6.1.8
Value Range................................................................................................................. 67
6.1.9
Default Value...........................................................................................................................67
6.2
Communication Object ............................................................................................................ 68
6.2.1
Object 1000h: Device type........................................................................................... 68
6.2.2
Object 1001h: Error register......................................................................................... 68
6.2.3
Object 1008h: Device name......................................................................................... 68
6.2.4
Object 1009h: Hardware version ................................................................................. 68
6.2.5
Object 100Ah: Software version .................................................................................. 68
6.2.6
Object 1010h: Store parameters.................................................................................. 69
6.2.7
Object 1011h: Restoredefault parameters .................................................................. 69
6.2.8
Object 1018h: Identity.................................................................................................. 70
6.2.9
Object 10F1h: Error settings........................................................................................ 70
6.2.10
Object 10F3h: Diagnosis history.................................................................................. 71
6.3
PDO Mapping Object............................................................................................................... 73
6.3.1
Object 1600h: RxPDO-Map 0...................................................................................... 73
6.3.2
Object 1601h: RxPDO-Map 1...................................................................................... 73
6.3.3
Object 1A00h: TxPDO-Map 0...................................................................................... 73
6.3.4
Object 1A01h: TxPDO-Map 1...................................................................................... 74
6.3.5
Object 1C12h: RxPDO assign ..................................................................................... 74
6.3.6
Object 1C13h: TxPDO assign...................................................................................... 74
6.4
Sync Manager Object .............................................................................................................. 75
6.4.1
Object 1C00h: Sync manager type.............................................................................. 75
6.4.2
Object 1C32h: SM output parameter........................................................................... 75
6.4.3
Object 1C33h: SM input parameter ............................................................................. 75
6.5
Drive Profile Object.................................................................................................................. 76
6.5.1
Object 603Fh: Error code............................................................................................. 76
6.5.2
Object 6040h: Control word......................................................................................... 76
6.5.3
Object 6041h: Status word........................................................................................... 76
6.5.4
Object 605Ah: Quick stop option code ........................................................................ 76
6.5.5
Object 605Bh: Shutdown option code ......................................................................... 77
6.5.6
Object 605Ch: Disable operation option code............................................................. 77
6.5.7
Object 605Dh: Halt option code................................................................................... 77
6.5.8
Object 605Eh: Fault reaction option code.................................................................... 78
6.5.9
Object 6060h: Mode of operation................................................................................. 78
6.5.10
Object 6061h: Mode of operation display .................................................................... 78
6.5.11
Object 6062h: Position demand value......................................................................... 78
6.5.12
Object 6064h: Position actual value ............................................................................ 78
6.5.13
Object 606Bh: Velocity demand value ......................................................................... 79
6.5.14
Object 606Ch: Velocity actual value............................................................................. 79
6.5.15
Object 607Ah: Target position...................................................................................... 79
6.5.16
Object 607Ch: Home offset.......................................................................................... 79
6.5.17
Object 607Dh: Software position limit.......................................................................... 79
6.5.18
Object 607Eh: Polarity ................................................................................................. 80
6.5.19
Object 607Fh: Max profile velocity............................................................................... 80
6.5.20
Object 6081h: Profile velocity ...................................................................................... 80
6.5.21
Object 6083h: Profile acceleration............................................................................... 81
6.5.22
Object 6084h: Profile deceleration............................................................................... 81
6.5.23
Object 6098h: Homing method.................................................................................... 81
6.5.24
Object 6099h: Homing speeds..................................................................................... 81
6.5.25
Object 609Ah: Homing acceleration ............................................................................ 82
6.5.26
Object 60B8h: Touch probe function............................................................................ 82
6.5.27
Object 60B9h: Touch probe status............................................................................... 82
6.5.28
Object 60BAh: Touch probe 1 positive value............................................................... 83
6.5.29
Object 60BBh: Touch probe 1 negative value.............................................................. 83
6.5.30
Object 60BCh: Touch probe 2 positive value............................................................... 83
6.5.31
Object 60BDh: Touch probe 2 negative value ............................................................. 83
6.5.32
Object 60C2h: Interpolation time period ...................................................................... 84
6.5.33
Object 60D0h: Touch probe source ............................................................................. 84
