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  1. Documentation
  2. Software Reference
  3. Software Reference Manual v4.0
  4. CiA 402 Object Dictionary
  5. Profile Specific Area
  • Software Reference
    • Software Reference v4.4
      • Overview
        • Functionality description
      • CANopen over EtherCAT (CoE)
        • Drive State Machine (CiA 402)
        • PDO
        • PDO Configuration
        • SDO
      • Actuator Configuration
        • Motor and Gear settings
          • Motor Configuration
            • Parameters related to the Motor
            • Selecting the PWM frequency
          • Gear Ratio
            • Parameters related to Gear Ratio
        • Manually controlling phase D voltage
          • Overview
          • Usage
          • Limitations
            • Parameters related to Controlling the brake output voltage
        • Brake release
          • Pin-brake Mode
            • Timing diagram
            • Selecting the PWM frequency of the brake
            • Custom brake modes
            • Parameters related to Brake
        • User defined velocity units
          • Overview
          • Usage
          • Objects affected by changes of the velocity unit
          • Example
          • Parameters related to User defined velocity units
      • Encoders and I/O
        • Analog In
          • Analog Input Scaling
            • Requirements
            • Specifications
              • Parameters related to Analog Input Scaling
          • Using differential inputs for single-ended sensors
          • Nonlinear conversion of an analog voltage
          • Parameters related to Analog Inputs
        • Digital I/O
          • Configuration of Digital I/Os as Input or Output
          • Parameters related to GPIO
        • Encoder Configuration
          • Description of common encoder parameters
            • Function
            • Resolution
            • Zero velocity threshold
            • Polarity
            • Multiturn resolution
          • Encoder related parameters
        • Commutation with Hall and ABI combined
          • Overview
          • Requirements
          • Usage
          • Detailed description
            • Startup
            • Error Detection
            • Runtime
        • Input counter
          • Overview
          • Limitations
          • Parameters related to Input counter
      • Protection
        • Overview
        • Usage
        • Parameters related to protection
      • Errors and Warnings
        • Error codes thrown by the firmware
        • Error Report Object
        • Remedies for protection errors
          • Remedy for over-current
          • Remedy for over-voltage
          • Remedy for under-voltage
          • Remedy for over-temperature
      • Logging
        • Overview
        • Types
        • Format
      • Motion Control
        • Control Loops
          • Current and Torque Control Loop
            • Torque control loop
              • General Scope of the Torque Controller
              • Reference Torque Generation
              • Functional Description and Controller Structure
            • Parameters related to Current and Torque Control Loop
          • Velocity Control Loop
            • Parameters related to the Velocity Control Loop
          • Position Control Loops
            • Cascaded PID Controller
              • Parameters related to Cascaded PID Controller
            • Simple PID Controller
              • Parameters related to Simple PID Controller
          • Dual Loop Cascaded Position Control
            • Overview
            • Usage
            • Parameters related to Dual Loop Cascaded Position Control
        • Modes of Operation
          • Cyclic modes
            • Cyclic Synchronous Torque Control (CST)
              • Parameters related to Cyclic Synchronous Torque Control
            • Cyclic Synchronous Velocity Control (CSV)
              • Parameters related to Cyclic Synchronous Velocity Mode
            • Cyclic Synchronous Position Control (CSP)
              • Parameters related to Cyclic Synchronous Position Control
          • Profile modes
            • Profile position mode
              • Trajectory generator
              • Enable Profile position mode
              • Setting set-points
            • Profile velocity mode
              • Enable Profile velocity mode
            • Profile torque mode
              • Enable Profile torque mode
              • Starting/Stopping Torque
          • Homing modes
            • Overview
              • Homing method 33/34
              • Homing method 35/37
            • Settings for homing mode
              • Homing method
              • Homing speeds
              • Homing acceleration
            • How to perform homing
              • Using the Halt bit
              • Communications
            • Objects used
          • Switching modes
            • Dynamic Op-Mode switching
        • Extended Control Functionalities
          • Cogging Torque Compensation
            • Overview
            • Procedure
              • Prerequisites
              • Overview of the GUI
              • Recording
              • Automatic recording
              • Testing the compensation table
              • Manual configuration for the cogging recording
              • Using the compensation table
            • Controlling the feature via EtherCAT
            • Subitems:
              • 1 State
              • 2 Enabled
            • Parameters related to Cogging Torque Compensation
          • Field Weakening
          • Anti-Windup Control
            • Parameters related to Anti-Windup Control
          • Gain Scheduling
          • Motor Overload Protection (i2t)
            • Overview
            • Requirements
            • Description of Subitems for 0x200A:
            • Operating principle
          • Velocity feed forward
            • Usage
            • Using a velocity offset additionally
            • Object used for Velocity feed forward
          • Torque Offset
          • Velocity Offset
          • Filtering
            • Position and Velocity Feedback Low-pass filters
              • A practical guide to low-pass filter design
              • Parameters related to feedback low-pass filters
            • Torque loop input shaping filter
              • Parameters related to notch filter
            • Overview
            • Methods
              • Definitions
              • Low-pass filters
              • Torque loop input shaping filter
            • Application Guide
          • Command smoothing and Interpolation
            • Overview
            • Side Effects
            • Applications
              • Input interpolation
              • Jerk limiting
              • Communication jitter mitigation
            • Detailed Description
              • Command smoothing
              • Usage
              • Parameters related to Finite impulse response Filter
          • Control supervision
            • Timing diagram of the supervision objects
            • Following error
            • Following error window
              • Definitions
              • Configuring the Following error window
              • Result
            • Target reached function
              • Definitions
              • Configuring the position window (CSP)
              • Configuring the velocity window (CSV)
              • Configuring the torque window (CST)
              • Result
            • Monitoring the internal variables
            • Control Effort
            • Parameters related to Control supervision
          • Distributed clocks (DC clocks)
            • Overview
            • Distributed Clock configuration
            • Parameters related to Distributed Clocks
      • Object Dictionary
        • All Objects
          • 0x1000 Device type
          • 0x1001 Error register
          • 0x1005 COB-ID SYNC
          • 0x1006 Communication cycle period
          • 0x1008 Manufacturer device name
          • 0x100A Manufacturer software version
          • 0x100C Guard time
          • 0x100D Life time factor
          • 0x1010 Store parameters
          • 0x1011 Restore default parameters
          • 0x1016 Consumer heartbeat time
          • 0x1017 Producer heartbeat time
          • 0x1018 Identity object
          • 0x1019 Synchronous counter overflow value
          • 0x1400 Receive PDO1 parameter
          • 0x1401 Receive PDO2 parameter
          • 0x1402 Receive PDO3 parameter
          • 0x1403 Receive PDO4 parameter
          • 0x1600 Receive PDO1 mapping
          • 0x1601 Receive PDO2 mapping
          • 0x1602 Receive PDO3 mapping
          • 0x1603 Receive PDO4 mapping
          • 0x1800 Transmit PDO1 parameter
          • 0x1801 Transmit PDO2 parameter
          • 0x1802 Transmit PDO3 parameter
          • 0x1803 Transmit PDO4 parameter
          • 0x1A00 Transmit PDO1 mapping
          • 0x1A01 Transmit PDO2 mapping
          • 0x1A02 Transmit PDO3 mapping
          • 0x1A03 Transmit PDO4 mapping
          • 0x1C00 Sync Manager
          • 0x1C10 SM 0 Assignment
          • 0x1C11 SM 1 Assignment
          • 0x1C12 SM 2 Assignment
          • 0x1C13 SM 3 Assignment
          • 0x2000 Command object (disabled)
          • 0x2001 Commutation angle offset
          • 0x2002 Position control strategy
          • 0x2003 Motor specific settings
          • 0x2004 Brake options
          • 0x2005 Recuperation
          • 0x2006 Protection
          • 0x2008 Cogging torque compensation
          • 0x2009 Commutation offset
          • 0x200A I2t
          • 0x2010 Torque controller
          • 0x2011 Velocity controller
          • 0x2012 Position controller
          • 0x2013 Gain scheduling
          • 0x2014 Torque window
          • 0x2015 Velocity feed forward
          • 0x2021 Velocity feedback filter
          • 0x2022 Position feedback filter
          • 0x2023 Notch filter
          • 0x2027 Control input FIR filter
          • 0x2030 Core temperature
          • 0x2031 Drive temperature
          • 0x2038 External scaled measurement
          • 0x203F Error report
          • 0x2040 Input counter
          • 0x20E1 High resolution data
          • 0x20F0 Timestamp
          • 0x20F2 Assigned name
          • 0x20F3 DC synchronization
          • 0x2100 Feedback sensor ports
          • 0x2201 BiSS encoder 1
          • 0x2202 BiSS encoder 2
          • 0x2203 REM 16MT encoder
          • 0x2205 Incremental encoder 1
          • 0x2206 Incremental encoder 2
          • 0x2207 Hall sensor 1
          • 0x2208 Hall sensor 2
          • 0x2209 SSI encoder 1
          • 0x220A SSI encoder 2
          • 0x220B A Format encoder
          • 0x220C Fast ABI module
          • 0x220E SinCos module
          • 0x2210 GPIO pin configuration
          • 0x2214 GPIO global options
          • 0x230A Secondary position value
          • 0x230B Secondary velocity value
          • 0x2401 Analog input 1
          • 0x2402 Analog input 2
          • 0x2403 Analog input 3
          • 0x2404 Analog input 4
          • 0x2501 Digital input 1
          • 0x2502 Digital input 2
          • 0x2503 Digital input 3
          • 0x2504 Digital input 4
          • 0x2601 Digital output 1
          • 0x2602 Digital output 2
          • 0x2603 Digital output 3
          • 0x2604 Digital output 4
          • 0x2611 Safety digital input diagnostics
          • 0x2701 Tuning command
          • 0x2702 Tuning status
          • 0x2703 User MOSI
          • 0x2704 User MISO
          • 0x2705 Setup wizard completed
          • 0x603F Error code
          • 0x6040 Controlword
          • 0x6041 Statusword
          • 0x6060 Modes of operation
          • 0x6061 Modes of operation display
          • 0x6062 Position demand value
          • 0x6064 Position actual value
          • 0x6065 Following error window
          • 0x6066 Following error time out
          • 0x6067 Position window
          • 0x6068 Position window time
          • 0x606B Velocity demand value
          • 0x606C Velocity actual value
          • 0x606D Velocity window
          • 0x606E Velocity window time
          • 0x606F Velocity threshold
          • 0x6070 Velocity threshold time
          • 0x6071 Target torque
          • 0x6072 Max torque
          • 0x6073 Max current
          • 0x6074 Torque demand
          • 0x6075 Motor rated current
          • 0x6076 Motor rated torque
          • 0x6077 Torque actual value
          • 0x6079 DC link circuit voltage
          • 0x607A Target position
          • 0x607B Position range limit
          • 0x607C Home offset
          • 0x607D Software position limit
          • 0x607E Polarity
          • 0x6080 Max motor speed
          • 0x6081 Profile velocity
          • 0x6083 Profile acceleration
          • 0x6084 Profile deceleration
          • 0x6085 Quick stop deceleration
          • 0x6086 Motion profile type
          • 0x6087 Torque slope
          • 0x6088 Torque profile type
          • 0x6091 Gear ratio
          • 0x6098 Homing method
          • 0x6099 Homing speeds
          • 0x609A Homing acceleration
          • 0x60A9 SI unit velocity
          • 0x60B1 Velocity offset
          • 0x60B2 Torque offset
          • 0x60E3 Supported homing methods
          • 0x60F4 Following error actual value
          • 0x60FA Control effort
          • 0x60FC Position demand internal value
          • 0x60FF Target velocity
          • 0x6502 Supported drive modes
          • 0x6621 Safety statusword
        • Communication Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
          • Configuring custom PDO mappings
            • Changing the content of an object
        • Manufacturer Specific Area
        • CiA 402 Specific Area
      • Device Information
    • Software Reference v4.2
      • Overview
        • Functionality description
      • CANopen over EtherCAT (CoE)
        • Drive State Machine (CiA 402)
        • PDO
        • PDO Configuration
        • SDO
      • Actuator Configuration
        • Motor and Gear settings
          • Motor Configuration
            • Parameters related to the Motor
            • Selecting the PWM frequency
          • Gear Ratio
            • Parameters related to Gear Ratio
        • Manually controlling phase D voltage
          • Overview
          • Usage
          • Limitations
            • Parameters related to Controlling the brake output voltage
        • Brake release
          • Pin-brake Mode
            • Timing diagram
            • Selecting the PWM frequency of the brake
            • Custom brake modes
            • Parameters related to Brake
        • User defined velocity units
          • Overview
          • Usage
          • Objects affected by changes of the velocity unit
          • Example
          • Parameters related to User defined velocity units
      • Encoders and I/O
        • Analog In
          • Analog Input Scaling
            • Requirements
            • Specifications
              • Parameters related to Analog Input Scaling
          • Using differential inputs for single-ended sensors
          • Nonlinear conversion of an analog voltage
          • Parameters related to Analog Inputs
        • Digital I/O
          • Configuration of Digital I/Os as Input or Output
          • Parameters related to GPIO
        • Encoder Configuration
          • Description of common encoder parameters
            • Function
            • Resolution
            • Zero velocity threshold
            • Polarity
            • Multiturn resolution
          • Encoder related parameters
        • Commutation with Hall and ABI combined
          • Overview
          • Requirements
          • Usage
          • Detailed description
            • Startup
            • Error Detection
            • Runtime
        • Input counter
          • Overview
          • Limitations
          • Parameters related to Input counter
      • Protection
        • Overview
        • Usage
        • Parameters related to protection
      • Errors and Warnings
        • Error codes thrown by the firmware
        • Error Report Object
        • Remedies for protection errors
          • Remedy for over-current
          • Remedy for over-voltage
          • Remedy for under-voltage
          • Remedy for over-temperature
      • Logging
        • Overview
        • Types
        • Format
      • Motion Control
        • Control Loops
          • Current and Torque Control Loop
            • Torque control loop
              • General Scope of the Torque Controller
              • Reference Torque Generation
              • Functional Description and Controller Structure
            • Parameters related to Current and Torque Control Loop
          • Velocity Control Loop
            • Parameters related to the Velocity Control Loop
          • Position Control Loops
            • Cascaded PID Controller
              • Parameters related to Cascaded PID Controller
            • Simple PID Controller
              • Parameters related to Simple PID Controller
          • Dual Loop Cascaded Position Control
            • Overview
            • Usage
            • Parameters related to Dual Loop Cascaded Position Control
        • Modes of Operation
          • Cyclic modes
            • Cyclic Synchronous Torque Control (CST)
              • Parameters related to Cyclic Synchronous Torque Control
            • Cyclic Synchronous Velocity Control (CSV)
              • Parameters related to Cyclic Synchronous Velocity Mode
            • Cyclic Synchronous Position Control (CSP)
              • Parameters related to Cyclic Synchronous Position Control
          • Profile modes
            • Profile position mode
              • Trajectory generator
              • Enable Profile position mode
              • Setting set-points
            • Profile velocity mode
              • Enable Profile velocity mode
            • Profile torque mode
              • Enable Profile torque mode
              • Starting/Stopping Torque
          • Homing modes
            • Overview
              • Homing method 33/34
              • Homing method 35/37
            • Settings for homing mode
              • Homing method
              • Homing speeds
              • Homing acceleration
            • How to perform homing
              • Using the Halt bit
              • Communications
            • Objects used
          • Switching modes
        • Extended Control Functionalities
          • Cogging Torque Compensation
            • Overview
            • Procedure
              • Prerequisites
              • Overview of the GUI
              • Recording
              • Automatic recording
              • Testing the compensation table
              • Manual configuration for the cogging recording
              • Using the compensation table
            • Controlling the feature via EtherCAT
            • Subitems:
              • 1 State
              • 2 Enabled
            • Parameters related to Cogging Torque Compensation
          • Field Weakening
          • Anti-Windup Control
            • Parameters related to Anti-Windup Control
          • Gain Scheduling
          • Motor Overload Protection (i2t)
            • Overview
            • Requirements
            • Description of Subitems for 0x200A:
            • Operating principle
          • Velocity feed forward
            • Usage
            • Using a velocity offset additionally
            • Object used for Velocity feed forward
          • Torque Offset
          • Velocity Offset
          • Filtering
            • Position and Velocity Feedback Low-pass filters
              • A practical guide to low-pass filter design
              • Parameters related to feedback low-pass filters
            • Torque loop input shaping filter
              • Parameters related to notch filter
            • Overview
            • Methods
              • Definitions
              • Low-pass filters
              • Torque loop input shaping filter
            • Application Guide
          • Control supervision
            • Timing diagram of the supervision objects
            • Following error
            • Following error window
              • Definitions
              • Configuring the Following error window
              • Result
            • Target reached function
              • Definitions
              • Configuring the position window (CSP)
              • Configuring the velocity window (CSV)
              • Configuring the torque window (CST)
              • Result
            • Monitoring the internal variables
            • Control Effort
            • Parameters related to Control supervision
          • Distributed clocks (DC clocks)
            • Overview
            • Distributed Clock configuration
            • Parameters related to Distributed Clocks
      • Object Dictionary
        • All Objects
          • 0x1000 Device type
          • 0x1001 Error register
          • 0x1005 COB-ID SYNC
          • 0x1006 Communication cycle period
          • 0x1008 Manufacturer device name
          • 0x100A Manufacturer software version
          • 0x100C Guard time
          • 0x100D Life time factor
          • 0x1010 Store parameters
          • 0x1011 Restore default parameters
          • 0x1016 Consumer heartbeat time
          • 0x1017 Producer heartbeat time
          • 0x1018 Identity object
          • 0x1019 Synchronous counter overflow value
          • 0x1400 Receive PDO1 parameter
          • 0x1401 Receive PDO2 parameter
          • 0x1600 Receive PDO1 mapping
          • 0x1601 Receive PDO2 mapping
          • 0x1602 Receive PDO3 mapping
          • 0x1603 Receive PDO4 mapping
          • 0x1800 Transmit PDO1 parameter
          • 0x1801 Transmit PDO2 parameter
          • 0x1A00 Transmit PDO1 mapping
          • 0x1A01 Transmit PDO2 mapping
          • 0x1A02 Transmit PDO3 mapping
          • 0x1A03 Transmit PDO4 mapping
          • 0x1C00 Sync Manager
          • 0x1C10 SM 0 Assignment
          • 0x1C11 SM 1 Assignment
          • 0x1C12 SM 2 Assignment
          • 0x1C13 SM 3 Assignment
          • 0x2000 Command object (disabled)
          • 0x2001 Commutation angle offset
          • 0x2002 Position control strategy
          • 0x2003 Motor specific settings
          • 0x2004 Brake options
          • 0x2005 Recuperation
          • 0x2006 Protection
          • 0x2008 Cogging torque compensation
          • 0x2009 Commutation offset
          • 0x200A I2t
          • 0x2010 Torque controller
          • 0x2011 Velocity controller
          • 0x2012 Position controller
          • 0x2013 Gain scheduling
          • 0x2014 Torque window
          • 0x2015 Velocity feed forward
          • 0x2021 Velocity feedback filter
          • 0x2022 Position feedback filter
          • 0x2023 Notch filter
          • 0x2030 Core temperature
          • 0x2031 Drive temperature
          • 0x2038 External scaled measurement
          • 0x203F Error report
          • 0x2040 Input counter
          • 0x20E1 High resolution data
          • 0x20F0 Timestamp
          • 0x20F2 Assigned name
          • 0x20F3 DC synchronization
          • 0x2100 Feedback sensor ports
          • 0x2201 BiSS encoder 1
          • 0x2202 BiSS encoder 2
          • 0x2203 REM 16MT encoder
          • 0x2205 Incremental encoder 1
          • 0x2206 Incremental encoder 2
          • 0x2207 Hall sensor 1
          • 0x2208 Hall sensor 2
          • 0x2209 SSI encoder 1
          • 0x220A SSI encoder 2
          • 0x220B A Format encoder
          • 0x220C Fast ABI module
          • 0x220E SinCos module
          • 0x2210 GPIO pin configuration
          • 0x2214 GPIO global options
          • 0x230A Secondary position value
          • 0x230B Secondary velocity value
          • 0x2401 Analog input 1
          • 0x2402 Analog input 2
          • 0x2403 Analog input 3
          • 0x2404 Analog input 4
          • 0x2501 Digital input 1
          • 0x2502 Digital input 2
          • 0x2503 Digital input 3
          • 0x2504 Digital input 4
          • 0x2601 Digital output 1
          • 0x2602 Digital output 2
          • 0x2603 Digital output 3
          • 0x2604 Digital output 4
          • 0x2611 Safety digital input diagnostics
          • 0x2701 Tuning command
          • 0x2702 Tuning status
          • 0x2703 User MOSI
          • 0x2704 User MISO
          • 0x2705 Setup wizard completed
          • 0x603F Error code
          • 0x6040 Controlword
          • 0x6041 Statusword
          • 0x6060 Modes of operation
          • 0x6061 Modes of operation display
          • 0x6062 Position demand value
          • 0x6064 Position actual value
          • 0x6065 Following error window
          • 0x6066 Following error time out
          • 0x6067 Position window
          • 0x6068 Position window time
          • 0x606B Velocity demand value
          • 0x606C Velocity actual value
          • 0x606D Velocity window
          • 0x606E Velocity window time
          • 0x606F Velocity threshold
          • 0x6070 Velocity threshold time
          • 0x6071 Target torque
          • 0x6072 Max torque
          • 0x6073 Max current
          • 0x6074 Torque demand
          • 0x6075 Motor rated current
          • 0x6076 Motor rated torque
          • 0x6077 Torque actual value
          • 0x6079 DC link circuit voltage
          • 0x607A Target position
          • 0x607B Position range limit
          • 0x607C Home offset
          • 0x607D Software position limit
          • 0x607E Polarity
          • 0x6080 Max motor speed
          • 0x6081 Profile velocity
          • 0x6083 Profile acceleration
          • 0x6084 Profile deceleration
          • 0x6085 Quick stop deceleration
          • 0x6086 Motion profile type
          • 0x6087 Torque slope
          • 0x6088 Torque profile type
          • 0x6091 Gear ratio
          • 0x6098 Homing method
          • 0x6099 Homing speeds
          • 0x609A Homing acceleration
          • 0x60A9 SI unit velocity
          • 0x60B1 Velocity offset
          • 0x60B2 Torque offset
          • 0x60E3 Supported homing methods
          • 0x60F4 Following error actual value
          • 0x60FA Control effort
          • 0x60FC Position demand internal value
          • 0x60FF Target velocity
          • 0x6502 Supported drive modes
          • 0x6621 Safety statusword
        • Communication Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
          • Configuring custom PDO mappings
            • Changing the content of an object
        • Manufacturer Specific Area
        • CiA 402 Specific Area
      • Device Information
    • Software Reference v4.1
      • Overview
        • Functionality description
      • CANopen over EtherCAT (CoE)
        • Drive State Machine (CiA 402)
        • PDO
        • PDO Configuration
        • SDO
      • Actuator Configuration
        • Motor Configuration
          • Motor Control Objects
        • Brake Configuration
          • Brake Parameter Object
        • Gear Ratio
      • Sensor Configuration
        • Sensor Objects
        • Description of commonly used specifications
          • Function
          • Resolution
          • Velocity calculation period
          • Polarity
          • Multiturn resolution
      • Protection
        • Overview
        • Usage
        • Parameters related to protection
      • Errors and Warnings
        • Errors thrown by the firmware
        • Error Report Object
      • Logging
        • Overview
        • Types
        • Format
      • Motion Control
        • Control Loops
          • Current and Torque Control Loop
            • Torque control loop
              • General Scope of the Torque Controller
              • Reference Torque Generation
              • Functional Description and Controller Structure
            • Parameters related to Current and Torque Control Loop
          • Velocity Control Loop
            • Parameters related to the Velocity Control Loop
          • Position Control Loops
            • Cascaded PID Controller
              • Parameters related to Cascaded PID Controller
            • Simple PID Controller
              • Parameters related to Simple PID Controller
          • Dual Loop Cascaded Position Control
            • Overview
            • Usage
            • Parameters related to Dual Loop Cascaded Position Control
        • Modes of Operation
          • Cyclic Synchronous Torque Control (CST)
            • Parameters related to Cyclic Synchronous Torque Control
          • Cyclic Synchronous Velocity Control (CSV)
            • Parameters related to Cyclic Synchronous Velocity Mode
          • Cyclic Synchronous Position Control (CSP)
            • Parameters related to Cyclic Synchronous Position Control
          • Switching modes
        • Extended Control Functionalities
          • Cogging Torque Compensation
            • Overview
            • Procedure
              • Prerequisites
              • Overview of the GUI
              • Recording
              • Automatic recording
              • Testing the compensation table
              • Manual configuration for the cogging recording
              • Using the compensation table
            • Controlling Cogging Torque Compensation and Recording Feature via EtherCAT
            • Subitems:
              • 1 State
              • 2 Enabled
          • Field Weakening
          • Anti-Windup Control
          • Gain Scheduling
          • Motor Overload Protection (i2t)
            • Overview
            • Requirements
            • Description of Subitems for 0x200A:
            • Operating principle
          • Torque Offset
          • Velocity Offset
      • Object Dictionary
        • All Objects
          • 0x1000 Device Type
          • 0x1001 Error Register
          • 0x1008 Manufacturer Device Name
          • 0x100A Manufacturer Software Version
          • 0x1010 Store parameters
          • 0x1011 Restore default parameters
          • 0x1018 Identity
          • 0x1600 RxPDO Mapping 1
          • 0x1A00 TxPDO Mapping 1
          • 0x1C00 Sync Manager
          • 0x1C10 SM 0 Assignment
          • 0x1C11 SM 1 Assignment
          • 0x1C12 SM 2 Assignment
          • 0x1C13 SM 3 Assignment
          • 0x2000 Command Object (disabled)
          • 0x2001 Commutation Angle Offset
          • 0x2002 Position control strategy
          • 0x2003 Motor Specific Settings
          • 0x2004 Brake Options
          • 0x2005 Recuperation
          • 0x2006 Protection
          • 0x2008 Cogging Torque Compensation
          • 0x2009 Commutation Offset
          • 0x200A I2t
          • 0x2010 Torque Controller
          • 0x2011 Velocity Controller
          • 0x2012 Position Controller
          • 0x2013 Gain Scheduling
          • 0x2021 Velocity Feedback Filter
          • 0x2022 Position Feedback Filter
          • 0x2031 Drive temperature
          • 0x203F Error report
          • 0x20F0 Timestamp
          • 0x20F1 Real Time Clock
          • 0x20F2 Assigned Name
          • 0x2100 Feedback sensor ports
          • 0x2201 BISS Encoder 1
          • 0x2202 BISS Encoder 2
          • 0x2203 REM 16MT Encoder
          • 0x2204 REM 14 Encoder
          • 0x2205 Incremental Encoder 1
          • 0x2206 Incremental Encoder 2
          • 0x2207 HALL Sensor 1
          • 0x2208 HALL Sensor 2
          • 0x2209 SSI Encoder 1
          • 0x220A SSI Encoder 2
          • 0x2210 GPIO
          • 0x230A Secondary position value
          • 0x230B Secondary velocity value
          • 0x2401 Analog input 1
          • 0x2402 Analog input 2
          • 0x2403 Analog input 3
          • 0x2404 Analog input 4
          • 0x2501 Digital Input 1
          • 0x2502 Digital Input 2
          • 0x2503 Digital Input 3
          • 0x2504 Digital Input 4
          • 0x2601 Digital Output 1
          • 0x2602 Digital Output 2
          • 0x2603 Digital Output 3
          • 0x2604 Digital Output 4
          • 0x2701 Tuning command
          • 0x2702 Tuning status
          • 0x2703 User MOSI
          • 0x2704 User MISO
          • 0x2705 Setup Wizard Completed
          • 0x603F Error code
          • 0x6040 Controlword
          • 0x6041 Statusword
          • 0x6060 Op Mode
          • 0x6061 Op Mode Display
          • 0x6064 Position Value
          • 0x606C Velocity Value
          • 0x6071 Target Torque
          • 0x6072 Max torque
          • 0x6073 Max current
          • 0x6075 Motor Rated Current
          • 0x6076 Motor Rated Torque
          • 0x6077 Torque Value
          • 0x6079 DC link circuit voltage
          • 0x607A Target Position
          • 0x607B Position Range Limits
          • 0x607C Home offset
          • 0x607D Software position limit
          • 0x607E Polarity
          • 0x607F Max profile velocity
          • 0x6080 Max motor speed
          • 0x6081 Profile velocity
          • 0x6085 Quick stop deceleration
          • 0x6086 Motion profile type
          • 0x6091 Gear ratio
          • 0x60B1 Velocity offset
          • 0x60B2 Torque offset
          • 0x60FF Target Velocity
          • 0x6502 Supported Drive Modes
        • Communication Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
          • Configuring custom PDO mappings
        • Manufacturer Specific Area
        • CiA 402 Specific Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
          • Configuring custom PDO mappings
      • Device Information
    • Software Reference v4.0
      • Overview
        • Functionality description
      • CANopen over EtherCAT (CoE)
        • Drive State Machine (CiA 402)
        • PDO
        • PDO Configuration
        • SDO
      • Actuator Configuration
        • Motor Configuration
          • Motor Control Objects
        • Brake Configuration
          • Brake Parameter Object
      • Sensor Configuration
        • Sensor Objects
        • Description of commonly used specifications
          • Function
          • Resolution
          • Velocity calculation period
          • Polarity
          • Multiturn resolution
      • Motion Control
        • Control Loops
          • Current and Torque Control Loop
            • Torque control loop
              • General Scope of the Torque Controller
              • Reference Torque Generation
              • Functional Description and Controller Structure
            • Parameters related to Current and Torque Control Loop
          • Velocity Control Loop
            • Parameters related to the Velocity Control Loop
          • Position Control Loops
            • Cascaded PID Controller
              • Parameters related to Cascaded PID Controller
            • Simple PID Controller
              • Parameters related to Simple PID Controller
        • Modes of Operation
          • Cyclic Synchronous Torque Control (CST)
            • Parameters related to Cyclic Synchronous Torque Control
          • Cyclic Synchronous Velocity Control (CSV)
            • Parameters related to Cyclic Synchronous Velocity Mode
          • Cyclic Synchronous Position Control (CSP)
            • Parameters related to Cyclic Synchronous Position Control
          • Switching modes
        • Extended Control Functionalities
          • Cogging Torque Compensation
            • Overview
            • Procedure
              • Prerequisites
              • Overview of the GUI
              • Recording
              • Automatic recording
              • Testing the compensation table
              • Manual configuration for the cogging recording
              • Using the compensation table
            • Controlling Cogging Torque Compensation and Recording Feature via EtherCAT
            • Subitems:
              • 1 State
              • 2 Enabled
          • Field Weakening
          • Anti-Windup Control
          • Torque Offset
      • Errors and Warnings
      • Object Dictionary
        • All Objects
          • 0x1000 Device Type
          • 0x1001 Error Register
          • 0x1008 Manufacturer Device Name
          • 0x100A Manufacturer Software Version
          • 0x1010 Store parameters
          • 0x1011 Restore default parameters
          • 0x1018 Identity
          • 0x1600 Rx PDO Mapping
          • 0x1A00 Tx PDO Mapping
          • 0x1C00 Sync Manager
          • 0x1C10 SM 0 Assignment
          • 0x1C11 SM 1 Assignment
          • 0x1C12 SM 2 Assignment
          • 0x1C13 SM 3 Assignment
          • 0x2000 Command Object (disabled)
          • 0x2001 Commutation Angle Offset
          • 0x2002 Position control strategy
          • 0x2003 Motor Specific Settings
          • 0x2004 Brake Options
          • 0x2005 Recuperation
          • 0x2006 Protection
          • 0x2008 Cogging Torque Compensation
          • 0x2009 Commutation Offset
          • 0x2010 Torque Controller
          • 0x2011 Velocity Controller
          • 0x2012 Position Controller
          • 0x20F0 Timestamp
          • 0x20F1 Real Time Clock
          • 0x20F2 Assigned Name
          • 0x2100 Feedback sensor ports
          • 0x2201 BISS Encoder 1
          • 0x2202 BISS Encoder 2
          • 0x2203 REM 16MT Encoder
          • 0x2204 REM 14 Encoder
          • 0x2205 Incremental Encoder 1
          • 0x2206 Incremental Encoder 2
          • 0x2207 HALL Sensor 1
          • 0x2208 HALL Sensor 2
          • 0x2210 GPIO
          • 0x230A Secondary position value
          • 0x230B Secondary velocity value
          • 0x2401 Analog input 1
          • 0x2402 Analog input 2
          • 0x2403 Analog input 3
          • 0x2404 Analog input 4
          • 0x2501 Digital Input 1
          • 0x2502 Digital Input 2
          • 0x2503 Digital Input 3
          • 0x2504 Digital Input 4
          • 0x2601 Digital Output 1
          • 0x2602 Digital Output 2
          • 0x2603 Digital Output 3
          • 0x2604 Digital Output 4
          • 0x2701 Tuning command
          • 0x2702 Tuning status
          • 0x2703 User MOSI
          • 0x2704 User MISO
          • 0x2705 Setup Wizard Completed
          • 0x603F Error code
          • 0x6040 Controlword
          • 0x6041 Statusword
          • 0x6060 Op Mode
          • 0x6061 Op Mode Display
          • 0x6064 Position Value
          • 0x606C Velocity Value
          • 0x6071 Target Torque
          • 0x6072 Max torque
          • 0x6073 Max current
          • 0x6075 Motor Rated Current
          • 0x6076 Motor Rated Torque
          • 0x6077 Torque Value
          • 0x6079 DC link circuit voltage
          • 0x607A Target Position
          • 0x607B Position Range Limits
          • 0x607C Home offset
          • 0x607D Software position limit
          • 0x607E Polarity
          • 0x607F Max profile velocity
          • 0x6080 Max motor speed
          • 0x6081 Profile velocity
          • 0x6083 Profile acceleration
          • 0x6084 Profile deceleration
          • 0x6085 Quick stop deceleration
          • 0x6086 Motion profile type
          • 0x60B2 Torque offset
          • 0x60C5 Max acceleration
          • 0x60FF Target Velocity
          • 0x6502 Supported Drive Modes
        • Communication Area
        • Manufacturer Specific Area
        • CiA 402 Specific Area
        • Process Data Objects
          • Standard RxPDO mapped Objects
          • Standard TxPDO mapped Objects
      • Device Information

Profile Specific Area¶

Index Name
0x603F Error code
0x6040 Controlword
0x6041 Statusword
0x6060 Op Mode
0x6061 Op Mode Display
0x6064 Position Value
0x606C Velocity Value
0x6071 Target Torque
0x6072 Max torque
0x6073 Max current
0x6075 Motor Rated Current
0x6076 Motor Rated Torque
0x6077 Torque Value
0x6079 DC link circuit voltage
0x607A Target Position
0x607B Position Range Limits
0x607B:1 Min position range limit
0x607B:2 Max position range limit
0x607C Home offset
0x607D Software position limit
0x607D:1 Min position limit
0x607D:2 Max position limit
0x607E Polarity
0x607F Max profile velocity
0x6080 Max motor speed
0x6081 Profile velocity
0x6083 Profile acceleration
0x6084 Profile deceleration
0x6085 Quick stop deceleration
0x6086 Motion profile type
0x60B2 Torque offset
0x60C5 Max acceleration
0x60FF Target Velocity
0x6502 Supported Drive Modes

Europe (HQ)

Synapticon GmbH
Steinbeisstraße 26
71101 Schönaich
Germany

+49 7031 / 30 478 -0

sales@synapticon.com

Americas

Synapticon Inc.
303 Twin Dolphin Drive
Redwood City 94065
California

+1 (650) 632 4599

sales-us@synapticon.com

Asia

Synapticon Co. Ltd.
1588 Zhuguang Road
201700 Shanghai
China

+86 400 1600 229

sales-ap@synapticon.com

About

Synapticon is a technology company focusing on the transition band between advanced software and electromechanics. The company provides a comprehensive portfolio of motion control-related technology to robot and machinery OEMs.

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Version: 6.0-beta | Built 2023-08-14