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920-0025 Rev K
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CANopen User Manual
Communication Prole
0x1000 - Device type
Contains information about the device type. The object at index 1000h describes the
type of device and its functionality. It is composed of a 16-bit eld which describes the device
prole that is used and a second 16-bit eld which gives additional information about optional
functionality of the device. The Additional Information parameter is device prole specic. Its
specication does not fall within the scope of this document, it is dened in the appropriate
device prole. The value 0000h indicates a device that does not follow a standardised device
prole. For multiple device modules the Additional Information parameter contains FFFFh and
the device prole number referenced by object 1000h is the device prole of the rst device
in the Object Dictionary. All other devices of a multiple device module identify their proles at
objects 67FFh + x*800h with x = internal number of the device (0-7).
These entries describe the device type of the preceding device.
Object Type Data Type Access Type PDO Mapping COS
1
Default value
Var UNSIGNED32 ro no no 0x00000000
bit 0-15: Device prole number
bit 16-31: Additional information
Note 1: COS means: TPDO detects the change of State
0x1001 - Error Register
This object is an error register for the device. The device can map internal errors in this
byte. This entry is mandatory for all devices. It is a part of an Emergency object.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED8 ro optional no 0
bit 0: generic error
bit 1: current
bit 2: voltage
bit 3: temperature
bit 4: communication error (overrun, error state)
bit 5: Reserved (always 0)
bit 6: Reserved (always 0)
bit 7: Reserved (always 0)
- Applied Motion Products 1
- CANopen Manual 1
- Introduction 2
- User Advisory: 2
- Contents 3
- List of Tables 6
- Reference Documents 8
- Commonly Used Acronyms 8
- Drive Setup 9
- CANopen BitRate & NodeID 10
- Drive Conguration 11
- Figure 4: 12
- Object Dictionary 13
- Electronic Data Sheet 14
- INTEGER16 RW Yes 16
- Table 5: CiA 402 Objects 17
- 920-0025 Rev K 18
- 3/5/2015 18
- CANopen User Manual 18
- General Purpose Registers 19
- Index (hex) Object 20
- Communication Prole 21
- COS Default value 25
- Subindex Name Default value 25
- Object Type Sub Number 30
- Manufacturer Specic Objects 38
- Device Prole 45
- 0x6041 StatusWord 46
- Mode of Operation Action 49
- Position polarity 52
- Bit number Description 56
- Appendix C - Response Codes 60
- General Mode Description 61
- Enable Prole Position Mode 61
- Set Running Parameters 61
- Starting/Stopping Motion 61
- Figure 12: Single Set-Point 62
- Enable Prole Velocity Mode 66
- Enable Drive Operation 66
- Appendix F - Homing Methods 68
- Homing Method 2 69
- Homing Method 3 69
- Homing Method 4 70
- Homing Method 5 70
- Homing Method 6 71
- Homing Method 7 71
- Homing Method 8 72
- Homing Method 9 72
- Homing Method 10 73
- Homing Method 11 73
- Homing Method 12 74
- Homing Method 13 74
- Homing Method 14 75
- Homing Methods 15 and 16 75
- Homing Method 17 76
- Homing Method 18 76
- Homing Methods 19 and 20 77
- Homing Methods 21 and 22 78
- Homing Methods 23 and 24 79
- Homing Methods 25 and 26 80
- Homing Methods 27 and 28 81
- Homing Methods 29 and 30 82
- Homing Methods 31 and 32 83
- Homing Method 33 83
- Homing Method 34 84
- Homing Method 35 84
- Enable Prole Torque Mode 85
- Starting/Stopping Torque 86
- Current Verication - Example 86
- Appendix H - Q Program Mode 88
- More Information 89
- NMT Mode NMT Control 90
- NMT Status Code 90
- (Heartbeat) 90
- PDO Access 91
- TPDO Transmission Types 92
- PDO Mapping Procedure 93
- Default PDO Mapping - Stepper 94
- Default PDO Mapping - Servo 94
- PDO COB-ID 95
- Control Word of Homing Mode 97
- Status Word of Homing Mode 97
- Control Word of Q Mode 98
- Status Word of Q Mode 98
- Appendix L – Example Programs 99
- Prole Velocity Mode 100
- Homing Mode 100
- Normal Q Mode 101
- Sync Q Mode 101
- PDO Mapping 101
- Applied Motion Products, Inc 101
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