault eDataState_Idle (0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Enum Value Description2 (0x02) eDataState_Error1 (0x01) eDataState_Valid0 (0x00) eDataState_Idle

3.10.4.2 32E3:02 Encoder Connected Sensor Resistance


Secondary Feedback: 0x3303 (Ch A)/ 0x3703 (Ch B)Subindex 0x02Datatype UINT32Min. ValueDefaultMax. ValueUnit OhmAccess / EtherCAT-State RoPDO MappingRevision All

3.10.4.3 32E3:03 Drive Connected Sensor Data State


Secondary Feedback: 0x3303 (Ch A)/ 0x3703 (Ch B)Subindex 0x03Datatype ENUM (INT16)Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


Enum Value Description2 (0x02) eDataState_Error1 (0x01) eDataState_Valid0 (0x00) eDataState_Idle

3.10.4.4 32E3:04 Drive Connected Sensor Resistance



Axis modules


3.10.5 32E4:x [SL] Encoder File Electronic Data SheetDescription ValueIndex Primary Feedback: 0x32E4 (Ch A)/ 0x36E4 (Ch B)


3.10.5.1 32E4:01 Data State


Secondary Feedback: 0x3304 (Ch A)/ 0x3704 (Ch B)Subindex 0x01Datatype ENUM (INT16)Min. ValueDefault eFileDataState_Invalid (0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Enum Value Description1 (0x01) eFileDataState_Valid0 (0x00) eFileDataState_Invalid

3.10.5.2 32E4:02 Electronic Data Sheet


Secondary Feedback: 0x3304 (Ch A)/ 0x3704 (Ch B)Subindex 0x02Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.10.6 32E5:x [SL] Encoder File Position OffsetTODO:AddSomeInformationHere



3.10.6.1 32E5:01 Data State





Axis modules


3.10.6.2 32E5:02 Position Offset


Secondary Feedback: 0x3305 (Ch A)/ 0x3705 (Ch B)Subindex 0x02Datatype INT64Min. ValueDefaultMax. ValueUnit incAccess / EtherCAT-State RoPDO MappingRevision All

3.10.7 32E6:x [SL] Encoder File User DataTODO:AddSomeInformationHere



Axis modules


3.10.7.1 32E6:01 Data State





3.10.7.2 32E6:02 User Data


Secondary Feedback: 0x3306 (Ch A)/ 0x3706 (Ch B)Subindex 0x02Datatype VISIBLE_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.10.8 32E7:x [SL] Encoder File Commutation OffsetTODO:AddSomeInformationHere



3.10.8.1 32E7:01 Data State





Axis modules


3.10.8.2 32E7:02 Commutation Offset


Secondary Feedback: 0x3307 (Ch A)/ 0x3707 (Ch B)Subindex 0x02Datatype UINT32Min. ValueDefaultMax. ValueUnit m°Access / EtherCAT-State RoPDO MappingRevision All

3.10.9 32E8:x [SL] Encoder Direct AccessTODO:AddSomeInformationHere



3.10.9.1 32E8:01 Command



Secondary Feedback: 0x3308 (Ch A)/ 0x3708 (Ch B)Subindex 0x01Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.10.9.2 32E8:02 Status


Secondary Feedback: 0x3308 (Ch A)/ 0x3708 (Ch B)Subindex 0x02Datatype ENUM (UINT8)Min. ValueDefault eCoeCmdStatus_CmdCompletedNoErrorNoRespData (0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Enum Value Description255 (0xFF) eCoeCmdStatus_CmdIsExecuting3 (0x03) eCoeCmdStatus_CmdCompletedErrorRespDataAvailable2 (0x02) eCoeCmdStatus_CmdCompletedErrorNoRespData1 (0x01) eCoeCmdStatus_CmdCompletedNoErrorRespDataAvailable0 (0x00) eCoeCmdStatus_CmdCompletedNoErrorNoRespData

3.10.9.3 32E8:03 Response


Secondary Feedback: 0x3308 (Ch A)/ 0x3708 (Ch B)Subindex 0x03Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.10.10 32EA:x [SL] Encoder Save File User DataTODO:AddSomeInformationHere

Description ValueIndex Primary Feedback: 0x32EA (Ch A)/ 0x36EA (Ch B)

Secondary Feedback: 0x330A (Ch A)/ 0x370A (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 3 (0x03)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.10.10.1 32EA:01 Command



Secondary Feedback: 0x330A (Ch A)/ 0x370A (Ch B)Subindex 0x01Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.10.10.2 32EA:02 Status


Secondary Feedback: 0x330A (Ch A)/ 0x370A (Ch B)Subindex 0x02Datatype ENUM (UINT8)Min. ValueDefault eCoeCmdStatus_CmdCompletedNoErrorNoRespData (0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Enum Value Description255 (0xFF) eCoeCmdStatus_CmdIsExecuting

Axis modules


Enum Value Description3 (0x03) eCoeCmdStatus_CmdCompletedErrorRespDataAvailable2 (0x02) eCoeCmdStatus_CmdCompletedErrorNoRespData1 (0x01) eCoeCmdStatus_CmdCompletedNoErrorRespDataAvailable0 (0x00) eCoeCmdStatus_CmdCompletedNoErrorNoRespData

3.10.10.3 32EA:03 Response


Secondary Feedback: 0x330A (Ch A)/ 0x370A (Ch B)Subindex 0x03Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.10.11 32EB:x [SL] Encoder Save File Commutation OffsetTODO:AddSomeInformationHere

Description ValueIndex Primary Feedback: 0x32EB (Ch A)/ 0x36EB (Ch B)

Secondary Feedback: 0x330B (Ch A)/ 0x370B (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 3 (0x03)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.10.11.1 32EB:01 Command



Secondary Feedback: 0x330B (Ch A)/ 0x370B (Ch B)Subindex 0x01Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.10.11.2 32EB:02 Status


Secondary Feedback: 0x330B (Ch A)/ 0x370B (Ch B)Subindex 0x02Datatype ENUM (UINT8)Min. ValueDefault eCoeCmdStatus_CmdCompletedNoErrorNoRespData (0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All


Axis modules



3.10.11.3 32EB:03 Response


Secondary Feedback: 0x330B (Ch A)/ 0x370B (Ch B)Subindex 0x03Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.10.12 32EC:x [SL] Scan Connected EncoderTODO:AddSomeInformationHere

Description ValueIndex Primary Feedback: 0x32EC (Ch A)/ 0x36EC (Ch B)

Secondary Feedback: 0x330C (Ch A)/ 0x370C (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 3 (0x03)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.10.12.1 32EC:01 Command



Secondary Feedback: 0x330C (Ch A)/ 0x370C (Ch B)Subindex 0x01Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.10.12.2 32EC:02 Status


Secondary Feedback: 0x330C (Ch A)/ 0x370C (Ch B)Subindex 0x02Datatype ENUM (UINT8)Min. ValueDefault eCoeCmdStatus_CmdCompletedNoErrorNoRespData (0)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All


Axis modules



3.10.12.3 32EC:03 Response


Secondary Feedback: 0x330C (Ch A)/ 0x370C (Ch B)Subindex 0x03Datatype OCTET_STRINGMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules


3.11 Objects of module SyncServoMotor

3.11.1 32C0:x Motor parametersThis object contains parameters to configure the connected motor.

Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 16 (0x10)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

3.11.1.1 32C0:01 Configured motor type

This object indicates the configured motor type.

Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x01Datatype VISIBLE_STRINGMin. ValueDefault not setMax. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.11.1.2 32C0:02 Pole pairs

This object indicates the motor pole pairs.

Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x02Datatype UINT16Min. Value 0Default 0Max. Value 255 (0x00FF)UnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.11.1.3 32C0:03 Motor peak current

This object configures the motor peak current. If the electronic datasheet of the motor is available take "Peakcurrent".

Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x03Datatype REAL32Min. Value 0.0Default 0.0Max. Value 8000.0Unit AAccess / EtherCAT-State RwPDO MappingRevision All

3.11.1.4 32C0:04 Motor nominal voltage

This object configures the motor nominal voltage. If the electronic datasheet is available take "Nominalvoltage" according to the selected mains voltage.

Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x04Datatype REAL32Min. Value 0.0Default 0.0Max. Value 900.0Unit VAccess / EtherCAT-State RwPDO MappingRevision All

3.11.1.5 32C0:05 Motor max voltage

This object configures the motor max voltage. If the electronic datasheet is available take "Max voltage".

Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x05Datatype REAL32Min. Value 0.0Default 0.0Max. Value 1200.0Unit VAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.11.1.6 32C0:06 Winding resistance R

This object configures the winding resistance R (phase to phase at 20°C). If the electronic datasheet isavailable take "Winding resistance Ph-Ph 20°C".

Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x06Datatype REAL32Min. Value 0.0Default 0.0Max. Value 250.0Unit OhmAccess / EtherCAT-State RwPDO MappingRevision All

3.11.1.7 32C0:07 Winding inductance Ld

This object configures the direct axis winding inductance Ld (phase to phase). If the electronic datasheet isavailable take "Ld Ph-Ph".

Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x07Datatype REAL32Min. Value 0.0Default 0.0Max. Value 255.0Unit HAccess / EtherCAT-State RwPDO MappingRevision All

3.11.1.8 32C0:08 Winding inductance Lq

This object configures the direct winding inductance Lq. If the electronic datasheet is available take "Lq Ph-Ph".

Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x08Datatype REAL32Min. Value 0.0Default 0.0Max. Value 255.0Unit HAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.11.1.9 32C0:09 Motor warning temperature

This object configures the motor temperature warning theshold. If the electronic datasheet is available take"T motor warn limit".

Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x09Datatype REAL32Min. Value 40.0Default 80.0Max. Value 150.0Unit °CAccess / EtherCAT-State RwPDO MappingRevision All

3.11.1.10 32C0:0A Motor shut down temperature

This object configures the motor temperature error threshold. If the electronic datasheet is available take "Tmotor err limit".

Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x0ADatatype REAL32Min. Value 50.0Default 100.0Max. Value 150.0Unit °CAccess / EtherCAT-State RwPDO MappingRevision All

3.11.1.11 32C0:0B Motor moment of inertia

This object configures the inertia of rotor including brake and encoder. If the electronic datasheet is availabletake "J motor with brake".

Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x0BDatatype REAL32Min. Value 0.0Default 0.0Max. Value 255.0Unit kg m^2Access / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.11.1.12 32C0:0C Motor rated speed

This object indicates the motor calculated speed. Its calculated from the motor parameters.

Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x0CDatatype REAL32Min. Value 0.0Default 0.0Max. Value 200000.0Unit rpmAccess / EtherCAT-State RwPDO MappingRevision All

3.11.1.13 32C0:0D Motor rated torque

This object configures the motor rated torque at rated speed. If the electronic datasheet is available take"Rated torque" according to the selected mains voltage.

Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x0DDatatype REAL32Min. Value 0.0Default 0.0Max. Value 255.0Unit NmAccess / EtherCAT-State RwPDO MappingRevision All

3.11.1.14 32C0:0E Commutation offset

This object configures the motor commutation offset. Beckhoff motors use the default value (0°).

Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x0EDatatype UINT16Min. Value 0Default 0Max. Value 65535 (0xFFFF)Unit x * (360/65536)°Access / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.11.1.15 32C0:0F Motor temperature sensor connection

This object configures the motor temperature sensor type.

Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x0FDatatype ENUM (INT16)Min. ValueDefault No_motor_temperature_switch_or_sensor (0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description1 (0x01) Via_feedback_process_data_and_characteristic_table0 (0x00) No_motor_temperature_switch_or_sensor

3.11.1.16 32C0:10 Motor max voltage slope

This object configures the motor maximum winding voltage slope. If the electronic datasheet is available take"Max winding du/dt" according to the selected mains voltage.

Description ValueIndex Motor: 0x32C0 (Ch A)/ 0x36C0 (Ch B)Subindex 0x10Datatype REAL32Min. Value 0.0Default 0.0Max. ValueUnit V/sAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.11.2 32C1:x SyncServoMotor actual valuesThis object contains actual values from the module SyncServoMotor.


3.11.2.1 32C1:01 Actual motor I2T current limit

This object is to monitor the thermal motor I2T model current limitation. If the estimated I2T value exceeds thethreshold value the current will be limited to motor I0 (0x6075).

Description ValueIndex Motor: 0x32C1 (Ch A)/ 0x36C1 (Ch B)Subindex 0x01Datatype REAL32Min. ValueDefaultMax. ValueUnit AAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

3.11.2.2 32C1:02 Thermal motor utilization

This object is to indicate the actual motor utilization.

Description ValueIndex Motor: 0x32C1 (Ch A)/ 0x36C1 (Ch B)Subindex 0x02Datatype REAL32Min. ValueDefaultMax. ValueUnit %Access / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.11.2.3 32C1:03 Estimated motor copper losses

Internal value for estimated motor copper losses.

Description ValueIndex Motor: 0x32C1 (Ch A)/ 0x36C1 (Ch B)Subindex 0x03Datatype REAL32Min. ValueDefaultMax. ValueUnit WAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

3.11.2.4 32C1:04 Estimated motor iron losses

Internal value for estimated motor iron losses.

Description ValueIndex Motor: 0x32C1 (Ch A)/ 0x36C1 (Ch B)Subindex 0x04Datatype REAL32Min. ValueDefaultMax. ValueUnit WAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

3.11.2.5 32C1:05 Motor I2T limitation active

This internal state indicates a current reduction due to the thermal motor model.

Description ValueIndex Motor: 0x32C1 (Ch A)/ 0x36C1 (Ch B)Subindex 0x05Datatype BOOLMin. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.11.2.6 32C1:06 Actual motor temperature

This object provides the measured motor winding temperature. It is usually acquired via the motor internaltemperature sensor.

Description ValueIndex Motor: 0x32C1 (Ch A)/ 0x36C1 (Ch B)Subindex 0x06Datatype REAL32Min. ValueDefaultMax. ValueUnit °CAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

Axis modules


3.11.3 32C2:x Motor torque characteristicThis object describes the motor torque characteristic of a cold (40°C) motor. The torque as a function ofcurrent curve is approximated by a third order polynomial. Three pairs of values are required. Standstillcurrent and torque, peak current and torque and a pair of values between standstill and peak. The valuescan be read from the motor electronic datasheet (XEDS file).


3.11.3.1 32C2:01 Current 1

A current near the motor standstill current should be parameterized here. This current can be read from theelectronic datasheet of the motor, if available (2nd current).


3.11.3.2 32C2:02 Current 2

A current between standstill and peak current should be parameterized here. This current can be read fromthe electronic datasheet of the motor, if available (5th current).


Axis modules


3.11.3.3 32C2:03 Current 3

The peak current of the motor should be parameterized here. This current can be read from the electronicdatasheet of the motor, if available (10th current).


3.11.3.4 32C2:04 Torque 1

A torque near the cold motor standstill torque should be parameterized here. This torque can be read fromthe electronic datasheet of the motor, if available (2nd torque).

Description ValueIndex Motor: 0x32C2 (Ch A)/ 0x36C2 (Ch B)Subindex 0x04Datatype REAL32Min. Value 0.0Default 1.0Max. Value 10000.0Unit NmAccess / EtherCAT-State RwPDO MappingRevision All

3.11.3.5 32C2:05 Torque 2

A torque between standstill and peak should be parameterized here. This torque can be read from theelectronic datasheet of the motor, if available (5th torque).


Axis modules


3.11.3.6 32C2:06 Torque 3

The torque at peak current of the cold motor should be parameterized here. This torque can be read from theelectronic datasheet of the motor, if available (10th torque).


Axis modules


3.11.4 32C6:x Motor commutation monitoring parametersThis object contains parameters to configure the Motor commutation monitoring


3.11.4.1 32C6:01 Speed threshold

The minimum speed for detecting a commutation error is 'Max motor speed' (0x6080) multiplied by 'Speedthreshold'

Description ValueIndex Motor: 0x32C6 (Ch A)/ 0x36C6 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.0Default 0.1Max. Value 1.0UnitAccess / EtherCAT-State RwPDO MappingRevision All

3.11.4.2 32C6:02 Voltage threshold

The BEMF level for detecting a commutation error is 'Motor nominal voltage' (0x42C0:03) multiplied by'Voltage threshold'

Description ValueIndex Motor: 0x32C6 (Ch A)/ 0x36C6 (Ch B)Subindex 0x02Datatype REAL32Min. Value 0.0Default 0.1Max. Value 2.0UnitAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.11.5 32C7:x Motor temperature sensor characteristicThis object describes the R(T) curve of the motor winding temperature sensor.


3.11.5.1 32C7:01 Temperature 0

Temperature sampling point 1 of the R(T) curve of the motor.

Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x01Datatype REAL32Min. ValueDefaultMax. ValueUnit °CAccess / EtherCAT-State RwPDO MappingRevision All




Axis modules











Axis modules











Axis modules





3.11.5.10 32C7:0A Temperature 9


Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x0ADatatype REAL32Min. ValueDefaultMax. ValueUnit °CAccess / EtherCAT-State RwPDO MappingRevision All

3.11.5.11 32C7:0B Resistance 0

Resistance sampling point 1 of the R(T) curve of the motor.

Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x0BDatatype REAL32Min. ValueDefaultMax. ValueUnit OhmAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.11.5.12 32C7:0C Resistance 1


Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x0CDatatype REAL32Min. ValueDefaultMax. ValueUnit OhmAccess / EtherCAT-State RwPDO MappingRevision All

3.11.5.13 32C7:0D Resistance 2


Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x0DDatatype REAL32Min. ValueDefaultMax. ValueUnit OhmAccess / EtherCAT-State RwPDO MappingRevision All

3.11.5.14 32C7:0E Resistance 3


Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x0EDatatype REAL32Min. ValueDefaultMax. ValueUnit OhmAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.11.5.15 32C7:0F Resistance 4


Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x0FDatatype REAL32Min. ValueDefaultMax. ValueUnit OhmAccess / EtherCAT-State RwPDO MappingRevision All

3.11.5.16 32C7:10 Resistance 5


Description ValueIndex Motor: 0x32C7 (Ch A)/ 0x36C7 (Ch B)Subindex 0x10Datatype REAL32Min. ValueDefaultMax. ValueUnit OhmAccess / EtherCAT-State RwPDO MappingRevision All

3.11.5.17 32C7:11 Resistance 6



Axis modules


3.11.5.18 32C7:12 Resistance 7



3.11.5.19 32C7:13 Resistance 8



3.11.5.20 32C7:14 Resistance 9



Axis modules


3.11.6 32C8:x Motor thermal modelThese objects configure the motor thermal model.


3.11.6.1 32C8:01 Motor thermal time constant

This object configures the time constant for the whole motor. If an electronic datasheet is available take"Motor thermal constant" and scale it to seconds.

Description ValueIndex Motor: 0x32C8 (Ch A)/ 0x36C8 (Ch B)Subindex 0x01Datatype REAL32Min. Value 0.0Default 540.0Max. Value 200000.0Unit sAccess / EtherCAT-State RwPDO MappingRevision All

3.11.6.2 32C8:02 Winding thermal time constant

This object configures the time constant of the copper winding only. If an electronic datasheet is availabletake "Time constant i2T".

Description ValueIndex Motor: 0x32C8 (Ch A)/ 0x36C8 (Ch B)Subindex 0x02Datatype REAL32Min. Value 0.0Default 20.0Max. Value 3600.0Unit sAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.11.6.3 32C8:03 Warning limit

This object shall configure the thermal motor utilization warning limit.

Description ValueIndex Motor: 0x32C8 (Ch A)/ 0x36C8 (Ch B)Subindex 0x03Datatype REAL32Min. Value 40.0Default 80.0Max. Value 150.0Unit %Access / EtherCAT-State RwPDO MappingRevision All

3.11.6.4 32C8:04 Error limit

This object shall configure the thermal motor utilization error limit.


Axis modules


3.11.6.5 32C8:05 Reaction

This object configures the reaction in case reaching the thermal motor utilization error limit.

Description ValueIndex Motor: 0x32C8 (Ch A)/ 0x36C8 (Ch B)Subindex 0x05Datatype ENUM (INT16)Min. ValueDefault No_Reaction (0)Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

Enum Value Description2 (0x02) Reduction1 (0x01) Shut_down_on_error_level0 (0x00) No_Reaction

3.11.6.6 32C8:06 Partial fraction factor

This object describes the thermal resistor fraction factor of the motor.


Axis modules


3.11.7 6075 Motor standstill currentThis object indicates the motor standstill current (I0). If an electronic dataheet is available "Standstill current"will be read and scaled to mA.

Description ValueIndex 0x6075 (Ch A)/ 0x6875 (Ch B)Subindex 0x00Datatype UINT32Min. Value 0Default 0Max. Value 4294967295 (0xFFFFFFFF)Unit mAAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.11.8 6076 Motor standstill torqueThis object indicates the motor standstill torque (M0)/force (Fc). If an electronic datasheet of the motor isavailable "Standstill current" (I0) will be multiplied by the torque constant (Kt)/(Kf). The value is scaled tomNm/mN.

Description ValueIndex 0x6076 (Ch A)/ 0x6876 (Ch B)Subindex 0x00Datatype UINT32Min. Value 0Default 0Max. Value 4294967295 (0xFFFFFFFF)Unit mNmAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.11.9 6080 Max motor speedThis object shall indicate the configured maximal allowed speed for the motor in either direction. It is used toprotect the motor and is taken from the motor data sheet.

Description ValueIndex 0x6080 (Ch A)/ 0x6880 (Ch B)Subindex 0x00Datatype UINT32Min. Value 0Default 3000 (0x00000BB8)Max. Value 50000 (0x0000C350)Unit rpmAccess / EtherCAT-State RwPDO MappingRevision All

Axis modules


3.12 Objects of module AxisDebug

3.12.1 33E1:x Memory000internal use only

Description ValueIndex AxisDebugSlot: 0x33E1 (Ch A)/ 0x37E1 (Ch B)Subindex 0x00Datatype UINT8Min. ValueDefault 128 (0x80)Max. ValueUnitAccess / EtherCAT-State RoPDO MappingRevision All

Axis modules




Axis modules




Axis modules


3.12.4 33E4:x MemoryC00internal use only


Axis modules


3.12.5 33E5:x DebugIninternal use only


3.12.5.1 33E5:02 InDebugf1

Description ValueIndex AxisDebugSlot: 0x33E5 (Ch A)/ 0x37E5 (Ch B)Subindex 0x02Datatype REAL32Min. ValueDefault 0.0Max. ValueUnitAccess / EtherCAT-State RwPDO MappingRevision All

3.12.5.2 33E5:03 InDebugf2


Axis modules


3.12.5.3 33E5:04 InDebugf3


3.12.5.4 33E5:05 InDebugf4


Axis modules


3.12.6 33E6:x DebugOutinternal use only


3.12.6.1 33E6:02 OutDebug1

Description ValueIndex AxisDebugSlot: 0x33E6 (Ch A)/ 0x37E6 (Ch B)Subindex 0x02Datatype REAL32Min. ValueDefaultMax. ValueUnitAccess / EtherCAT-State RoPDO Mapping TransmitRevision All

3.12.6.2 33E6:03 OutDebug2


Axis modules


3.12.6.3 33E6:04 OutDebug3


3.12.6.4 33E6:05 OutDebug4


Support and Service


4 Support and ServiceBeckhoff and their partners around the world offer comprehensive support and service, making available fastand competent assistance with all questions related to Beckhoff products and system solutions.

Beckhoff's branch offices and representatives

Please contact your Beckhoff branch office or representative for local support and service on Beckhoffproducts!

The addresses of Beckhoff's branch offices and representatives round the world can be found on her internetpages:http://www.beckhoff.com

You will also find further documentation for Beckhoff components there.

Beckhoff Headquarters

Beckhoff Automation GmbH & Co. KG

Huelshorstweg 2033415 VerlGermany

Phone: +49(0)5246/963-0Fax: +49(0)5246/963-198e-mail: [email protected]

Beckhoff Support

Support offers you comprehensive technical assistance, helping you not only with the application ofindividual Beckhoff products, but also with other, wide-ranging services:

• support• design, programming and commissioning of complex automation systems• and extensive training program for Beckhoff system components

Hotline: +49(0)5246/963-157Fax: +49(0)5246/963-9157e-mail: [email protected]

Beckhoff Service

The Beckhoff Service Center supports you in all matters of after-sales service:

• on-site service• repair service• spare parts service• hotline service

Hotline: +49(0)5246/963-460Fax: +49(0)5246/963-479e-mail: [email protected]

http://www.beckhoff.de/english/support/default.htm

http://www.beckhoff.com

http://www.beckhoff.com/english/download/default.htm

Documents

Documentation AX8000 Object Dictionary - Beckhoff · PDF fileDocumentation AX8000 Object Dictionary Axis module: FW v1.00 -- Power supply module: FW v1.00 1.0 2017-05-04 ... 3.9 Objects