CANopen Programmer’s Manual

Part Number 95-00271-000

Revision 7
November 2012
CANopen Programmer’s Manual Table of Contents

TABLE OF CONTENTS
About This Manual .......................................................................................................................................... 6
1: Introduction ............................................................................................................................................... 11
1.1: CAN and CANopen ............................................................................................................................... 12
1.2: Defining and Accessing CANopen Devices .......................................................................................... 17
1.3: Objects that Define SDOs and PDOs ................................................................................................... 30
2: Network Management ............................................................................................................................... 39
2.1: Network Management Overview ........................................................................................................... 40
2.2: Network Management Objects.............................................................................................................. 45
2.3: Sending Serial Commands over CANopen........................................................................................... 49
3: Device Control, Configuration, and Status ............................................................................................. 51
3.1: Device Control and Status Overview .................................................................................................... 52
3.2: Device Control and Status Objects ....................................................................................................... 57
3.3: Error Management Objects ................................................................................................................... 66
3.4: Basic Amplifier Configuration Objects................................................................................................... 70
3.5: Basic Motor Configuration Objects ....................................................................................................... 89
3.6: Real-time Amplifier and Motor Status Objects .................................................................................... 110
4: Control Loop Configuration ................................................................................................................... 127
4.1: Control Loop Configuration Overview ................................................................................................. 128
4.2: Position Loop Configuration Objects ................................................................................................... 136
4.3: Velocity Loop Configuration Objects ................................................................................................... 143
4.4: Current Loop Configuration Objects ................................................................................................... 149
4.5: Gain Scheduling Configuration ........................................................................................................... 154
4.6: Chained Biquad Filters ........................................................................................................................ 155
5: Stepper Mode Support ............................................................................................................................ 157
5.1: Stepper Mode Operation ..................................................................................................................... 158
5.2: Stepper Mode Objects ........................................................................................................................ 160
6: Homing Mode Operation ........................................................................................................................ 163
6.1: Homing Mode Operation Overview ..................................................................................................... 164
6.2: Homing Mode Operation Objects........................................................................................................ 182
7: Profile Position, Velocity, and Torque Mode Operation ...................................................................... 189
7.1: Profile Position Mode Operation ......................................................................................................... 190
7.2: Profile Velocity Mode Operation .......................................................................................................... 198
7.3: Profile Torque Mode Operation ........................................................................................................... 199
7.4: Profile Mode Objects ........................................................................................................................... 200
8: Interpolated Position Operation............................................................................................................. 205
8.1: Interpolated Position Mode Overview ................................................................................................. 206
8.2: Interpolated Position Mode Objects .................................................................................................... 212
9: Cyclic Synchronous Modes ................................................................................................................... 219
9.1: Cyclic Synchronous Position Mode (CSP) .......................................................................................... 220
9.2: Cyclic Synchronous Velocity Mode (CSV) .......................................................................................... 221
9.3: Cyclic Synchronous Torque Mode (CST)............................................................................................ 222
A: Alternative Control Sources .................................................................................................................. 223
A.1: Alternative Control Sources Overview ................................................................................................ 224
A.2: Alternative Control Source Objects .................................................................................................... 225
A.3: Running CAM Tables from RAM ........................................................................................................ 231
B: Trace Tool ................................................................................................................................................ 235
B.1: Trace Tool Overview .......................................................................................................................... 236
B.2: Trace Tool Objects ............................................................................................................................. 237
C: Objects By Function ............................................................................................................................... 243
D: Objects By Index ID ................................................................................................................................ 253

Copley Controls 4
CANopen Programmer’s Manual Table Of Contents

Copley Controls 5
CANopen Programmer’s Manual About this Manual

ABOUT THIS MANUAL

Overview and Scope
This manual describes the CANopen implementation developed by Copley Controls for the
Accelnet, Xenus, R-Series, and Stepnet amplifiers. It contains useful information for anyone who
participates in the evaluation or design of a distributed motion control system. The reader should
have prior knowledge of motion control, networks, and CANopen.
Related Documentation
Readers of this book should also read information on CAN and CANopen at the “CAN in
Automation” website at http://www.can-cia.org/index.php?id=530.
Those interested in Running CAM Tables from RAM (p. 232) should also see the Copley
Camming User Guide.
Information on Copley Controls Software can be found at:
http://www.copleycontrols.com/Motion/Products/Software/index.html
Comments
Copley Controls welcomes your comments on this manual.
See http://www.copleycontrols.com for contact information.
Copyrights
No part of this document may be reproduced in any form or by any means, electronic or
mechanical, including photocopying, without express written permission of Copley Controls .
Accelnet, Stepnet, Xenus, and CME 2 are registered trademarks of Copley Controls.
Document Validity
We reserve the right to modify our products. The information in this document is subject to change
without notice and does not represent a commitment by Copley Controls. Copley Controls
assumes no responsibility for any errors that may appear in this document.
Product Warnings

Use caution in designing and programming machines that affect the safety of

!
operators.

The programmer is responsible for creating program code that operates safely for the
amplifiers and motors in any given machine.
WARNING Failure to heed this warning can cause equipment damage, injury, or death.

Copley Controls 6
About this Manual CANopen Programmer’s Manual

Revision History
Revision Date ECO # Comments
1.0 Oct, 2002 Initial publication.
2.0 Dec, 2003 Added descriptions of new objects to support stepper mode and profile
velocity mode operation, additional homing methods, and amplifier
configuration.
2.1 Jan, 2004 Various minor edits and updates.
2.2 March, 2004 Added information about emergency message (EMCY) and memory
storage options for objects.
3 June, 2006 Added information on EMCY Message Error Codes (p. 43), a new
Camming mode and an object for reading/writing CVM Indexer Program
registers (see Alternative Control Sources, p. 224), a new Trace Tool (p.
236), and a new Profile Torque Mode Operation (p. 200). Also, instructions
for Ending an Interpolated Position Move (p. 211).
4 June, 2008 16591 Various updates, including Web page references and details on Running
CAM Tables from RAM (p. 232).
5 October, 2008 17339 Various updates.
6 July, 2011 40588 Various updates and additions.
7 November, 2012 47567 Updated the motor encoder types.

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About this Manual CANopen Programmer’s Manual

Object Description Conventions

Object descriptions in this manual look like the samples shown below. Each description includes a
table of summary information.

Sub-Index Object Relationships

This manual describes objects and sub-index objects. Object descriptions are set off by bold type
and a heavy separator line. Sub-index object descriptions have regular typeface and a thinner line.
Sub-index object 0 always contains the number of elements contained by the record.
Object Summary Description Fields
Field Name Description
Type The object type (i.e., Unsigned 32, Integer, String).
Access The object’s access type:
 RO for read only
 WO for write only
 RW for read and write
 RC for read and clear
Units The units used to express the object’s value.
Range The acceptable range of values if less then that specified by Type.
Map PDO YES if the object can be mapped to a PDO. NO if it cannot. EVENT if the object can be mapped and
set to event triggering.
Memory Some objects can be held in the amplifier’s flash memory (F), some in RAM (R), and some in RAM
and flash (RF). If an object cannot be stored, or if the object contains sub-index objects, the Memory
field contains a dash (-).

8 Copley Controls
About this Manual CANopen Programmer’s Manual

Copley Controls 9
About this Manual CANopen Programmer’s Manual

10 Copley Controls
CHAPTER
1: INTRODUCTION
This chapter discusses how Copley Controls supports the use of CANopen to provide distributed
motion control.
Contents include:
1.1: CAN and CANopen ............................................................................................................................... 12
1.2: Defining and Accessing CANopen Devices .......................................................................................... 17
1.3: Objects that Define SDOs and PDOs ................................................................................................... 30

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1: Introduction CANopen Programmer’s Manual

1.1: CAN and CANopen

Contents of this Section
This section describes Copley Controls’ use of CANopen and the underlying Controller Area
Network (CAN).
Topics include:
Copley Controls Amplifiers in CANopen Networks ...................................................................................... 13
Overview of the CAN Protocol ..................................................................................................................... 14
The CAN Message ....................................................................................................................................... 15
Overview of the CANopen Profiles............................................................................................................... 16

12 Copley Controls
CANopen Programmer’s Manual 1: Introduction

Copley Controls Amplifiers in CANopen Networks

Copley’s CANopen Amplifiers
Several lines of Copley Controls amplifiers, including Accelnet, Stepnet, Xenus, and the
ruggedized R-Series, offer distributed motion control through support of the Controller Area
Network (CAN) and the CANopen network profiles. Using CANopen, the amplifiers can take
instruction from a master application to perform homing operations, point-to-point motion, profile
velocity motion, profile torque, and interpolated motion. (These amplifiers also support serial
communication.)
CAN and CANopen
CAN specifies the data link and physical connection layers of a fast, reliable network. The
CANopen profiles specify how various types of devices, including motion control devices, can use
the CAN network in a highly efficient manner.
Architecture
As illustrated below, in a CANopen motion control system, control loops are closed on the
individual amplifiers, not across the network. A master application coordinates multiple devices,
using the network to transmit commands and receive status information. Each device can transmit
to the master or any other device on the network. CANopen provides the protocol for mapping
device and master internal commands to messages that can be shared across the network.

CANopen Feedback
CAN port

Xenus Local Control

Motor
Softw are Application Amplifier

Control I/O Sensor

CANopen
CAN port

Master Controller
Status
Feedback
CANopen
CAN port

Accelnet Local Control

Motor
Amplifier
CAN Network

I/O Sensor

Feedback

Stepnet
CANopen
CAN port

Local Control
Amplifier Motor
(Servo Mode)
I/O Sensor
CANopen
CAN port

Stepnet
Local Control
Amplifier Motor
(Step Mode)

A CANopen network can support up to 127 nodes. Each node has a seven-bit node ID in the
range of 1-127. (Node ID 0 is reserved and should not be used.)

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Example of a CANopen Move Sequence

 CANopen master transmits a control word to initialize all devices.
 Devices transmit messages indicating their status (in this example, all are operational).
 CANopen master transmits a message instructing devices to perform homing operations.
 Devices indicate that homing is complete.
 CANopen master transmits messages instructing devices to enter position profile mode (point-
to-point motion mode) and issues first set of point-to-point move coordinates.
 Devices execute their moves, using local position, velocity, and current loops, and then
transmit actual position information back to the network.
 CANopen master issues next set of position coordinates.
Overview of the CAN Protocol
A Network for Distributed Control
The backbone of CANopen is CAN, a serial bus network originally designed by Robert Bosch
GmbH to coordinate multiple control systems in automobiles.
The CAN model lends itself to distributed control. Any device can broadcast messages on the
network. Each device receives all messages and uses filters to accept only the appropriate
messages. Thus, a single message can reach multiple nodes, reducing the number of messages
that need to be sent. This also greatly reduces bandwidth required for addressing, allowing
distributed control at real-time speeds across the entire system.
CAN Benefits
Other benefits of CAN include:
 Wide use of CAN in automobiles and many other industries assures availability of inexpensive
hardware and continued support. Ready availability of standard components also reduces
system design effort.
 CAN’s relative simplicity reduces training requirements.
 By distributing control to devices, CAN eliminates the need for multiple wire connections
between devices and a central controller. Fewer connections enable increased reliability in
harsh operating conditions.
 Device-based error checking and handling methods make CAN networks even more reliable.
Physical Layer
The physical layer of CAN is a differentially driven, two-wire bus, terminated by 124-Ohm resistors
at each end. The maximum bit rate supported by CAN is 1,000,000 bits/second for up to 25
meters. Lower bit rates may be used for longer network lengths.

14 Copley Controls
CANopen Programmer’s Manual 1: Introduction

The CAN Message

Overview
CANopen messages are transmitted within CAN messages (a CAN message is also known as a
communication object or COB).
CAN Message Format
CAN messages are communicated over the bus in the form of network packets. Each packet
consists of an identifier (CAN message ID), control bits, and zero to eight bytes of data.
CRC Error Checking
Each packet is sent with CRC (cyclic redundancy check) information to allow controllers to identify
and re-send incorrectly formatted packets.
CAN Message ID
Every CAN message has a CAN message ID (also known as COB-ID). The message ID plays two
important roles.
 It provides the criteria by which the message is accepted or rejected by a node.
 It determines the message’s priority, as described below.
CAN Message Priority
The priority of a CAN message is encoded in the message ID. The lower the value of the
message ID, the higher the priority of the message. When two or more devices attempt to transmit
packets at the same time, the packet with the highest priority succeeds. The other devices back
off and retry.
This method of collision handling allows for a high bandwidth utilization compared to other network
technologies. For instance, Ethernet handles collisions by requiring both devices to abort
transmission and retry.
For More Information
For more information on the CAN protocol, see CAN Specification 2.0, Robert Bosch GmbH, and
ISO 11898, Road Vehicles, Interchange of Digital Information, Controller Area Network (CAN) for
high-speed communication.

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Overview of the CANopen Profiles

Communication and Device Profiles
CANopen is a set of profiles built on a subset of the CAN application layer protocol. The CANopen
profiles achieve two basic objectives:
 They specify methods for packaging multiple CAN messages to send large blocks of data as a
single entity.
 They standardize and simplify communication between devices within several application
types, including motion control.
Developed by the CAN In Automation (CiA) group, CANopen includes the underlying CANopen
Application Layer and Communication Profile (DS 301) and several device profiles, including
CANopen Profile for Drives and Motion Control (DSP 402).
Communication Profile
The Application Layer and Communication Profile describes the communication techniques used
by devices on the network. All CANopen applications must implement this profile.
Profile for Drives and Motion Control
Each of the CANopen device profiles describes a standard device for a certain application. Copley
Controls CANopen amplifiers comply with the Profile for Drives and Motion Control. This profile
specifies a state machine and a position control function. It also supports several motion control
modes, including:
 Homing
 Profile position
 Profile velocity
 Profile torque
 Interpolated position
 Cyclic synchronous position
 Cyclic synchronous velocity
 Cyclic synchronous torque
The amplifier’s operating mode is set using the Mode Of Operation object (index 0x6060, p. 64).
(The Profile for Drives and Motion Control also supports other modes that are not supported by
Copley Controls amplifiers at this time.)

16 Copley Controls
CANopen Programmer’s Manual 1: Introduction

1.2: Defining and Accessing CANopen Devices

Contents of this Section
This section describes the objects and methods used to configure and control devices on a
CANopen network.
Topics include:
Defining a Device: CANopen Objects and Object Dictionaries .................................................................... 18
Accessing the Object Dictionary .................................................................................................................. 20
SDOs: Description and Examples................................................................................................................ 22
PDOs: Description and Examples................................................................................................................ 24
SDO vs. PDO: Design Considerations ......................................................................................................... 27
How to Map (or Remap) a PDO ................................................................................................................... 28

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Defining a Device: CANopen Objects and Object Dictionaries

Objects and Dictionaries
The primary means of controlling a device on a CANopen network is by writing to device
parameters, and reading device status information. For this purpose, each device defines a group
of parameters that can be written, and status values that can be read. These parameters and
status values are collectively referred to as the device's objects.
These objects define and control every aspect of a device’s identity and operation. For instance,
some objects define basic information such as device type, model, and serial number. Others are
used to check device status and deliver motion commands.
The entire set of objects defined by a device is called the device’s object dictionary. Every device
on a CANopen network must define an object dictionary, and nearly every CANopen network
message involves reading values from or writing values to the object dictionaries of devices on the
network.
Object Dictionary as Interface
The object dictionary is an interface between a device and other entities on the network.

Feedback
Local Control
AccelNet
Object Motor
Amplifier
Dictionary
CAN Network

I/O Sensor

CANopen Profiles and the Object Dictionary

The CANopen profiles specify the mandatory and optional objects that comprise most of an object
dictionary. The Communication Profile specifies how all devices must communicate with the CAN
network. For instance, the Communication Profile specifies dictionary objects that set up a
device’s ability to send and receive messages. The device profiles specify how to access
particular functions of a device. For instance, the CANopen Profile for Drives and Motion Control
(DSP 402) specifies objects used to control device homing and position control.
In addition to the objects specified in the Application Layer and Communication Profile and device
profiles, CANopen allows manufacturers to add device-specific objects to a dictionary.

18 Copley Controls
CANopen Programmer’s Manual 1: Introduction

Object Dictionary Structure

An object dictionary is a lookup table. Each object is identified by a 16-bit index with an eight-bit
sub-index. Most objects represent simple data types, such as 16-bit integers, 32-bit integers, and
strings. These can be accessed directly by the 16-bit index.
Other objects use the sub-index to represent groups of related parameters. For instance, the
Motor Data object (index 0x2383, p. 91) has 24 sub-index objects defining basic motor
characteristics such as motor type, motor wiring configuration, and Hall sensor type. (The sub-
index provides up to 255 subentries for each index.)
The organization of the dictionary is specified in the profiles, as shown below.
Index Range Objects
0000 not used
0001-001F Static Data Types
0020-003F Complex Data Types
0040-005F Manufacturer Specific Complex Data Types
0060-007F Device Profile Specific Static Data Types (including those specific to motion control)
0080-009F Device Profile Specific Complex Data Types (including those specific to motion control)
00A0-0FFF Reserved for future use
1000-1FFF Communication Profile Area (DS 301)
2000-5FFF Manufacturer Specific Profile Area
6000-9FFF Standardized Device Profile Area (including Profile for Motion Control)
A000-FFFF Reserved for further use

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Accessing the Object Dictionary

Two Basic Channels
CANopen provides two ways to access a device’s object dictionary:
 The Service Data Object (SDO)
 The Process Data Object (PDO)
Each can be described as a channel for access to an object dictionary.
SDOs and PDOs
Here are the basic characteristics of PDOs and SDOs.
SDO PDO
The SDO protocol allows any object in the object dictionary One PDO message can transfer up to eight bytes of data in
to be accessed, regardless of the object's size. This comes a CAN message. There is no additional protocol overhead
at the cost of significant protocol overhead. for PDO messages.
Transfer is always confirmed. PDO transfers are unconfirmed.
Has direct, unlimited access to the object dictionary. Requires prior setup, wherein the CANopen master
application uses SDOs to map each byte of the PDO
message to one or more objects. Thus, the message itself
does not need to identify the objects, leaving more bytes
available for data.
Employs a client/server communication model, where the Employs a peer-to-peer communication model. Any
CANopen master is the sole client of the device object network node can initiate a PDO communication, and
dictionary being accessed. multiple nodes can receive it.
An SDO has two CAN message identifiers: a transmit Transmit PDOs are used to send data from the device, and
identifier for messages from the device to the CANopen receive PDOs are used to receive data.
master, and a receive identifier for messages from the
CANopen master.
SDOs can be used to access the object dictionary directly. A PDO can be used only after it has been configured using
SDO transfers.
Best suited for device configuration, PDO mapping, and Best suited for high-priority transfer of small amounts of
other infrequent, low priority communication between the data, such as delivery of set points from the CANopen
CANopen master and individual devices. Such transfers master or broadcast of a device’s status. Such transfers
tend to involve the setting up of basic node services; thus, tend to relate directly to the application process; thus, the
the term service data object. term process data object.
For more information about SDOs, For more information about PDOs,
see SDOs: Description and Examples, p. 22. see PDOs: Description and Examples, p. 24.
For help deciding whether to use an SDO or a PDO see SDO vs. PDO: Design Considerations, p. 27.

20 Copley Controls
CANopen Programmer’s Manual 1: Introduction

Copley SDOs and PDOs

The Communication Profile requires the support of at least one SDO per device. (Without an
SDO, there would be no way to access the object dictionary.) It also specifies default parameters
for four PDOs.
Copley Controls CANopen amplifiers each support 1 SDO and 16 PDOs (eight transmit PDOs and
eight receive PDOs).

Feedback

1 SDO Local Control

AccelNet
Object Motor
8 TxPDO's Amplifier
Dictionary
CAN Network
8 RxPDO's I/O Sensor

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SDOs: Description and Examples

Overview
Each amplifier provides one SDO. The CANopen master can use this SDO to configure, monitor,
and control the device by reading from and writing to its object dictionary.
SDO CAN Message IDs
The SDO protocol uses two CAN message identifiers. One ID is used for messages sent from the
CANopen master (SDO client) to the amplifier (SDO server). The other ID is used for messages
sent from the SDO server to the SDO client.
The CAN message ID numbers for these two messages are fixed by the CANopen protocol. They
are based on the device's node ID (which ranges from 1 to 127). The ID used for messages from
the SDO client to the SDO server (i.e. from the CANopen master to the amplifier) is the hex value
0x600 + the node ID. The message from the SDO server to the SDO client is 0x580 + the node
ID. For example, an amplifier with node ID 7 uses CAN message IDs 0x587 and 0x607 for its SDO
protocol.
Client/ Server Communication
The SDO employs a client/server communication model. The CANopen master is the sole client.
The device is the server. The CANopen master application should provide a client SDO for each
device under its control.
The CAN message ID of an SDO message sent from the CANopen master to a device should
match the device’s receive SDO message identifier. In response, the CANopen master should
expect an SDO message whose CAN message ID matches the device’s transmit SDO message
identifier.
SDO Message Format
The SDO uses a series of CAN messages to send the segments that make up a block of data.
The full details of the SDO protocol are described in the CANopen Application Layer and
Communication Profile.
Confirmation
Because an SDO transfer is always confirmed, each SDO transfer requires at least two CAN
messages (one from the master and one from the slave).
Confirmation Example
For instance, updating an object that holds an eight-byte long value requires six CAN messages:
1 The master sends a message to the device indicating its intentions to update an object in the
device’s dictionary. The message includes the object’s index and sub-index values as well as
the size (in bytes) of the data to be transferred.
2 The device responds to the CANopen master indicating that it is ready to receive the data.
3 The CANopen master sends one byte of message header information and the first 7 bytes of
data. (Because SDO transfers use one byte of the CAN message data for header information,
the largest amount of data that can be passed in any single message is 7 bytes.)
4 The device responds indicating that it received the data and is ready for more.
5 The CANopen master sends the remaining byte of data along with the byte of header
information.
6 The device responds indicating success.

22 Copley Controls
CANopen Programmer’s Manual 1: Introduction

Segmented, Expedited and Block Transfers

As in the example above, most SDO transfers consist of an initiate transfer request from the
client, followed by series of confirmed eight-byte messages. Each message contains one byte of
header information and a segment (up to seven bytes long) of the data being transferred.
For the transfer of short blocks of data (four bytes or less), the Communication Profile specifies an
expedited SDO method. The entire data block is included in the initiate SDO message (for
downloads) or in the response (for uploads). Thus, the entire transfer is completed in two
messages.
The Communication Profile also describes a method called block SDO transfers, where many
segments can be transferred with a single acknowledgement at the end of the transfer. Copley
Controls CANopen amplifiers do not require use of the block transfer protocol.

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PDOs: Description and Examples

Overview
Each amplifier provides eight transmit PDOs and eight receive PDOs. A transmit PDO is used to
transmit information from the device to the network. A receive PDO is used to update the device.
Default PDO Message Identifiers
The Communication Profile reserves four CAN message identifiers for transmit PDOs and four
identifiers for receive PDOs. These addresses are described later in this chapter (see Receive
PDO Communication Parameters, p. 31, and Transmit PDO Communication Parameters, p. 35).
The first four transmit PDOs and receive PDOs provided in Copley Controls CANopen amplifiers
use these default addresses. The addresses of the remaining four transmit PDOs and receive
PDOs are null by default.
The designer can reconfigure any PDO message identifier.
PDO Peer- to-Peer Communication
Peer-to-peer relationships are established by matching the transmit PDO identifier of the sending
node to a receive PDO identifier of one or more other nodes on the network.
Any device can broadcast a PDO message using one of its eight transmit PDOs. The CAN
identifier of the outgoing message matches the ID of the sending PDO. Any node with a matching
receive PDO identifier will accept the message.
PDO Peer-to- Peer Example
For instance, Node 1, transmit PDO 1, has a CAN message ID of 0x0189. Node 2, receive PDO 1
has a matching ID, as does Node 3. They both accept the message. Other nodes do not have a
matching receive PDO, so no other nodes accept the message.
PDO Mapping
PDO mapping allows optimal use of the CAN message’s eight-byte data area.
Mapping uses the SDO to configure dictionary objects in both the sending and the receiving node
to know, for each byte in the PDO message:
 The index and sub-index which objects are to be accessed
 The type of data
 The length of the data
Thus, the PDO message itself carries no transfer control information, leaving all eight bytes
available for data. (Contrast this with the SDO, which uses one byte of the CAN message data
area to describe the objects being written or read, and the length of the data.)

24 Copley Controls
CANopen Programmer’s Manual 1: Introduction

Mappable Objects
Not all objects in a device’s object dictionary can be mapped to a PDO. If an object can be
mapped to a PDO, the MAP PDO field in the object’s description in this manual contains the word
EVENT or the word YES.
Dynamic PDO Mapping
Copley supports the CANopen option of dynamic PDO mapping, which allows the CANopen
master to change the mapping of a PDO during operation. For instance, a PDO might use one
mapping in Homing Mode, and another mapping in Profile Position Mode.
PDO Transmission Modes
PDOs can be sent in one of two transmission modes:
 Synchronous. Messages are sent only after receipt of a specified number of synchronization
(SYNC) objects, sent at regular intervals by a designated synchronization device. (For more
information on the SYNC object, see SYNC and High-resolution Time Stamp Messages, p.
42.)
 Asynchronous. The receipt of SYNC messages does not govern message transmission.
Synchronous transmission can be cyclic, where the message is sent after a predefined number of
SYNC messages, or acyclic, where the message is triggered by some internal event but does not
get sent until the receipt of a SYNC message.
PDO Triggering Modes
The transmission of a transmit PDO message from a node can be triggered in one of three ways:
Trigger Description
Event Message transmission is triggered by the occurrence of an object specific event. For synchronous PDOs
this is the expiration of the specified transmission period, synchronized by the reception of the SYNC
object. For acyclically transmitted synchronous PDOs and asynchronous PDOs the triggering of a
message transmission is a device-specific event specified in the device profile.
SYNC For synchronous PDOs, the message is transmitted after a specified number of SYNC cycles have
message occurred.
Remote The transmission of an asynchronous PDO is initiated on receipt of a remote request initiated by any
Request other device.

Default PDO Mappings

Copley Controls CANopen amplifiers are shipped with the default PDO mappings specified in the
Profile for Drives and Motion Control. These mappings are:
RECEIVE PDOs TRANSMIT PDOs
PDO Default mapping PDO Default mapping
1 0x6040 (Control Word) 1 0x6041(Status Word)
2 0x6040, 0x6060 (Mode Of Operation) 2 0x 6041, 0x 6061
3 0x6040, 0x607A (Target Position) 3 0x 6041, 0x6064 (Position Actual Value)
4 0x6040, 0x60FF (Target Velocity) 4 0x 6041, 0x606C (Actual Velocity)
5 0x6040, 0x6071 (Target Torque) 5 0x 6041, 0x6077 (Torque Actual Value)
6 0x6040 6 0x 6041
7 0x6040 7 0x 6041, 0x60FD (Digital Inputs)
8 0x6040, 0x6060 8 no default mapping

For more information see the CANopen Profile for Drives and Motion Control (DSP 402).

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PDO Examples
The designer has broad discretion in the use of PDOs. For example:
 On the device designated as the SYNC message and time stamp producer, map a transmit
PDO to transmit the high-resolution time stamp message on a periodic basis. Map receive
PDOs on other devices to receive this object.
 On each amplifier, map a transmit PDO to transmit PVT buffer status updates in interpolated
position mode. Map a receive PDO to receive PVT segments.
 Another transmit PDO could transmit general amplifier status updates.
The Copley Controls CANopen Motion Libraries product (CML) uses these default mappings:
RECEIVE PDOs TRANSMIT PDOs
PDO Default mapping PDO Default mapping

1 IP move segment command (index 0x2010, p. 4 Trajectory Buffer Status object (index 0x2012, p.
214). Used to receive the PVT segments. 216). This is also used with transmission type
255. The PDO will be transmitted each time a
segment is read from the buffer, or on an error
condition.
5 High-resolution Time Stamp (index 0x1013, p. 47) 5 High-resolution Time Stamp (index 0x1013, p. 47)
on the amplifier designated as the time-stamp on all but the time-stamp transmitter.
transmitter. CML programs this object with
transmit type 10 (transmit every 10 sync cycles).
The sync cycle is 10 milliseconds. Thus, the
timestamp is transmitted every 100 milliseconds.
2 Various status information:
Status Word (index 0x6041, p. 58), Manufacturer
Status Register object (index 0x1002, p. 60), and
Input Pin States (index 0x2190 p. 116).
CML programs this PDO to transmit on an event
(transmission type 255). This causes the PDO to
be transmitted any time an input pin changes or a
status bit changes. Note that Copley input pins
have a programmable debounce time, so if one of
the inputs is connected to something that might
change rapidly, then the debounce time can be
used to keep it from overloading the CANopen
network.

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SDO vs. PDO: Design Considerations

Differences Between SDO and PDO
As stated earlier, SDOs and PDOs can both be described as channels through which CAN
messages are sent, and both provide access to a device’s object dictionary, but each has
characteristics that make it more appropriate for certain types of data transfers.
Here is a review of the differences between SDOs and PDOs, and some design considerations
indicated by those differences:
SDO PDO Design Considerations
The accessed device always confirms PDO messages are unconfirmed. This To transfer 8 bytes or less at real-time
SDO messages. This makes SDOs makes PDOs faster. speed, use a PDO. For instance, to
slower. receive control instructions and transmit
status updates.
To transfer large amounts of low priority
data, use the SDO.
Also, if confirmation is absolutely
required, use an SDO.
One SDO transfer can send long blocks A PDO transfer can only send small
of data, using as many CAN messages amounts of data (up to eight bytes) in a
as required. single CAN message. Mapping allows
very efficient use of those eight bytes.
Asynchronous. Synchronous or asynchronous. Cyclic Use PDO when synchronous or
or acyclic. broadcast communications are
required. For instance, to communicate
set points from the master to multiple
devices for a multi-axis move, or to
have a device broadcast its status.
The SDO employs a client-server The PDO employs a peer-to-peer
communication model. The CANopen communication model. Any device can
master is the client. It reads from and send a PDO message, and a PDO
writes to the object dictionaries of message can be received and
devices. The device being accessed is processed by multiple devices.
the server.
All communications can be performed The CANopen master application uses If the application does not benefit from
through the SDO without using any SDO messages to map the content of the use of a PDO for a certain transfer,
PDOs. the PDO, at a cost of increased CPU consider using SDO to avoid the extra
cycles on the CANopen master and overhead. For instance, if an object’s
increased bus traffic. value is updated only once (as with
many configuration objects), the SDO is
more efficient. If the object’s value is
updated repeatedly, a PDO is more
efficient.

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How to Map (or Remap) a PDO

Process Overview
Two objects in the device’s object dictionary define a PDO:
 A PDO’s communication object defines the PDO’s CAN message ID and its communication
type (synchronous or asynchronous) and triggering type (event-drive or cyclic).
 A PDOs mapping object maps every data byte in the PDO message to an object in the
device’s object dictionary.
Mapping a PDO is the process of configuring the PDO’s communication and mapping objects.
To Map a Receive PDO
The general procedure for mapping a receive PDO follows. (The procedure for mapping a transmit
PDO is similar).
Stage Step Sub-steps/Comments
1 Disable the PDO. In the PDO’s mapping object (Receive PDO Mapping Parameters, index
0x1601), set the sub-index 0 (NUMBER OF MAPPED OBJECTS) to zero.
This disables the PDO.
2 Set the communication If necessary, set the PDO’s CAN message ID (PDO COB-ID) using sub-
parameters. index 1 of the PDO’s RECEIVE PDO Communication Parameters (index
0x1401).
Choose the PDO’s transmission type (PDO TYPE) in sub-index 2 of
object 0x1401. A value in the range
[0-240] = synchronous; [254-255] = asynchronous.
3 Map the data. Using the PDO’s mapping parameters (sub-indexes 1-4 of Receive PDO
Mapping Parameters, index 0x1601), you can map up to 4 objects (whose
contents must total to no more than 8 bytes), as follows:
In bits 0-7 of the mapping value, enter the size (in bits) of the object to be
mapped, as specified in the object dictionary.
In bits 8-15, enter the sub-index of the object to be mapped. Clear bits 8-
15 if the object is a simple variable.
In bits 16-31, enter the index of the object to be mapped.
4. Set the number of mapped In the PDO’s Receive PDO Mapping Parameters (index 0x1601), set sub-
objects and enable the PDO. index 0 (NUMBER OF MAPPED OBJECTS) to the actual number of
objects mapped. This properly configures the PDO. Also, the presence of
a non-zero value in the NUMBER OF MAPPED OBJECTS object enables
the PDO.

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Example: Mapping a Receive PDO

This example illustrates the general procedure for mapping a receive PDO. In the example, the
second receive PDO is mapped to the device’s Control Word object (index 0x6040, p. 58) to
receive device state change commands and to the Mode Of Operation object (index 0x6060, p.
64) to receive mode change commands.
Stage Step Sub-steps/Comments
1 Disable the PDO. In the PDO’s mapping object (Receive PDO Mapping Parameters, index
0x1601), set the sub-index 0 (NUMBER OF MAPPED OBJECTS) to zero.
This disables the PDO.
2 Set the communication In this case, it is not necessary to set the CAN message ID of the PDO,
parameters. because the default value is acceptable.
In the PDO TYPE object (sub-index 2 of RECEIVE PDO Communication
Parameters, index 0x1401) choose a value in the range [254-255] so that
the PDO transmits immediately upon request (without waiting for a
synchronization message).
3 Map the data. In the device’s Receive PDO Mapping Parameters object (index 0x1601):
1: To map the Control Word to the PDO, set object 1601, sub-index 1 to:
0x 6040 00 10

Bits 16-31 Bits 8-15

Bits 0-7 show
contain the clear; the
the size of the
index of the mapped
Control Word
object to be object has no
(16 bits) in hex
mapped subindex

2: To map the Mode Of Operation object to the PDO, set sub-index 2 to:
0x 6060 00 08

Bits 16-31 Bits 8-15 Bits 0-7 show

contain the clear; the the size of the
index of the mapped Change of
object to be object has no Mode object
mapped subindex (16 bits) in hex

4. Set the number of mapped In the PDO’s Receive PDO Mapping Parameters object (index 0x1601),
objects and enable the PDO. set sub-index 0 (NUMBER OF MAPPED OBJECTS) to 2, the actual
number of objects mapped. This properly configures the PDO. Also, the
presence of a non-zero value in the NUMBER OF MAPPED OBJECTS
object enables the PDO.

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1.3: Objects that Define SDOs and PDOs

Contents of this Section
This section describes objects and sub-index objects used to configure SDOs and PDOs. They
include:
Server SDO Parameters Index 0x1200 ..................................................................................................... 31
SDO Receive COB-ID Index 0x1200, Sub-Index 1 ............................................................................. 31
SDO Transmit COB-ID Index 0x1200, Sub-Index 2 ............................................................................. 31
Receive PDO Communication Parameters Index 0x1400 – 0x1407 ........................................................ 31
PDO COB-ID Index 0x1400 – 7, Sub-Index 1 ....................................................................... 31
PDO Type Index 0x1400 – 7, Sub-Index 2 ....................................................................... 32
Receive PDO Mapping Parameters Index 0x1600 – 0x1607 .................................................................... 32
Number Of Mapped Objects Index 0x1600 – 7, Sub-index 0................................................................ 32
PDO Mapping Index 0x1600 – 7, Sub-Index 1 – 8 ................................................................. 32
Receive PDO Mapping Parameters Index 0x1700.................................................................................... 33
Number Of Mapped Objects Index 0x1700, Sub-index 0...................................................................... 33
PDO Mapping Index 0x1700, Sub-Index 1 – 4 ....................................................................... 33
Receive PDO Mapping Parameters Index 0x1701.................................................................................... 34
Number Of Mapped Objects Index 0x1701, Sub-index 0...................................................................... 34
PDO Mapping Index 0x1701, Sub-Index 1 – 3 ....................................................................... 34
Receive PDO Mapping Parameters Index 0x1702.................................................................................... 34
Number Of Mapped Objects Index 0x1702, Sub-index 0...................................................................... 34
PDO Mapping Index 0x1702, Sub-Index 1 – 2 ....................................................................... 35
Transmit PDO Communication Parameters Index 0x1800 – 0x1807 ....................................................... 35
PDO COB-ID Index 0x1800 – 7, Sub-index 1 ....................................................................... 35
PDO type Index 0x1800 – 7, Sub-index 2 ....................................................................... 36
Transmit PDO Mapping Parameters Index 0x1A00 – 0x1A07 ................................................................. 37
Number Of Mapped Objects Index 0x1A00 – 7, Sub-index 0 ............................................................... 37
PDO Mapping Index 0x1A00 – 7, Sub-Index 1 – 8 ................................................................ 37
Transmit PDO Mapping Parameters Index 0x1B00 ................................................................................. 38
Number Of Mapped Objects Index 0x1B00, Sub-index 0 ..................................................................... 38
PDO Mapping Index 0x1B00, Sub-Index 1 – 5 ...................................................................... 38

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SERVER SDO PARAMETERS INDEX 0X1200

Type Access Units Range Map PDO Memory
Record RO - - NO -
Description
Holds the COB-ID (communication object ID, also known as CAN message ID) values used to
access the amplifier's SDO. Sub-index 0 contains the number of sub-elements of this record.

SDO RECEIVE COB-ID INDEX 0X1200, SUB-INDEX 1

Type Access Units Range Map PDO Memory
Unsigned 32 RO - 0x600-0x67f NO -
Description
CAN object ID used by the amplifier to receive SDO packets. The value is 0x600 + the amplifier's
CAN node ID.

SDO TRANSMIT COB-ID INDEX 0X1200, SUB-INDEX 2

Type Access Units Range Map PDO Memory
Unsigned 32 RO - 0x580-0x5ff NO -
Description
This value gives the CAN object ID used by the amplifier to transmit SDO packets. The value is
0x580 + the amplifier's CAN node ID.

RECEIVE PDO COMMUNICATION PARAMETERS INDEX 0X1400 – 0X1407

Type Access Units Range Map PDO Memory
Record RW - - NO -
Description
These objects allow configuration of the communication parameters of each of receive PDO. Sub-
index 0 contains the number of sub-elements of this record.

PDO COB-ID INDEX 0X1400 – 7, SUB-INDEX 1

Type Access Units Range Map PDO Memory
Unsigned 32 RW - See Default Values, below. NO R
Description
CAN message ID used by the PDO. The ID is formatted as follows:
Bit Description
0-10 Give the 11-bit identifier for standard (CAN 2.0A) identifiers, or the lower 11 bits for extended (CAN 2.0B)
identifiers.
11-28 Give the upper 18 bits of extended identifiers. For standard identifiers these bits should be written as zeros.
29 Defines the identifier format. This bit is clear for standard (11-bit) identifiers, and set for extended (29-bit)
identifiers.
30 Reserved for future use.
31 Identifies the PDO as valid if clear. If set, the PDO is disabled and its mapping may be changed.

Default Values
The default values for this object are specified in the DS-301 CANopen specification. These
values are:
Index Default ID
0x1400 0x00000200 + amplifier CAN node ID.
0x1401 0x00000300 + amplifier CAN node ID.
0x1402 0x00000400 + amplifier CAN node ID.

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Continued…
…continued:
0x1403 0x00000500 + amplifier CAN node ID.
0x1404 0x80000000
0x1405 0x80000000
0x1406 0x80000000
0x1407 0x80000000

PDO TYPE INDEX 0X1400 – 7, SUB-INDEX 2

Type Access Units Range Map PDO Memory
Unsigned 8 RW - See Description, below NO R
Description
This object controls the behavior of the PDO when new data is received. The following codes are
defined for receive PDOs:
Code Behavior
0-240 The received data is held until the next SYNC message. When the SYNC message is received the data is
applied.
241-253 Reserved.
254-255 The received data is applied to its mapped objects immediately upon reception.

RECEIVE PDO MAPPING PARAMETERS INDEX 0X1600 – 0X1607

Type Access Units Range Map PDO Memory
Record RW - - NO -
Description
These objects allow the mapping of each of the receive PDO objects to be configured.

NUMBER OF MAPPED OBJECTS INDEX 0X1600 – 7, SUB-INDEX 0

Type Access Units Range Map PDO Memory
Unsigned 8 RW - 0-4 NO R
Description
This value gives the total number of objects mapped to this PDO. It can be set to 0 to disable the
PDO operation, and must be set to 0 before changing the PDO mapping.
Once the PDO mapping has been established by configuring the objects in sub-indexes 1 – 4, this
value should be updated to indicate the actual number of objects mapped to the PDO.

PDO MAPPING INDEX 0X1600 – 7, SUB-INDEX 1 – 8

Type Access Units Range Map PDO Memory
Unsigned 32 RW - See Description, below NO R
Description
When a PDO message is received, the data passed with the PDO message (up to 8 bytes) is
used to update the objects mapped to the PDO. The values in the PDO mapping objects identify
which object(s) the PDO data maps to. The first object is specified by the value in sub-index 1; the
second object is identified by sub-index 2, etc.
Each of the PDO mapping values consist of a 32-bit value structured as follows:
Bit Description
0-7 Size (in bits) of the object being mapped. Must match the actual object size as defined in the object
dictionary.
8-15 Sub-index of the object to be mapped.
16-31 Index of the object to be mapped.

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RECEIVE PDO MAPPING PARAMETERS INDEX 0X1700

Type Access Units Range Map PDO Memory
Record RW - - NO -
Description
These objects allow the mapping of each of the receive PDO objects to be configured.

NUMBER OF MAPPED OBJECTS INDEX 0X1700, SUB-INDEX 0

Type Access Units Range Map PDO Memory
Unsigned 8 RW - 0-4 NO R
Description
This value gives the total number of objects mapped to this PDO. Once the PDO mapping has
been established by configuring the objects in sub-indexes 1 – 4, this value should be updated to
indicate the actual number of objects mapped to the PDO.

PDO MAPPING INDEX 0X1700, SUB-INDEX 1 – 4

Type Access Units Range Map PDO Memory
Unsigned 32 RW - See Description, below NO R
Description
When a PDO message is received, the data passed with the PDO message (up to 8 bytes) is
used to update the objects mapped to the PDO. The values in the PDO mapping objects identify
which object(s) the PDO data maps to. The first object is specified by the value in sub-index 1; the
second object is identified by sub-index 2, etc.
Each of the PDO mapping values consist of a 32-bit value structured as follows:
Bit Description
0-7 Size (in bits) of the object being mapped. Must match the actual object size as defined in the object
dictionary.
8-15 Sub-index of the object to be mapped.
16-31 Index of the object to be mapped.

Because Index 0x1700 is read only, the available mapped objects are fixed. They include the
following:
Sub-index Value Description
0 4 Number of mapped objects.
1 0x60400010 Control word
2 0x607A0020 Target position
3 0x60B10020 Offset added to the velocity command in CSP or CSV mode.
4 0x60B20010 Offset added to the torque command in CSP, CSV or CST modes.

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RECEIVE PDO MAPPING PARAMETERS INDEX 0X1701

Type Access Units Range Map PDO Memory
Record RW - - NO -
Description
These objects allow the mapping of each of the receive PDO objects to be configured.

NUMBER OF MAPPED OBJECTS INDEX 0X1701, SUB-INDEX 0

Type Access Units Range Map PDO Memory
Unsigned 8 RW - 0-4 NO R
Description
This value gives the total number of objects mapped to this PDO. Once the PDO mapping has
been established by configuring the objects in sub-indexes 1 – 3, this value should be updated to
indicate the actual number of objects mapped to the PDO.

PDO MAPPING INDEX 0X1701, SUB-INDEX 1 – 3

Type Access Units Range Map PDO Memory
Unsigned 32 RW - See Description, below NO R
Description
When a PDO message is received, the data passed with the PDO message (up to 8 bytes) is
used to update the objects mapped to the PDO. The values in the PDO mapping objects identify
which object(s) the PDO data maps to. The first object is specified by the value in sub-index 1; the
second object is identified by sub-index 2, etc.
Each of the PDO mapping values consist of a 32-bit value structured as follows:
Bit Description
0-7 Size (in bits) of the object being mapped. Must match the actual object size as defined in the object
dictionary.
8-15 Sub-index of the object to be mapped.
16-31 Index of the object to be mapped.

Because Index 0x1701 is read only, the available mapped objects are fixed. They include the
following:
Sub-index Value Description
0 3 Number of mapped objects.
1 0x60400010 Control word
2 0x60FF0020 Target velocity
3 0x60B20010 Offset added to the torque command in CSP, CSV or CST modes.

RECEIVE PDO MAPPING PARAMETERS INDEX 0X1702

Type Access Units Range Map PDO Memory
Record RW - - NO -
Description
These objects allow the mapping of each of the receive PDO objects to be configured.

NUMBER OF MAPPED OBJECTS INDEX 0X1702, SUB-INDEX 0

Type Access Units Range Map PDO Memory
Unsigned 8 RW - 0-4 NO R
Description
This value gives the total number of objects mapped to this PDO. Once the PDO mapping has
been established by configuring the objects in sub-indexes 1 – 4, this value should be updated to
indicate the actual number of objects mapped to the PDO.

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PDO MAPPING INDEX 0X1702, SUB-INDEX 1 – 2

Type Access Units Range Map PDO Memory
Unsigned 32 RW - See Description, below NO R
Description
When a PDO message is received, the data passed with the PDO message (up to 8 bytes) is
used to update the objects mapped to the PDO. The values in the PDO mapping objects identify
which object(s) the PDO data maps to. The first object is specified by the value in sub-index 1; the
second object is identified by sub-index 2, etc.
Each of the PDO mapping values consist of a 32-bit value structured as follows:
Bit Description
0-7 Size (in bits) of the object being mapped. Must match the actual object size as defined in the object
dictionary.
8-15 Sub-index of the object to be mapped.
16-31 Index of the object to be mapped.

Because Index 0x1702 is read only, the available mapped objects are fixed. They include the
following:
Sub-index Value Description
0 2 Number of mapped objects.
1 0x60400010 Control word
2 0x60710010 Target torque

TRANSMIT PDO COMMUNICATION PARAMETERS INDEX 0X1800 – 0X1807

Type Access Units Range Map PDO Memory
Record RW - - NO -
Description
These objects allow configuration of communication parameters of each transmit PDO object.
Sub-index 0 contains the number of sub-elements of this record.

PDO COB-ID INDEX 0X1800 – 7, SUB-INDEX 1

Type Access Units Range Map PDO Memory
Unsigned 32 RW - See NO R
Default Values, below.
Description
This object holds the CAN object ID used by the PDO. The ID is formatted as follows:
Bit Description
0-10 11-bit identifier for standard (CAN 2.0A) identifiers, or the lower 11 bits for extended (CAN 2.0B) identifiers.
11-28 Upper 18 bits of extended identifiers. For standard identifiers these bits should be written as zeros.
29 Identifier format. This bit is clear for standard (11-bit) identifiers, and set for extended (29-bit) identifiers.
30 If set, remote transmit requests (RTR) are not allowed on this PDO. If clear, the PDO is transmitted in
response to a remote request.
31 Identifies the PDO as valid if clear. If set, the PDO is disabled and its mapping may be changed.

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Default Values
The default values for this object are specified in the DS-301 CANopen specification. These
values are:
Index Default ID
0x1800 0x00000180 + amplifier CAN node ID.
0x1801 0x00000280 + amplifier CAN node ID.
0x1802 0x00000380 + amplifier CAN node ID.
0x1803 0x00000480 + amplifier CAN node ID.
0x1804 0x80000000
0x1805 0x80000000
0x1806 0x80000000
0x1807 0x80000000

PDO TYPE INDEX 0X1800 – 7, SUB-INDEX 2

Type Access Units Range Map PDO Memory
Unsigned 8 RW - See Description, below EVENT R
Description
This object identifies which events trigger a PDO transmission:
Code Behavior
0 The PDO is transmitted on the next SYNC message following a PDO event. See PDO Events, below, for a
description of a PDO event.
1-240 The PDO is transmitted every N SYNC messages, where N is the PDO type code. For example, a PDO with
type code 7 would be transmitted on every 7th SYNC message.
241-251 Reserved.
252 The PDO is transmitted on the SYNC message following a remote request.
253 The PDO is transmitted immediately in response to a remote request.
254-255 The PDO is transmitted immediately in response to an internal PDO event.

PDO Events
Some objects in the object dictionary have special PDO events associated with them. If such an
object is mapped to a transmit PDO, then the PDO may be configured with a code that relies on
this event to trigger its transmission. The codes that use PDO events are 0 and 255.
An example of an object that has a PDO event associated with it is the Device Status object (index
0x6041). This object triggers an event to any mapped transmit PDO each time its value changes.
A transmit PDO which included this object in its mapping would have its event signaled each time
the status register changed.
Most objects in the object dictionary do not have PDO events associated with them. Those that do
are identified by the word EVENT in the PDO Mapping fields of their descriptions.

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TRANSMIT PDO MAPPING PARAMETERS INDEX 0X1A00 – 0X1A07

Type Access Units Range Map PDO Memory
Record RW - - NO -
Description
These objects allow the mapping of each of the transmit PDO objects to be configured.

NUMBER OF MAPPED OBJECTS INDEX 0X1A00 – 7, SUB-INDEX 0

Type Access Units Range Map PDO Memory
Unsigned 8 RW - 0-4 NO R
Description
Total number of objects mapped to this PDO. It can be set to 0 to disable the PDO operation, and
must be set to 0 before changing the PDO mapping.
Once the PDO mapping has been established by configuring the objects in sub-indexes 1 – 4, this
value should be updated to indicate the actual number of objects mapped to the PDO.

PDO MAPPING INDEX 0X1A00 – 7, SUB-INDEX 1 – 8

Type Access Units Range Map PDO Memory
Unsigned 32 RW - See Description, below NO R
Description
When a PDO message is transmitted, the data passed with the PDO message (up to 8 bytes) is
gathered from the objects mapped to the PDO. The values in the PDO Mapping objects identify
which object(s) the PDO data maps to. The first object is specified by the value in sub-index 1; the
second object is identified by sub-index 2, etc.
Each of the PDO mapping values consist of a 32-bit value structured as follows:
Bit Description
0-7 Size (in bits) of the object being mapped. This value must match the actual object size as defined in the
object dictionary.
8-15 Sub-index of the object to be mapped.
16-31 Index of the object to be mapped.

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TRANSMIT PDO MAPPING PARAMETERS INDEX 0X1B00

Type Access Units Range Map PDO Memory
Record RW - - NO -
Description
These objects allow the mapping of each of the transmit PDO objects to be configured.

NUMBER OF MAPPED OBJECTS INDEX 0X1B00, SUB-INDEX 0

Type Access Units Range Map PDO Memory
Unsigned 8 RW - 0-4 NO R
Description
Total number of objects mapped to this PDO. Once the PDO mapping has been established by
configuring the objects in sub-indexes 1 – 4, this value should be updated to indicate the actual
number of objects mapped to the PDO.

PDO MAPPING INDEX 0X1B00, SUB-INDEX 1 – 5

Type Access Units Range Map PDO Memory
Unsigned 32 RW - See Description, below NO R
Description
When a PDO message is transmitted, the data passed with the PDO message (up to 8 bytes) is
gathered from the objects mapped to the PDO. The values in the PDO Mapping objects identify
which object(s) the PDO data maps to. The first object is specified by the value in sub-index 1; the
second object is identified by sub-index 2, etc.
Each of the PDO mapping values consist of a 32-bit value structured as follows:
Bit Description
0-7 Size (in bits) of the object being mapped. This value must match the actual object size as defined in the
object dictionary.
8-15 Sub-index of the object to be mapped.
16-31 Index of the object to be mapped.

Because Index 0x1B00 is read only, the objects that can be mapped are fixed. The available
mapped objects are as follows:
Sub-index Value Description
0 4 Number of mapped objects.
1 0x60400010 Control word
2 0x60640020 Actual position
3 0x60F40020 Position error
4 0x606C0020 Actual velocity
5 0x60770010 Actual torque

38 Copley Controls
CHAPTER
2: NETWORK MANAGEMENT
This chapter describes the messages, methods, and objects used to manage devices on a
CANopen network.
Contents include:
2.1: Network Management Overview ........................................................................................................... 40
2.2: Network Management Objects.............................................................................................................. 45

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2.1: Network Management Overview

Contents of this Section
This section describes the objects, messages, and methods used to control the CANopen
network.
Topics include:
General Device State Control ...................................................................................................................... 41
Device Monitoring ........................................................................................................................................ 42
SYNC and High-resolution Time Stamp Messages ..................................................................................... 42
Emergency Messages ................................................................................................................................. 42

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Overview
Network Management Services and Objects
Network management services on the CANopen network include device state control, device
monitoring, synchronization, and emergency handling. Special communication objects, as
summarized below, provide these services.
Object Description
Network This object provides services to control the state of the device, including the initialization, starting,
Management monitoring, resetting, and stopping of nodes. It also provides device-monitoring services (node-
(NMT) guarding and heartbeat).
Synchronization Broadcast periodically by a specified device or the CANopen master to allow synchronized activity
(SYNC) among multiple devices. The CAN message ID of the SYNC message is 80.
Time Stamp Broadcast periodically by a specified device or the CANopen master to allow devices to
synchronize their clocks.
Emergency Transmitted by a device when an internal error occurs.

Network Manager Node

Normally, a single node (such as a PC) is designated as the network manager. The network
manager runs the software that issues all NMT messages. The network manager node can be the
same node that runs the CANopen master application.
General Device State Control
State Machine
Every CANopen device implements a simple state machine. The machine defines three states
(described below). The network manager application uses NMT messages to interact with the
state machine and control state changes.
Device States
The following states are defined for Copley Controls CANopen amplifiers:
State Description
Pre-operational Every node enters this state after power-up or reset. In this state, the device is not functional, but
will communicate over the CANopen network. PDO transfers are not allowed in pre-operational
state, but SDO transfers may be used.
Operational This is the normal operating state for all devices. SDO and PDO transfers are both allowed.
Stopped No communication is allowed in this state except for network management messages. Neither
SDO nor PDO transfers may be used.

State Control Messages

One use of NMT messages is to control state changes on network devices. The following NMT
messages are sent by the network manager to control these state changes. Each of these
messages can be either sent to a single node (by node ID), or broadcast to all nodes.
Message Effect
Reset Causes each receiving node to perform a soft reset and come up in pre-operational state.
Reset Causes each receiving node to reset its CANopen network interface to power-on state, and enter
communications pre-operational state. This is not a full device reset, just a reset of the CANopen interface.
Pre-operational Causes the receiving node(s) to enter pre-operational state. No reset is performed.
Start Causes the node(s) to enter operational state.
Stop Causes the node(s) to enter stopped state.

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Device Monitoring
Monitoring Protocols
In addition to controlling state machines, NMT messages provide services for monitoring devices
on the network. Monitoring services use one of two protocols: heartbeat and node guarding.
Heartbeat Protocol
The heartbeat protocol allows the network manager application to detect problems with a device
or its network connection. The CANopen master configures the device to periodically transmit a
heartbeat message indicating the device’s current state (pre-operational, operational, or stopped).
The network manager monitors the heartbeat messages. Failure to receive a node’s heartbeat
messages indicates a problem with the device or its connection to the network.
Node-guarding Protocol
The node-guarding protocol is similar to the heartbeat, but it allows both the device and the
network manager to monitor the connection between them. The network manager configures the
device (node) to expect node-guarding messages at some interval. The network manager then
sends a message to the configured device at that frequency, and the device responds with a
node-guarding message. This allows both the network manager and the device to identify a
network failure if the guarding messages stop.
SYNC and High-resolution Time Stamp Messages
The SYNC message is a standard CANopen message used to synchronize multiple devices and
to trigger the synchronous transmission of PDOs.
In addition, to allow more accurate synchronization of device clocks, Copley Controls CANopen
amplifiers use the optional high-resolution time stamp message specified in the Communication
Profile.
Normally, a single device produces both the SYNC message and the high-resolution time stamp
message. Copley amplifiers can produce the SYNC and high-resolution time stamp messages.
We recommend using an amplifier as the master sync generator. This assures greater timing
accuracy and allows the amplifier PVT segment buffer to be filled with the minimum number of
PVT segments at all times during operation.
Time Stamp PDOs
The device designated as the time stamp producer should have a transmit PDO mapped for the
high-resolution time stamp message. This PDO should be configured for synchronous
transmission, based on the SYNC message. We recommend sending this message approximately
every 100 milliseconds.
Every other device (all time stamp consumers) should have a receive PDO mapped for the high-
resolution time stamp message. The message ID of each receive PDO used to receive a time
stamp should match the ID of the transmit PDO used to send the time stamp.
Configuring the devices in this fashion causes the time stamp producer to generate a transmit
PDO for every N sync messages. This PDO is received by each of the time stamp consumers on
the network and causes them to update their internal system times based on the message
content. The result is that all devices on the network act as though they share the same clock
input, and remain tightly synchronized.
Emergency Messages
A device sends an 8-byte emergency message (EMCY) when an error occurs in the device. It
contains information about the error type, and Copley-specific information. A device need only
send one EMCY message per event. Any device can be configured to accept EMCY messages.

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EMCY Message Structure

The EMCY message is structured as follows:
Bytes Description
0, 1 Standard CANopen emergency error code for errors active on the amplifier.
See EMCY Message Error Codes, p. 43.
2 Error register object value See Error Register, p. 67.
3 Reserved for future use (0 for now).
4, 5 Bit mask representing the Copley Controls codes for active error conditions on the amplifier
(see EMCY Message Copley-Specific Error Conditions, p. 44).
6, 7 Reserved for future use (0 for now).

EMCY Message Error Codes

Bytes 0 and 1 of the EMCY message describe the standard CANopen error codes used by Copley
Amplifiers:
Error Description
Code (hex)
2280 Encoder Feedback Error
2310 Current Limited
2320 Short Circuit
3110 Mains Over Voltage
3120 Mains Under Voltage
3310 Output Voltage Limited
4210 Amplifier Over Temperature
4300 Motor Temperature Sensor
5080 Amplifier error
7122 Phasing Error
7380 Positive Limit Switch
7381 Negative Limit Switch
7390 Tracking Error
31
73A0 Position Wrapped Around +/- 2 Counts
8130 Node Guarding Error or Heartbeat Error

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EMCY Message Copley-Specific Error Conditions

The bit mask in bytes 4 and 5 of the EMCY message maps 1 bit for each error condition active on
the amplifier. The mapped bits have the following meanings:
Bit Description
0 Output short circuit
1 Amplifier over temperature
2 Amplifier over voltage
3 Amplifier under voltage
4 Motor over temperature input active
5 Encoder power error (indicates the 5V encoder supply over current)
6 Motor phasing error
7 Output current limited
8 Output voltage limited
9 Positive limit switch
10 Negative limit switch
11 Tracking error
31
12 Position input wrapped around +/- 2 bits
13 Amplifier internal hardware error (contact Copley Controls customer support)
14 Node guarding error

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2.2: Network Management Objects

Contents of this Section
This section describes closely related to network management. They include:
COB-ID Sync Message Index 0x1005 ...................................................................................................... 46
Communication Cycle Period Index 0x1006 ............................................................................................. 46
Guard Time Index 0x100C...................................................................................................................... 46
Life Time Factor Index 0x100D ................................................................................................................. 47
High-resolution Time Stamp Index 0x1013 ............................................................................................... 47
Producer Heartbeat Time Index 0x1017 ................................................................................................... 47
Emergency Object ID Index 0x1014 ......................................................................................................... 47
Emergency Object ID Inhibit Time Index 0x1015...................................................................................... 47
Network Options Index 0x21B .................................................................................................................. 48
Abort Option Code Index 0x6007 .............................................................................................................. 48
Serial Port Command Send Index 0x2000................................................................................................ 48

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COB-ID SYNC MESSAGE INDEX 0X1005

Type Access Units Range Map PDO Memory
Unsigned 32 RW - See SYNC ID Format, below. NO R
Description
This object defines the CAN object ID (COB-ID) associated with the SYNC message. The SYNC
message is a standard CANopen message type used to synchronize multiple devices on a
CANopen network.
SYNC ID Format
The SYNC message ID is formatted as follows:
Bits Description
0-10 Give the 11-bit identifier for standard (CAN 2.0A) identifiers, or the lower 11 bits for extended (CAN 2.0B)
identifiers.
11-28 Give the upper 18 bits of extended identifiers. For standard identifiers these bits should be written as zeros.
29 Identifier format. This bit is clear for standard (11-bit) identifiers, and set for extended (29-bit) identifiers.
30 If set, the amplifier is configured as the SYNC message producer. This bit should be set in at most one
amplifier on a network.
31 Reserved

COMMUNICATION CYCLE PERIOD INDEX 0X1006

Type Access Units Range Map PDO Memory
Unsigned 32 RW microseconds - NO R
Description
This object defines the interval between SYNC messages in units of microseconds.
An amplifier configured as a SYNC message producer will not produce SYNC messages unless
this object contains a non-zero value. A value of zero in this object disables SYNC message
production.
Amplifiers not configured to produce SYNC messages ignore the value of this object.

GUARD TIME INDEX 0X100C

Type Access Units Range Map PDO Memory
Unsigned 16 RW milliseconds - NO R
Description
This object gives the time between node-guarding requests that are sent from the network master
to this amplifier. The amplifier will respond to each request with a node-guarding message
indicating the internal state of the amplifier.
If the amplifier has not received a node-guarding request within the time period defined by the
product of the guard time and the Life Time Factor (index 0x100D, p. 47), the amplifier will treat
this lack of communication as a fault condition.

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LIFE TIME FACTOR INDEX 0X100D

Type Access Units Range Map PDO Memory
Unsigned 8 RW - - NO R
Description
This object gives a multiple of the GUARD Time (index 0x100C, p. 46). The amplifier expects to
receive a node-guarding request within the time period defined by the product of the guard time
and the lifetime factor. If the amplifier has not received a node-guarding request within this time
period, it treats this condition as a fault.

HIGH-RESOLUTION TIME STAMP INDEX 0X1013

Type Access Units Range Map PDO Memory
Unsigned 32 RW microseconds 0 - 294,967,295 YES R
Description
This object holds a time stamp indicating the amplifier's internal time (in microseconds) when the
last SYNC message was received (or transmitted for the SYNC producer). Writing to this object
will cause the amplifier to adjust its internal clocks to reconcile the difference between the value
passed and the internal value of the time stamp.
The purpose of this object is to allow multiple amplifiers to synchronize their clocks across the
CANopen network. To enable this feature, one amplifier should be selected as a high-resolution
time stamp producer. This amplifier should have a transmit PDO configured to transmit this object
to the rest of the network at a rate of approximately 10 Hertz (once every 100 milliseconds).
Every other amplifier should have a receive PDO configured (using the same COB-ID as the
producer's transmit PDO) to update its time stamp using the value passed by the producer.

PRODUCER HEARTBEAT TIME INDEX 0X1017

Type Access Units Range Map PDO Memory
Unsigned 16 RW milliseconds - NO R
Description
This object gives the frequency at which the amplifier will produce heartbeat messages. This
object may be set to zero to disable heartbeat production. Note that only one of the two node-
guarding methods may be used at once. If this object is non-zero, then the heartbeat protocol is
used regardless of the settings of the node-guarding time and lifetime factor.

EMERGENCY OBJECT ID INDEX 0X1014

Type Access Units Range Map PDO Memory
Unsigned 32 RW - - NO R
Description
CAN message ID used with the emergency object. See Emergency Messages, p. 42 and the
CANopen Application Layer and Communication Profile (DS 301).

EMERGENCY OBJECT ID INHIBIT TIME INDEX 0X1015

Type Access Units Range Map PDO Memory
Unsigned 16 RW milliseconds - NO R
Description
Inhibit time for the emergency object. See Emergency Messages, p. 42 and the CANopen
Application Layer and Communication Profile (DS 301).

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NETWORK OPTIONS INDEX 0X21B

Type Access Units Range Map PDO Memory
Unsigned 16 RW - - NO RF
Description
Network options. Configures the amplifier’s network.
CANopen
Bits Meaning
0 Must be clear to select CANopen networking.
1-15 Reserved

ABORT OPTION CODE INDEX 0X6007

Type Access Units Range Map PDO Memory
Integer 16 RW microseconds - RW RF
Description
Abort option code for CANopen / EtherCAT drives.

SERIAL PORT COMMAND SEND INDEX 0X2000

Type Access Units Range Map PDO Memory
Integer 32 RW - - No RF
Description
Used to send serial port commands over a CANopen/EtherCAT bus. See section 2.3: Sending
Serial Commands over CANopen (p. 49).

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2.3: Sending Serial Commands over CANopen

Contents of this Section
This section describes how serial commands over a CANopen network are sent to and retrived
from an amplifier. Topics include:
Overview....................................................................................................................................................... 50
Byte order ..................................................................................................................................................... 50

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Overview
CANopen object 0x2000 (sub-index 0) is used to send serial commands and retrieve the response
from the amplifier. Each serial command consists of two parts, a command message sent to the
amplifier, and a response message retrieved from it.
Sending a command to the amplifier is done by writing to CANopen object 0x2000. The first byte
sent is the command code of the serial command to be executed. This is followed by any data
bytes that are required for the command. Then, the response from the amplifier is retrieved by
reading from object 0x2000. The first byte received will be an error code (same error codes as
used in the serial interface). This is followed by zero or more bytes of response data.
For example:
To read actual position, the following bytes would be written to object 0x2000 using an SDO
transfer:
0x0C 0x17 0x00
The first byte (0x0C) is the command code for a GET command. The second and third bytes
(0x17 0x00) make up the one word of data passed to a GET command. This data word (0x0017)
is the variable ID that is to be read (in this case, variable 0x17, which is the actual position). The
response is read from an SDO reading back the value of object 0x2000.
For example:
If the following data bytes were read from 0x2000:
0x00 0x34 0x12 0x78 0x56
The first byte gives an error code. A zero here indicates no error. The next four bytes are the
position read back from the amplifier. In this case, the position read back is 0x12345678.
Byte order
The byte order of data sent to or from the amplifier requires some further explanation.
The amplifier (serial port interface) works internally with 16-bit words of data. All serial commands
take zero or more words of data and return zero or more words. When 32-bit values are passed
to or from the amplifier, they are always sent most significant word first. When this array of 16-bit
words of data is sent over the CANopen interface, each word of data is split into two bytes.
CANopen always sends data least significant byte first. Therefore, when a 32-bit value is sent over
the CANopen interface, it's first split into two 16-bit words (most significant word followed by least
significant word). Then, each word is split into two bytes using the CANopen standard of least
significant byte followed by most significant.
For example:
The 32-bit value 0x12345678 would first be split into the words 0x1234 0x5678. These two words
would then be split into the bytes 0x34 0x12 0x78 0x56.
Any serial command that is processed by the main amplifier firmware (as opposed to the boot
loader) can be sent over the CANopen interface using this method. Any command that needs to
be sent to the boot loader (such as a firmware upload) cannot be sent using this method.

50 Copley Controls
CHAPTER
3: DEVICE CONTROL, CONFIGURATION,
AND STATUS
This chapter describes a wide range of device control, configuration, and status methods and
objects.
Contents include:
3.1: Device Control and Status Overview .................................................................................................... 52
3.2: Device Control and Status Objects ....................................................................................................... 57
3.3: Error Management Objects ................................................................................................................... 66
3.4: Basic Amplifier Configuration Objects................................................................................................... 70
3.5: Basic Motor Configuration Objects ....................................................................................................... 89
3.6: Real-time Amplifier and Motor Status Objects .................................................................................... 110

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3.1: Device Control and Status Overview

Contents of this Section
This section describes the objects and functions used to control the status of an amplifier.
Topics include:
Control Word, Status Word, and Device Control Function .......................................................................... 53
State Changes Diagram ............................................................................................................................... 55

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Control Word, Status Word, and Device Control Function

Device Control Function Block
The CANopen Profile for Drives and Motion Control (DSP 402) describes control of the amplifier in
terms of a control function block with two major sub-elements: the operation modes and the state
machine.
Control and Status Words
As illustrated below, the Control Word object (index 0x6040, p. 58) manages device mode and
state changes. The Status Word object (index 0x6041, p. 58) identifies the current state of the
amplifier. The Mode Of Operation object (index 0x6060, p. 64) sets the amplifier’s operating
mode.
Control Word (0x6040)

Device Control Function Digital Inputs

Operation Mode
Homing, Profile Position Fault
Profile Velocity, State Machine
Interpolated Position
CSP, CSV, CST Modes of Operation (0x6060)

Status Word (0x6041)

Other factors affecting control functions include: digital input signals, fault conditions, and settings
in various dictionary objects.
Operation Modes
As controlled by the Mode Of Operation object (index 0x6060, p. 64), Copley Controls CANopen
amplifiers support homing, profile position, profile velocity, profile torque, and interpolated position
modes.
State Machine Nesting
Note that the Communication Profile also specifies a state machine, with three states: pre-
operational, operational, and stopped. The entire device control function block described in this
chapter, including the device state machine, operates in the operational state of the
Communication Profile state machine.

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State Machine and States

The state machine describes the status and possible control sequences of the drive. The state
also determines which commands are accepted.
States are described below:
State Description
Not Ready to Switch On Low-level power (e.g. _ 15V, 5V) has been applied to the drive.
The drive is being initialized or is running self-test.
A brake, if present, is applied in this state.
The drive function is disabled.
Switch On Disabled Drive initialization is complete.
The drive parameters have been set up.
Drive parameters may be changed.
The drive function is disabled.
Ready to Switch On The drive parameters may be changed.
The drive function is disabled.
Switched On High voltage has been applied to the drive.
The power amplifier is ready.
The drive parameters may be changed.
The drive function is disabled.
Operation Enable No faults have been detected.
The drive function is enabled and power is applied to the motor.
The drive parameters may be changed.
(This corresponds to normal operation of the drive.)
Quick Stop Active The drive parameters may be changed.
The quick stop function is being executed.
The drive function is enabled and power is applied to the motor.
If the ‘Quick-Stop-Option-Code’ is switched to 5 (Stay in Quick-Stop), the amplifier cannot
exit the Quick-Stop-State, but can be transmitted to ‘Operation Enable’ with the command
‘Enable Operation.”
Fault Reaction Active The drive parameters may be changed.
A non-fatal fault has occurred in the drive.
The quick stop function is being executed.
The drive function is enabled and power is applied to the motor.
Fault The drive parameters may be changed.
A fault has occurred in the drive.
The drive function is disabled.

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State Changes Diagram

Diagram
The following diagram from the CANopen Profile for Drives and Motion Control (DSP 402) shows
the possible state change sequences of an amplifier. Each transition is numbered and described
in the legend below.

State Changes Diagram Legend

From State To State Event/Action
0 Startup Not Ready to Event: Reset.
Switch On Action: The drive self-tests and/or self-initializes.
1 Not Ready to Switch On Event: The drive has self-tested and/or initialized successfully.
Switch On Disabled Action: Activate communication and process data monitoring
2 Switch On Ready to Event: 'Shutdown' command received from host.
Disabled Switch On Action: None
3 Ready to Switched On Event: 'Switch On' command received from host.
Switch On Action: The power section is switched on if it is not already switched on.
4 Switched On Operation Event: 'Enable Operation' command received from host.
Enable Action: The drive function is enabled.
5 Operation Switched On Event: 'Disable Operation' command received from host.
Enable Action: The drive operation is disabled.
6 Switched On Ready to Event: 'Shutdown' command received from host.
Switch On Action: The power section is switched off.
7 Ready to Switch On Event: 'Quick stop' command received from host.
Switch On Disabled Action: None
8 Operation Ready to Event: 'Shutdown' command received from host.
Enable Switch On Action: The power section is switched off immediately, and the motor is free to
rotate if unbraked
Continued….

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…State Changes Diagram Legend, continued:

From State To State Event/Action
9 Operation Switch On Event: 'Disable Voltage' command received from host.
Enable Disabled Action: The power section is switched off immediately, and the motor is free to
rotate if unbraked
10 Switched On Switch On Event: 'Disable Voltage' or 'Quick Stop' command received from host.
Disabled Action: The power section is switched off immediately, and the motor is free to
rotate if unbraked
11 Operation Quick Stop Event: 'Quick Stop' command received from host.
Enable Active Action: The Quick Stop function is executed.
12 Quick Stop Switch On Event: 'Quick Stop' is completed or 'Disable Voltage' command received from
Active Disabled host. This transition is possible if the Quick-Stop-Option-Code is not 5 (Stay in
Quick-Stop)
Action: The power section is switched off.
13 FAULT Fault A fatal fault has occurred in the drive.
Reaction Action: Execute appropriate fault reaction.
Active
14 Fault Fault Event: The fault reaction is completed.
Reaction Action: The drive function is disabled. The power section may be switched off.
Active
15 Fault Switch On Event: 'Fault Reset' command received from host.
Disabled Action: A reset of the fault condition is carried out if no fault exists currently on
the drive.
After leaving the 'Fault' state the Bit 'Fault Reset' of the Control Word has to be
cleared by the host.
16 Quick Stop Operation Event: 'Enable Operation' command received from host. This transition is
Active Enable possible if the Quick-Stop-Option-Code is 5, 6, 7, or 8 (see the Quick Stop
Option Code object, index 0x6085, p. 63).
Action: The drive function is enabled.

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3.2: Device Control and Status Objects

Contents of this Section
This section describes the objects used to control the status of an amplifier.
They include:
Control Word Index: 0x6040 ..................................................................................................................... 58
Status Word Index 0x6041 ...................................................................................................................... 58
Manufacturer Status Register Index 0x1002............................................................................................. 60
Network Status Word Index 0x21B4 ......................................................................................................... 61
'Sticky' Event Status Register Index 0x2180 ............................................................................................. 62
Latched Event Status Register Index 0x2181 ........................................................................................... 62
Limit Status Mask Index 0x2184 ............................................................................................................... 62
Quick Stop Option Code Index 0x605A .................................................................................................... 63
Shutdown Option Code Index 0x605B ...................................................................................................... 63
Disable Operation Option Code Index 0x605C ......................................................................................... 63
Halt Option Code Index 0x605D ............................................................................................................... 64
Mode Of Operation Index 0x6060 ............................................................................................................. 64
Mode Of Operation Display Index 0x6061 ................................................................................................ 64
Position Offset in CST Mode Index 0x60B0.............................................................................................. 64
Velocity Offset in CSV Mode Index 0x60B1 .............................................................................................. 65
Velocity Offset in CSV Mode Index 0x60B2 .............................................................................................. 65
Desired State Index 0x2300 ...................................................................................................................... 65

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CONTROL WORD INDEX: 0X6040

Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. EVENT R
Description
This object is used to controls the state of the amplifier. It can be used to enable / disable the
amplifier output, start, and abort moves in all operating modes, and clear fault conditions.
Control Word Bit Mapping
The value programmed into this object is bit-mapped as follows:
Bits Description
0 Switch On. This bit must be set to enable the amplifier.
1 Enable Voltage. This bit must be set to enable the amplifier.
2 Quick Stop. If this bit is clear, then the amplifier is commanded to perform a quick stop.
3 Enable Operation. This bit must be set to enable the amplifier.
4-6 Operation mode specific. Descriptions appear in the sections that describe the various operating modes. Also
see Mode Of Operation (index 0x6060, p. 64).
7 Reset Fault. A low-to-high transition of this bit makes the amplifier attempt to clear any latched fault condition.
8 Halt. If the bit is set, the amplifier will perform a halt.
9-15 Reserved for future use.

STATUS WORD INDEX 0X6041

Type Access Units Range Map PDO Memory
Unsigned 16 RO - See Description, below. Event -
Description
This object identifies the current state of the amplifier and is bit-mapped as follows:
Bits Description
0 Ready to switch on.
1 Switched on.
2 Operation Enabled. Set when the amplifier is enabled.
3 Fault. If set, a latched fault condition is present in the amplifier.
4 Voltage enabled. Set if the amplifier bus voltage is above the minimum necessary for normal operation.
5 Quick Stop. When clear, the amplifier is performing a quick stop.
6 Switch on disabled.
7 Warning. Set if a warning condition is present on the amplifier. Read the Manufacturer Status Register object
(index 0x1002, p. 60) for details of what warning is bit indicates.
8 Set if the last trajectory was aborted rather than finishing normally.
9 Remote. Set when the amplifier is being controlled by the CANopen interface. When clear, the amplifier may
be monitored through this interface, but some other input source is controlling it. Other input sources include
the serial port, amplifier CVM program, analog reference input, digital command signals (i.e. PWM input or
master controller), and internal function generator. The input source is controlled by the 'amplifier desired
state' value, which is normally programmed by the CME-2 software. This setting can be manipulated through
the CANopen interface through the Desired State object (index 0x2300, p. 65).
10 Target Reached. This bit is set when the amplifier is finished running a trajectory, and the Position Error
(index 0x60F4, p. 139) has been within the Position Tracking Window (index 0x6067, p. 138) for the
programmed time. The bit is not cleared until a new trajectory is started.
11 Internal Limit Active. This bit is set when one of the amplifier limits (current, voltage, velocity or position) is
active. The specific bits from the Manufacturer Status Register (index 0x1002, p. 60) that cause this bit to be
set can be customized by using the mask defined in the Limit Status Mask object (index 0x2184, p. 62).
Continued…

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…continued:
12-13 The meanings of these bits are operation mode specific:
Bit Profile Position Profile Velocity Profile Torque Homing Mode Interpolated
Mode Mode Mode Position Mode
12 Setpoint Speed = 0. Reserved Homing attained. Interpolated pos.
acknowledge. mode active.
13 Following error. Maximum Reserved. Homing error. Reserved.
slippage error.
For information on operation modes, see Mode Of Operation (index 0x6060, p. 64).
14 Set when the amplifier is performing a move and cleared when the trajectory finishes. This bit is cleared
immediately at the end of the move, not after the motor has settled into position.
15 Reserved.

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MANUFACTURER STATUS REGISTER INDEX 0X1002

Type Access Units Range Map PDO Memory
Unsigned 32 RO - See Description, below. EVENT -
Description
This 32-bit object is a bit-mapped status register with the following fields:
Bit Description
0 Short circuit detected
1 Amplifier over temperature
2 Over voltage
3 Under voltage
4 Motor temperature sensor active
5 Feedback error
6 Motor phasing error
7 Current output limited
8 Voltage output limited
9 Positive limit switch active
10 Negative limit switch active
11 Enable input not active
12 Amp is disabled by software
13 Trying to stop motor
14 Motor brake activated
15 PWM outputs disabled
16 Positive software limit condition
17 Negative software limit condition
18 Tracking error
19 Tracking warning
20 Amplifier is currently in a reset condition
21 Position has wrapped. The Position variable cannot increase indefinitely. After reaching a certain value the
variable rolls back. This type of counting is called position wrapping or modulo count.
22 Amplifier fault. See the fault latch for more info.
23 Velocity limit has been reached.
24 Acceleration limit has been reached.
25 Position Error (index 0x60F4, p. 139) is outside Position Tracking Window (index 0x6067, p. 138).
26 Home switch is active.
27 In motion. This bit is set when the amplifier is finished running a trajectory, and the Position Error (index
0x60F4, p. 139) has been within the Position Tracking Window (index 0x6067, p. 138) for the programmed
time. The bit is not cleared until a new trajectory is started.
28 Velocity window. Set if the absolute velocity error exceeds the velocity window value.
29 Phase not yet initialized. If the amplifier is phasing with no Halls, this bit is set until the amplifier has initialized
its phase.
30 Command fault. PWM or other command signal not present. . If Allow 100% Output option is enabled, by a
setting Bit 3 of Digital Input Command Configuration (Object 0x2320, p. 121), this fault will not detect a
missing PWM command.

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NETWORK STATUS WORD INDEX 0X21B4

Type Access Units Range Map PDO Memory
Integer 16 RO - - EVENT -
Description
Network status word. Bit mapped as follows:
CANopen
Bits Meaning
0-1 CANopen node status. This field will take one of the following values:
Value Status
0 The CANopen interface is disabled.
1 Stopped mode.
2 Preoperational mode.
3 Operational mode.
4 Set if the CANopen SYNC message is missing.
5 Set on a CANopen guard error.
8 Set if the CAN port is in 'bus off' state.
9 Set if the CAN port is in 'transmit error passive' state.
10 Set if the CAN port is in 'receive error passive' state.
11 Set if the CAN port is in 'transmit warning' state.
12 Set if the CAN port is in 'receive warning' state.
DeviceNet
Bit Meaning
0 Set if duplicate MAC ID check failed.
1 Set if device is online.
2 Set if at least one communication object timed out.
3 Set if at least one communication object has been established.
4-7 Reserved.
8-14 Same bit mapping as for CANopen.
15 Always set for DeviceNet.
MACRO
Bit Meaning
0 Set if the MACRO network is detected,
1 Set if the amplifier is being disabled by the MACRO master.
2 Set if the MACRO network has been broken (i.e. once detected but now gone).
3 Set on heartbeat error.
4-15 Reserved.
EtherCAT
Bit Meaning
0 Set if distributed clock is enabled (SYNC0 enabled and period set to a legal value).
1 Set if distributed clock is locked.
2 If the distributed clock is locked, this bit identifies whether it is locked to the current loop period (0), or position
loop period (1).
3-15 Reserved

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'STICKY' EVENT STATUS REGISTER INDEX 0X2180

Type Access Units Range Map PDO Memory
Unsigned 32 RO - - YES -
Description
Sticky Amplifier Event Status Register. This read-only parameter is bit-mapped in exactly the
same way as the Manufacturer Status Register (index 0x1002, p. 60), but instead of giving the
present status of the amplifier, the sticky version indicates any bits in the Manufacturer Status
Register that have been set since the last reading of the sticky register.
The sticky register is similar to the Latched Event Status Register (index 0x2181, p. 62), but the
latched register must be cleared explicitly, whereas the sticky register is cleared automatically
each time it is read.

LATCHED EVENT STATUS REGISTER INDEX 0X2181

Type Access Units Range Map PDO Memory
Unsigned 32 RC - - YES R
Description
This is a latched version of the Manufacturer Status Register object (index 0x1002, p. 60). Bits are
set by the amplifier when events occur. Bits are cleared only by a set command.
When writing to the Latched Event Status Register, any bit set in the written value will cause the
corresponding bit in the register to be cleared. For example, writing the value 0x0010020C would
clear bits 2, 3, 9, and 20. To clear the short circuit detected bit, write a 1 to the register. To clear
all bits, write 0xFFFFFFFF to the register.

LIMIT STATUS MASK INDEX 0X2184

Type Access Units Range Map PDO Memory
Unsigned 32 RW - - YES RF
Description
This parameter defines which bits in the Manufacturer Status Register object (index 0x1002, p. 60)
can set the limit bit (bit 11) of the Status Word object (index 0x6041, p. 58). If a Manufacturer
Status Register bit and its corresponding Limit Mask bit are both set, then the CANopen Status
Word limit bit is set. If all selected a Manufacturer Status Register bits are clear, then the limit bit
is clear.

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QUICK STOP OPTION CODE INDEX 0X605A

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO R
Description
This object defines the behavior of the amplifier when a quick stop command is issued. The
following values are defined.
Value Description
0 Disable the amplifier's outputs
1 Slow down using the normal slow down ramp programmed in Profile Deceleration (index 0x6084, p. 204).
When the move has been successfully aborted the amplifier's state will transition to the 'switch on disabled'
state.
2 Slow down using the quick stop ramp programmed in Quick Stop Deceleration (index 0x6085, p. 205) then
transition to 'switch on disabled'.
3 Stop the move abruptly and transition to 'switch on disabled'.
5 Slow down using the slow down ramp. The amplifier state will remain in the 'quick stop' state after the move
has been finished.
6 Slow down using the quick stop ramp and stay in 'quick stop' state.
7 Stop the move abruptly and stay in 'quick stop' state.

All other values will produce unspecified results and should not be used.

SHUTDOWN OPTION CODE INDEX 0X605B

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO R
Description
This object defines the behavior of the amplifier when the amplifier's state is changed from
“operation enabled” to “ready to switch on.” The following values are defined:
Value Description
0 Disable the amplifier's outputs.
1 Slow down using the slow down ramp (i.e. the normal move deceleration value).

All other values will produce unspecified results and should not be used.

DISABLE OPERATION OPTION CODE INDEX 0X605C

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO R
Description
This object defines the behavior of the amplifier when the amplifier's state is changed from
“operation enabled” to “switched on.” The following values are defined.
Value Description
0 Disable the amplifier's outputs.
1 Slow down using the slow down ramp (i.e. the normal move deceleration value).

All other values will produce unspecified results and should not be used.

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HALT OPTION CODE INDEX 0X605D

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO R
Description
This object defines the behavior of the amplifier when a halt command is issued. The following
values are defined.
Value Description
0 Disable the amplifier's outputs.
1 Slow down using the slow down ramp (i.e. the normal move deceleration value).
2 Slow down using the quick stop ramp.
3 Stop the move abruptly.

All other values will produce unspecified results and should not be used.

MODE OF OPERATION INDEX 0X6060

Type Access Units Range Map PDO Memory
Integer 8 RW - See Description, below. YES R
Description
This object selects the amplifier's mode of operation. The modes of operation presently supported
by this device are:
Mode Description
1 Profile Position mode.
3 Profile Velocity mode.
4 Profile Torque mode.
6 Homing mode.
7 Interpolated Position mode.
8 Cyclic Synchronous Position mode.
9 Cyclic Synchronous Velocity mode.
10 Cyclic Synchronous Torque mode.

The amplifier will not accept other values.

Note that there may be some delay between setting the mode of operation and the amplifier
assuming that mode. To read the active mode of operation, use object 0x6061.

MODE OF OPERATION DISPLAY INDEX 0X6061

Type Access Units Range Map PDO Memory
Integer 8 RO - See Description, below. EVENT -
Description
This object displays the current mode of operation. See Mode Of Operation (index 0x6060, p. 64).

POSITION OFFSET IN CST MODE INDEX 0X60B0

Type Access Units Range Map PDO Memory
Integer 32 RW - User defined units YES -
Description
This object provides the offset for a target position.

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VELOCITY OFFSET IN CSV MODE INDEX 0X60B1

Type Access Units Range Map PDO Memory
Integer 32 RW - User defined units YES -
Description
This object provides the offset for a target velocity. For more information see section (p. Error!
Bookmark not defined.).

VELOCITY OFFSET IN CSV MODE INDEX 0X60B2

Type Access Units Range Map PDO Memory
Integer 32 RW - User defined units YES -
Description
This object provides the offset for a target torque. For more information see section (p. Error!
Bookmark not defined.).

DESIRED STATE INDEX 0X2300

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO RF
Description
This object defines what input source controls the amplifier, and what general mode the amplifier
runs in. It is encoded as follows:
Code Description
0 Disabled.
1 The current loop is driven by the programmed current value.
2 The current loop is driven by the analog command input.
3 The current loop is driven by the PWM & direction input pins.
4 The current loop is driven by the internal function generator.
5 The current loop is driven by UV commands via PWM inputs.
11 The velocity loop is driven by the programmed velocity value.
12 The velocity loop is driven by the analog command input.
13 The velocity loop is driven by the PWM & direction input pins.
14 The velocity loop is driven by the internal function generator.
21 In servo mode, the position loop is driven by the trajectory generator.
22 In servo mode, the position loop is driven by the analog command input.
23 In servo mode, the position loop is driven by the digital inputs (pulse & direction, master encoder, etc).
24 In servo mode, the position loop is driven by the internal function generator.
25 In servo mode, the position loop is driven by the camming function.
30 In servo mode, the position loop is driven by the CANopen interface.
31 In microstepping mode, the position loop is driven by the trajectory generator.
33 In microstepping mode, the position loop is driven by the digital inputs (pulse & direction, master encoder,
etc).
34 In microstepping mode, the position loop is driven by the internal function generator.
35 In microstepping mode, the position loop is driven by the camming function.
40 In microstepping mode, the amplifier is driven by the CANopen interface.
42 Micro-stepping diagnostic mode. The current loop is driven by the programmed current value, and the phase
angle is micro-stepped.
Unlisted codes are reserved.

Note that this object should normally be programmed to 30 (or 40 for stepper motors) for use
under the CANopen interface.

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3.3: Error Management Objects

Contents of this Section
This section describes objects used to view error status and define error limits and error handling.
They include:
Pre-Defined Error Object Index 0x1003 .................................................................................................... 67
Number of Errors Index 0x1003, Sub-Index 0 ............................................................................. 67
Standard Error Field Index 0x1003, Sub-Index 1-8.......................................................................... 67
Error Register Index 0x1001 ..................................................................................................................... 67
Tracking Error Window Index 0x2120 ....................................................................................................... 67
Fault Mask Index 0x2182 .......................................................................................................................... 68
Latching Fault Status Register Index 0x2183............................................................................................ 69
Status of Safety Circuit Index 0x219D ....................................................................................................... 69

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PRE-DEFINED ERROR OBJECT INDEX 0X1003

Type Access Units Range Map PDO Memory
Array RW - - NO R
Description
This object provides an error history. Each sub-index object holds an error that has occurred on
the device and has been signaled via the Emergency Object. See Emergency Messages (p. 42).
The entry at sub-index 0 contains the number of errors that are recorded in the array starting at
sub-index 1. Each new error is stored at sub-index 1. Older errors move down the list.

NUMBER OF ERRORS INDEX 0X1003, SUB-INDEX 0

Type Access Units Range Map PDO Memory
Unsigned 8 RW - 0-8 NO R
Number of errors in the error history (number of sub-index objects 1-8). Writing a 0 deletes the
error history (empties the array). Writing a value higher than 0 results in an error.

STANDARD ERROR FIELD INDEX 0X1003, SUB-INDEX 1-8

Type Access Units Range Map PDO Memory
Unsigned 32 RW - - NO R
Description
One sub-index object for each error found, up to 8 errors. Each is composed of a 16-bit error code
and a 16-bit additional error information field. The error code is contained in the lower 2 bytes
(LSB) and the additional information is included in the upper 2 bytes (MSB).

ERROR REGISTER INDEX 0X1001

Type Access Units Range Map PDO Memory
Unsigned 8 RO - See Description, below. YES -
Description
This object is a bit-mapped list of error conditions present in the amplifier. The bits used in this
register are mapped as follows:
Bits Description
0 Generic error. This bit is set any time there is an error condition in the amplifier.
1 Current error. Indicates either a short circuit on the motor outputs, or excessive current draw by the encoder.
2 Voltage error. The DC bus voltage supplied to the amplifier is either over or under the amplifier's limits.
3 Temperature error. Either the amplifier or motor is over temperature. Note that the amplifier will only detect a
motor over temperature condition if an amplifier input has been configured to detect this condition.
4 Communication error. The amplifier does not presently use this bit.
5-6 Reserved for future use.
7 The following errors cause this bit to be set; Motor phasing error, tracking error, limit switch active.

TRACKING ERROR WINDOW INDEX 0X2120

Type Access Units Range Map PDO Memory
Integer 32 RW Counts 0 - 2,147,483,647 YES RF
Description
Also known as Position Tracking Error Limit. Specifies the maximum absolute Position Error
(index 0x60F4, p. 139) allowed before a tracking error event is triggered. If the Position Error
exceeds this value, then the tracking warning bit (bit 18) is set in the Manufacturer Status Register
(index 0x1002, p. 60).Using the Fault Mask object (index 0x2182, p. 68), the tracking error event
can be configured to either disable the amplifier immediately, or abort the present move and
continue holding position.

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FAULT MASK INDEX 0X2182

Type Access Units Range Map PDO Memory
Unsigned 32 RW - See Description, below. YES RF
Description
This variable is used to configure which amplifier events cause latching faults. Setting a fault mask
bit to 1 causes the associated amplifier event to cause a latching fault when it occurs. Setting a
fault mask bit to 0 disables fault latching on the associated event.
Latched faults may cleared using the Latching Fault Status Register Object (index 0x2183, p. 69).
The fault mask is bit-mapped as follows:
Bits Contents
0 Data flash CRC failure. This bit is read only and cannot be cleared. It indicates that the amplifier detected
corrupted flash data values on startup. The amplifier will remain disabled and indicate a fault condition.
1 Amplifier internal error. This bit is read only and cannot be cleared. It indicates that the amplifier failed its
power-on self-test. The amplifier will remain disabled and indicate a fault condition.
2 Short circuit. If set, then the amplifier will latch a fault condition when a short circuit is detected on the motor
outputs. If clear, the amplifier will disable its outputs for 100 milliseconds and then re-enable.
3 Amplifier over temperature. If set, this bit will cause an amplifier over temperature condition to act as a
latching fault. If clear, the amplifier will re-enable as soon as it cools sufficiently.
4 Motor over temperature. If set, an active input on a motor temperature sensor will cause the amplifier to latch
a fault condition. If clear, the amplifier will re-enable as soon as the over temperature input becomes inactive.
5 Over voltage. Determines whether excessive bus voltage will cause a latching fault.
6 Under voltage. Determines whether inadequate bus voltage will cause a latching fault.
7 Feedback fault. Allows encoder power errors to cause latching faults. Feedback faults occur if: a digital
encoder draws too much current from the 5-volt source on the amplifier; a resolver or analog encoder is
disconnected; a resolver or analog encoder has levels out of tolerance. This is not available for all amps.
8 Phasing error. If set, phasing errors are latched. If clear, the amplifier is re-enabled when the phasing error is
removed.
9 Tracking error. If set, a tracking error will cause the amplifier to latch in the disabled state. If clear, a tracking
error will cause the present move to be aborted, but the amplifier will remain enabled.
2
10 Output current limited by I T algorithm.
11 FPGA failure. This bit is read only and cannot be cleared. It indicates that the amplifier detected an FPGA
failure. The amplifier will remain disabled and indicate a fault condition.
12 Command input lost fault. If set: programs the amplifier to latch in the disabled state when the command input
is lost. This fault is currently only available on special amplifiers.
13-31 Reserved

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LATCHING FAULT STATUS REGISTER INDEX 0X2183

Type Access Units Range Map PDO Memory
Unsigned 32 RC - - YES R
Description
Bit-mapped to show which latching faults have occurred in the amplifier. When a latching fault has
occurred, the fault bit (bit 22) of the Manufacturer Status Register object (index 0x1002, p. 60) is
set. The cause of the fault can be read from this register.
To clear a fault condition, write a 1 to the associated bit in this register.
The events that cause the amplifier to latch a fault are programmable. See Fault Mask object
(index 0x2182, p. 68) for details.
Latched Faults
Bit Fault Description
0 Data flash CRC failure. This fault is considered fatal and cannot be cleared.
1 Amplifier internal error. This fault is considered fatal and cannot be cleared.
2 Short circuit.
3 Amplifier over temperature.
4 Motor over temperature.
5 Over voltage.
6 Under voltage.
7 Feedback fault.
8 Phasing error.
9 Tracking error.
10 Over Current,
11 FPGA failure.
12 Command input lost.
13 FPGA failure (yes, there are two bits for this, they mean slightly different things)
14 Safety circuit fault.
15 Unable to control current.
16-31 Reserved.

STATUS OF SAFETY CIRCUIT INDEX 0X219D

Type Access Units Range Map PDO Memory
Integer32 - - R
Description
This parameter allows the status of the safety circuit built into some amplifiers to be queried. For
amplifiers without a safety circuit, this parameter is reserved.
Bit Description
0 Set when safety input 0 is preventing the amplifier from enabling.
1 Set when safety input 1 is preventing the amplifier from enabling.
8 This read/write bit can be used to force the ‘amplifier is unsafe’ output of the safety circuit to go active for
testing purposes. Write 1 to force.

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3.4: Basic Amplifier Configuration Objects

Objects described in this section provide access to basic amplifier parameters. They include:
They include:
Device Type Index 0x1000 ...................................................................................................................... 72
Device Name Index 0x1008 ...................................................................................................................... 72
Hardware Version String Index 0x1009 ..................................................................................................... 72
Store Parameters Index 0x1010................................................................................................................ 72
Store All Objects Index 0x1010, Sub-index 1 or string ............................................................... 72
Store Communication Parameters Index 0x1010, Sub-index 2 ............................................................ 73
Store Device Profile Parameters Index 0x1010, Sub-index 3 ............................................................... 73
Store Manufacturer Specific Parameters Index 0x1010, Sub-Index 4 .................................................. 73
Software Version Number Index 0x100A .................................................................................................. 73
Identity Object Index 0x1018 ..................................................................................................................... 73
Vendor ID Index 0x1018, Sub-index 1 ............................................................................. 74
Product Code Index 0x1018, Sub-index 2 ............................................................................. 74
Revision Number Index 0x1018, Sub-Index 3 ............................................................................. 75
Serial Number Index 0x1018, Sub-Index 4 ............................................................................. 75
Amplifier Scaling Configuration Index 0x2080........................................................................................... 75
Amplifier Name Index 0x21A0 ................................................................................................................... 76
Misc Amplifier Options Register Index 0x2420 ......................................................................................... 76
CANopen Network Configuration Index 0x21B0 ....................................................................................... 77
Input Mapping for CAN Node ID Index 0x21B1......................................................................................... 78
CAN ID Selection Switch Value Index 0x2197 .......................................................................................... 78
Multi-Mode Port Configuration Index 0x2241 ............................................................................................ 78
Supported Drive Modes Index 0x6502 ...................................................................................................... 79
Amplifier Model Number Index 0x6503 ..................................................................................................... 79
Amplifier Manufacturer Index 0x6504 ....................................................................................................... 79
Manufacturer's Web Address Index 0x6505 ............................................................................................. 79
Servo Loop Config Index 0x2301 .............................................................................................................. 80
Amplifier Data Index 0x2384 ..................................................................................................................... 80
Amplifier Serial Number Index 0x2384, Sub-Index 1 ............................................................................. 80
Amplifier Date Code Index 0x2384, Sub-Index 2 ............................................................................. 80
Amplifier Peak Current Index 0x2384, Sub-Index 3 ............................................................................. 80
Amplifier Continuous Current Index 0x2384, Sub-Index 4 .................................................................... 80
Amplifier Peak Current Time Index 0x2384, Sub-Index 5 ..................................................................... 80
Amplifier Maximum Voltage Index 0x2384, Sub-Index 6 ...................................................................... 81
Amplifier Minimum Voltage Index 0x2384, Sub-Index 7 ....................................................................... 81
Amplifier Voltage Hysteresis Index 0x2384, Sub-Index 8 ..................................................................... 81
Amplifier Maximum Temperature Index 0x2384, Sub-Index 9 .............................................................. 81
Amplifier Temperature Hysteresis Index 0x2384, Sub-Index 10 ........................................................... 81
Amplifier Current Loop Period Index 0x2384, Sub-Index 11 ................................................................. 81
Amplifier Servo Loop Period Index 0x2384, Sub-Index 12.................................................................... 81
Amplifier Type Code Index 0x2384, Sub-Index 13 ........................................................................... 81
Current Corresponding to Max A/D Reading Index 0x2384, Sub-Index 14........................................... 82
Voltage Corresponding to Max A/D Reading Index 0x2384, Sub-Index 15 .......................................... 82
Analog Input Scaling Factor Index 0x2384, Sub-Index 16 .................................................................... 82
Amplifier Minimum PWM Off Time Index 0x2384, Sub-Index 17.......................................................... 82
PWM Dead Time At Continuous Current Limit Index 0x2384, Sub-Index 18 ....................................... 82
PWM Dead Time At Zero Current Index 0x2384, Sub-Index 19 ........................................................... 82
Peak Current Internal Regen Resistor Index 0x2384, Sub-Index 20 .................................................... 82
Continuous Current Internal Regen Resistor Index 0x2384, Sub-Index 21 .......................................... 82
Time at Peak Current Internal Regen Resistor Index 0x2384, Sub-Index 22 ....................................... 82
Analog Encoder Scaling Factor Index 0x2384, Sub-Index 23 ............................................................... 83
Firmware Version Number Index 0x2384, Sub-Index 24 ...................................................................... 83

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Axis Count Index 0x2384, Sub-Index 25 ........................................................................... 83

Internal Regen Current Index 0x2384, Sub-Index 26 ........................................................................... 83
FPGA Image Version Index 0x2384, Sub-Index 27 ........................................................................... 83
Secondary Firmware Version Index 0x2384, Sub-Index 28 .................................................................. 83
Amplifier Data Index 0x6510 ..................................................................................................................... 83
Amplifier Serial Number Index 0x6510, Sub-Index 1 ............................................................................. 83
Amplifier Date Code Index 0x6510, Sub-Index 2 ............................................................................. 84
Amplifier Peak Current Index 0x6510, Sub-Index 3 ............................................................................. 84
Amplifier Continuous Current Index 0x6510, Sub-Index 4 .................................................................... 84
Amplifier Peak Current Time Index 0x6510, Sub-Index 5 ..................................................................... 84
Amplifier Maximum Voltage Index 0x6510, Sub-Index 6 ...................................................................... 84
Amplifier Minimum Voltage Index 0x6510, Sub-Index 7 ....................................................................... 84
Amplifier Voltage Hysteresis Index 0x6510, Sub-Index 8 ..................................................................... 84
Amplifier Maximum Temperature Index 0x6510, Sub-Index 9 .............................................................. 84
Amplifier Temperature Hysteresis Index 0x6510, Sub-Index 10 ........................................................... 85
Amplifier Current Loop Period Index 0x6510, Sub-Index 11 ................................................................. 85
Amplifier Servo Loop Period Index 0x6510, Sub-Index 12.................................................................... 85
Amplifier Type Code Index 0x6510, Sub-Index 13 ........................................................................... 85
Current Corresponding to Max A/D Reading Index 0x6510, Sub-Index 14........................................... 85
Voltage Corresponding to Max A/D Reading Index 0x6510, Sub-Index 15 .......................................... 85
Analog Input Scaling Factor Index 0x6510, Sub-Index 16 .................................................................... 85
Amplifier Minimum PWM Off Time Index 0x6510, Sub-Index 17.......................................................... 85
PWM Dead Time At Continuous Current Limit Index 0x6510, Sub-Index 18 ....................................... 86
PWM Dead Time At Zero Current Index 0x6510, Sub-Index 19 ........................................................... 86
Peak Current Internal Regen Resistor Index 0x6510, Sub-Index 20 .................................................... 86
Continuous Current Internal Regen Resistor Index 0x6510, Sub-Index 21 .......................................... 86
Time at Peak Current Internal Regen Resistor Index 0x6510, Sub-Index 22 ....................................... 86
Analog Encoder Scaling Factor Index 0x6510, Sub-Index 23 ............................................................... 86
Firmware Version Number Index 0x6510, Sub-Index 24 ...................................................................... 86
Axis Count Index 0x6510, Sub-Index 25 ........................................................................... 86
Internal Regen Current Index 0x6510, Sub-Index 26 ........................................................................... 86
FPGA Image Version Index 0x6510, Sub-Index 27 ........................................................................... 87
Secondary Firmware Version Index 0x6510, Sub-Index 28 .................................................................. 87
Firmware Version Number (Extended) Index 0x2422 ............................................................................... 87
Device Type Index 0x67FF ...................................................................................................................... 87
PWM MODE Index 0x2140 ...................................................................................................................... 87
Running Sum of User Current Limit Index 0x2116.................................................................................... 87
Running Sum of Amp Current Limit Index 0x2117 .................................................................................... 88
D/A Converter Configuration. Index 0x21E0 ............................................................................................. 88
D/A Converter Output Value Index 0x21E1 ............................................................................................... 88

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DEVICE TYPE INDEX 0X1000

Type Access Units Range Map PDO Memory
Unsigned 32 RO - See Description, below. NO -
Description
Describes the type of device and its functionality.
This 32-bit value is composed of two 16-bit components. The lower two bytes identify the device
profile supported by the device. This amplifier supports the DSP402 device profile, indicated by
the value 0x0192.
The upper two bytes give detailed information about the type of motors the drive can control. The
bit mapping of this value is defined by the CANopen Profile for Drives and Motion Control (DSP
402). For Copley Controls CANopen amplifiers, this value is 0x0006, indicating that Copley
Controls supports servo and stepper devices.

DEVICE NAME INDEX 0X1008

Type Access Units Range Map PDO Memory
String RO - - NO -
Description
An ASCII string which gives the amplifier's model number.

HARDWARE VERSION STRING INDEX 0X1009

Type Access Units Range Map PDO Memory
String RO - - NO -
Description
Describes amplifier hardware version.

STORE PARAMETERS INDEX 0X1010

Type Access Units Range Map PDO Memory
Record RW - - NO R
Description
Allows the current values programmed into the amplifier's objects to be saved to flash memory.
The various sub-index values of this object allow either all objects, or specific groups of objects to
be saved. Sub-index 0 contains the number of sub-elements of this record.

STORE ALL OBJECTS INDEX 0X1010, SUB-INDEX 1 OR STRING

Type Access Units Range Map PDO Memory
Unsigned 32 RW - - NO R
Description
When read, this object will return the value 1 indicating that the device is able to save objects in
this category.
When the ASCII string “save” (or, the corresponding 32-bit value 0x65766173) is written to this
object, all objects in the object dictionary that can be saved to flash are written. Objects written to
flash will resume the stored value after an amplifier reset.
Note that not every object in the object dictionary may be written to flash. Presently, the objects
that define the amplifier's CANopen communication interface are not stored to flash and will
resume default values on startup. Most other objects may be stored to flash.

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STORE COMMUNICATION PARAMETERS INDEX 0X1010, SUB-INDEX 2

Type Access Units Range Map PDO Memory
Unsigned 32 RW - - NO R
Description
When read, this object returns the value 1, indicating that the device can save objects in this
category.
When the ASCII string “save” (or, the corresponding 32-bit value 0x65766173) is written to this
object, all objects in the object dictionary that can be saved to flash are written. Objects written to
flash resume the stored value after an amplifier reset.
Objects in the category are the objects with indexes in the range 0x1000 – 0x1FFF.

STORE DEVICE PROFILE PARAMETERS INDEX 0X1010, SUB-INDEX 3

Type Access Units Range Map PDO Memory
Unsigned 32 RW - - NO R
Description
When read, this object returns the value 1, indicating that the device can save objects in this
category.
When the ASCII string “save” (or, the corresponding 32-bit value 0x65766173) is written to this
object, all objects in the object dictionary that can be saved to flash are written. Objects written to
flash resume the stored value after an amplifier reset.
Objects in the category are the objects with indexes in the range 0x6000 – 0x9FFF.

STORE MANUFACTURER SPECIFIC PARAMETERS INDEX 0X1010, SUB-INDEX 4

Type Access Units Range Map PDO Memory
Unsigned 32 RW - - NO R
Description
When read, this object returns the value 1 indicating that the device is able to save objects in this
category.
When the ASCII string “save” (or, the corresponding 32-bit value 0x65766173) is written to this
object, all objects in the object dictionary that can be saved to flash are written. Objects written to
flash resume the stored value after an amplifier reset.
Objects in the category are the objects with indexes in the range 0x2000 – 0x5FFF.

SOFTWARE VERSION NUMBER INDEX 0X100A

Type Access Units Range Map PDO Memory
String RO - - NO -
Description
Contains an ASCII string listing the software version number of the amplifier.

IDENTITY OBJECT INDEX 0X1018

Type Access Units Range Map PDO Memory
Record RO - - NO -
Description
This object can uniquely identify an amplifier by unique manufacturer ID, serial number, and
product revision information. Sub-index 0 contains the number of sub-elements of this record.

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VENDOR ID INDEX 0X1018, SUB-INDEX 1

Type Access Units Range Map PDO Memory
Unsigned 32 RO - 0x000000AB NO -
Description
A unique identifier assigned to Copley Controls.
The value of this identifier is fixed at: 0x000000AB

PRODUCT CODE INDEX 0X1018, SUB-INDEX 2

Type Access Units Range Map PDO Memory
Unsigned 32 RO - See Description, below. NO -
Description
Identifies the specific amplifier model. Also known as Amplifier Hardware Type. Identical to (Index
0x2384, Sub-Index 13
, p. 81). The currently defined values for this object are:
Value Product
0x0000 ASC: Accelus Card.
0x0002 ASP: Accelus Panel.
0x0100 JSP: Junus Panel.
0x0200 ACM: Accelnet Module.
0x0201 XSL: Xenus Panel (obsolete).
0x0203 ACP: Accelnet Panel (obsolete).
0x0206 XSL-R: Xenus Panel, resolver version.
0x0207 XSL: Xenus Panel.
0x0209 ACJ: Accelnet Micro Panel.
0x020b ACP: Accelnet Panel.
0x020c ACK: Accelnet Micro Module.
0x020e Special.
0x020f Special.
0x0210 ACJ-S: Accelnet Micro Panel, analog encoder version.
0x0240 STM: Stepnet Module.
0x0242 STP: Stepnet Panel.
0x0243 STL: Stepnet Micro Module.
0x0300 ASP: Accelnet Panel, 2 axis.
0x0310 XSJ(S): Xenus Micro Panel.
0x0320 XTL: Xenus Panel, resolver version.
0x0330 XTL(S): Xenus Panel.
0x0340 XSJ-R: Xenus Micro Panel, resolver version.
0x0380 AEP: Accelnet EtherCat Panel.
0x0391 AMP: Accelnet Macro Panel.
0x0350 STX: Stepnet AC Panel.
0x0370 ACK-R: Accelnet Micro Module, resolver version.
0x03a0 ADP: Accelnet Panel.
0x1000 XEL: Xenus Plus EtherCAT.
0x1010 XML: Xenus Plus MACRO.
0x1020 XPL: Xenus Plus CAN.
0x1030 AEM: Accelnet module EtherCAT.
0x1040 APM: 1 axis Servo CAN module.
0x1050 AE2: 2 axis EtherCAT module.

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Continued…
…continued:
0x1060 AP2: 2 axis Servo CAN module.
0x1070 1 axis Stepper EtherCAT module.
0x1080 1 axis Stepper CAN module.
0x1090 2 axis Stepper EtherCAT module.

REVISION NUMBER INDEX 0X1018, SUB-INDEX 3

Type Access Units Range Map PDO Memory
Unsigned 32 RO - - NO -
Description
Identifies the revision of the CANopen interface.

SERIAL NUMBER INDEX 0X1018, SUB-INDEX 4

Type Access Units Range Map PDO Memory
Unsigned 32 RO - - NO -
Description
The amplifier's serial number. Holds the same value as Amplifier Serial Number (Index 0x2384,
Sub-Index 1
, p. 80).

AMPLIFIER SCALING CONFIGURATION INDEX 0X2080

Type Access Units Range Map PDO Memory
Integer 32 RO - - NO F
Description
This read-only parameter defines the units used for current and voltage readings from the
amplifier:
Bits Description
0 -1 Identify units for current readings:
0 0.01 A
1 0.001 A
2 0.0001 A
3 0.00001 A
2-7 Reserved
8-9 Identify units for voltage readings:
0 0.1 V
1 0.01 V
2 0.001 V
3 0.0001 V
10 - 31 Reserved

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AMPLIFIER NAME INDEX 0X21A0

Type Access Units Range Map PDO Memory
String RW - - NO F
Description
This object may be used to assign a name to an amplifier. The data written here is stored to flash
memory and is not used by the amplifier. Although this object is documented as holding a string
(i.e. ASCII data), any values may be written here. Up to 40 bytes are stored.

MISC AMPLIFIER OPTIONS REGISTER INDEX 0X2420

Type Access Units Range Map PDO Memory
Unsigned 32 RW - - YES RF
Description
Miscellaneous Amplifier Options Register. Bit-mapped as follows:
Bit Description
0 If set, input pins 1, 2, and 3 are pulled high on the amplifier. If clear the pins are not pulled up. This option is
only available on the Junus amplifier.
1 Reserved.
2 If set, limit switch inputs will only abort a trajectory in progress, but will not affect current output. If clear, limit
switches limit current.
3 If set, save PDO configuration to a file in the CVM file system when a “Save to Flash” command is received
over the CANopen network. If clear, a PDO is not saved.
4 If set, a limit switch activation will be treated as a fault in the CANopen Status Word (CANopen index
0x6041 as described in the CANopen Programmer’s Manual).
5-31 Reserved.

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CANOPEN NETWORK CONFIGURATION INDEX 0X21B0

Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. NO RF
Description
This object is used to configure the CANopen network bit rate and node ID for the amplifier.
The bit rate is read only at power-up or reset.
Likewise, the ID is calculated at power-up or reset (and only then) using a combination of general-
purpose input pins and a programmed offset value. On certain models, an address switch is also
used. The resulting value is clipped to a 7-bit ID in the range 0 to 127.
The configuration parameter is bit-mapped as follows. Values written here are stored to flash
memory. The new network configuration will not take effect until the amplifier is reset.
Bit Description
0-6 Give the node ID offset value.
7 Used only on DeviceNet firmware. If this bit is set, then the drive will be software disabled on startup and will
remain disabled until it is enabled by a DeviceNet I/O message with the enable bit set.
8-10 Number of input pins (0-7) to read on startup for the node ID value. If input pins are used (i.e., the value in
bits 8-10 is not zero), the inputs can be mapped to node ID bits through the object Input Mapping for CAN
Node ID (index 0x21B1, p. 78).
11 This bit is ignored on amplifiers that do not have an address switch.
On amplifiers with an address switch, setting this bit programs the amplifier to use the address selector
switch as part of the address calculation. In this case, the node ID value is equal to the sum of:
The value read from the designated input pins, shifted up 4 bits.
The address switch value.
The programmed offset value.
Note that since the node ID is always clipped to the lowest 7 bits, no more than 3 input pins will ever have
an effect on the node address when the address switch is used.
12-15 Network bit rate setting.

The network bit rate is encoded as one of the following values:

Code Bit Rate (bits / second)
0 1,000,000
1 800,000
2 500,000
3 250,000
4 125,000
5 50,000
6 20,000
7-15 Reserved for future use

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INPUT MAPPING FOR CAN NODE ID INDEX 0X21B1

Type Access Units Range Map PDO Memory
Unsigned 32 RW - See Description, below. NO F
Description
When the CANopen Network Configuration object (index 0x21B0, p. 77) indicates that 1 or more
input pins will be used to select the CAN node ID, this mapping register is used to select which
input pins will be mapped to which ID bit. Fields include:
Bit Description
0-3 Identify the general purpose input pin associated with ID bit 0.
4-7 Identify the general purpose input pin associated with ID bit 1.
8-11 Identify the general purpose input pin associated with ID bit 2.
12-15 Identify the general purpose input pin associated with ID bit 3.
16-19 Identify the general purpose input pin associated with ID bit 4.
20-23 Identify the general purpose input pin associated with ID bit 5.
24-27 Identify the general purpose input pin associated with ID bit 6.
28-30 Reserved for future use.
31 Set to enable this register. Clear to use default mapping.
If bit 31 is zero, then a default bit mapping is used and the rest of this register is ignored. The
default bit mapping uses the top N input pins and maps them such that the high-numbered pins
are used for higher-numbered bits in the ID. For example, the Accelnet panel amplifier has 12
general purpose input pins (0 to 11). If 3 of these pins are used for ID configuration and the
default mapping is used, then the highest 3 pins (9, 10 and 11) will be used for the ID. In this case,
pin 9 is bit 0, pin 10 is bit 1 and pin 11 is bit 2. If bit 31 is set, then the rest of this register is used
to define which input pin is assigned to which bit of the ID. The input pins are numbered from 0 to
15 and each nibble of the register gives the input pin number associated with one bit of the ID.
For example, if three input pins are configured for address selection and the mapping register is
set to 0x80000012, then input pin 2 is used for ID bit 0, input pin 1 is used for ID bit 1, and input
pin 0 is used for ID bit 2.
Note that the CAN node ID is calculated at startup only. The input pins assigned to the node ID
are sampled once during power up and used to calculate the ID. These pins may be assigned
other uses after power up if necessary.

CAN ID SELECTION SWITCH VALUE INDEX 0X2197

Type Access Units Range Map PDO Memory
Integer 16 RO - 0 - 15 YES -
Description
This object gives the current state of the CAN address switch. For amplifiers that do not have a
switch, the value returned is undefined.

MULTI-MODE PORT CONFIGURATION INDEX 0X2241

Type Access Units Range Map PDO Memory
Unsigned 16 RW - - YES RF
Description
Multi-mode Port Configuration. The available settings are:
Value Description
0 Output buffered primary encoder (hardware buffering).
1 Configure pins as inputs.
2 Output simulated encoder outputs tracking motor encoder.
3 Output simulated encoder outputs tracking position encoder.

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SUPPORTED DRIVE MODES INDEX 0X6502

Type Access Units Range Map PDO Memory
Unsigned 32 RO - See Description, below. NO -
Description
This bit-mapped value gives the modes of operation supported by the amplifier.
The standard device profile (DSP402) defines several modes of operation. Each mode is assigned
one bit in this variable. A drive indicates its support for the mode of operation by setting the
corresponding bit. The modes of operation supported by this device, and their corresponding bits
in this object, are as follows:
Bit Description
0 Position profile mode.
1 Profile velocity mode.
3 Profile torque mode.
5 Homing mode.
6 Interpolated Position Mode.

The current version of amplifier firmware supports only these five modes of operation and the
corresponding bits are the only ones set in the object. Therefore the expected value of this object
is 0x00000061.
Future versions of Copley Controls CANopen amplifier firmware might support additional operating
modes. If so, those versions will return additional values.

AMPLIFIER MODEL NUMBER INDEX 0X6503

Type Access Units Range Map PDO Memory
String RO - - NO -
Description
This ASCII string gives the amplifier model number.

AMPLIFIER MANUFACTURER INDEX 0X6504

Type Access Units Range Map PDO Memory
Amplifier RO - - NO -
Manufacturer are
given a visible
string type
Description
This ASCII string identifies the amplifier's manufacturer as “Copley Controls ”.

MANUFACTURER'S WEB ADDRESS INDEX 0X6505

Type Access Units Range Map PDO Memory
String RO - - NO -
Description
This ASCII string gives the web address of Copley Controls.

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SERVO LOOP CONFIG INDEX 0X2301

Type Access Units Range Map PDO Memory
Integer32 RW - - YES RF
Description
This parameter allows various parts of the amplifier servo loops to be enabled/disabled. It’s
mapped as follows:
Bit Description
0 If set, this disables the velocity loop gains. The velocity loop command feed forward gain (parameter 0x157)
is still active as are the velocity loop output filters.
1 If set, this enables the position loop I and D gains (parameters 0x155 and 0x156). If clear, these parameters
are treated as zeros.
2-31 Reserved for future use.

AMPLIFIER DATA INDEX 0X2384

Type Access Units Range Map PDO Memory
Record RO - - NO -
Description
This record lists various amplifier parameters. Sub-index 0 contains the number of sub-elements
of this record.

AMPLIFIER SERIAL NUMBER INDEX 0X2384, SUB-INDEX 1

Type Access Units Range Map PDO Memory
Integer 32 RO - - NO -
Description
Gives the amplifier serial number.

AMPLIFIER DATE CODE INDEX 0X2384, SUB-INDEX 2

Type Access Units Range Map PDO Memory
String RO - - NO -
Description
Date of manufacture of the amplifier.

AMPLIFIER PEAK CURRENT INDEX 0X2384, SUB-INDEX 3

Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - NO -
Description
The amplifier's peak current rating.

AMPLIFIER CONTINUOUS CURRENT INDEX 0X2384, SUB-INDEX 4

Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - NO -
Description
The amplifier's continuous current rating.

AMPLIFIER PEAK CURRENT TIME INDEX 0X2384, SUB-INDEX 5

Type Access Units Range Map PDO Memory
Integer 16 RO milliseconds - NO -
Description
The maximum time for which the amplifier is rated to output peak current.

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AMPLIFIER MAXIMUM VOLTAGE INDEX 0X2384, SUB-INDEX 6

Type Access Units Range Map PDO Memory
Integer 16 RO 0.1 volts - NO -
Description
Maximum bus voltage rating for amplifier.

AMPLIFIER MINIMUM VOLTAGE INDEX 0X2384, SUB-INDEX 7

Type Access Units Range Map PDO Memory
Integer 16 RO 0.1 volts - NO -
Description
Minimum bus voltage rating for amplifier.

AMPLIFIER VOLTAGE HYSTERESIS INDEX 0X2384, SUB-INDEX 8

Type Access Units Range Map PDO Memory
Integer 16 RO 0.1 volts - NO -
Description
Hysteresis for maximum bus voltage cut-out.

AMPLIFIER MAXIMUM TEMPERATURE INDEX 0X2384, SUB-INDEX 9

Type Access Units Range Map PDO Memory
Integer 16 RO degrees centigrade - NO -
Description
Temperature limit for amplifier.

AMPLIFIER TEMPERATURE HYSTERESIS INDEX 0X2384, SUB-INDEX 10

Type Access Units Range Map PDO Memory
Integer 16 RO degrees centigrade - NO -
Description
Hysteresis value for amplifier over temperature cut-out.

AMPLIFIER CURRENT LOOP PERIOD INDEX 0X2384, SUB-INDEX 11

Type Access Units Range Map PDO Memory
Integer 16 RO 10 nanoseconds - NO -
Description
Current loop update period in 10-nanosecond units.

AMPLIFIER SERVO LOOP PERIOD INDEX 0X2384, SUB-INDEX 12

Type Access Units Range Map PDO Memory
Integer 16 RO - - NO -
Description
Servo loop update period as a multiple of the current loop period.

AMPLIFIER TYPE CODE INDEX 0X2384, SUB-INDEX 13

Type Access Units Range Map PDO Memory
Integer 16 RO - See Description, below. NO -
Description
Identifies the specific amplifier model. Also known as Amplifier Hardware Type. Identical to
Product Code (index 0x1018, Sub-index 2, p. 74). Go to page 74 (index 0x1018, Sub-index 2) for
a table of current defined values.

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CURRENT CORRESPONDING TO MAX A/D READING INDEX 0X2384, SUB-INDEX 14

Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - NO F
Amplifier current corresponding to maximum A/D reading.

VOLTAGE CORRESPONDING TO MAX A/D READING INDEX 0X2384, SUB-INDEX 15

Type Access Units Range Map PDO Memory
Integer 16 RO 0.1 volts - NO F
Amplifier voltage corresponding to maximum A/D reading.

ANALOG INPUT SCALING FACTOR INDEX 0X2384, SUB-INDEX 16

Type Access Units Range Map PDO Memory
Integer 16 RO - - NO F
Amplifier analog input scaling factor.

AMPLIFIER MINIMUM PWM OFF TIME INDEX 0X2384, SUB-INDEX 17

Type Access Units Range Map PDO Memory
Integer 16 RO 10 ns - NO F
This fixed amplifier parameter gives the minimum amount of time for which all PWM outputs must
be disabled for each current loop cycle.

PWM DEAD TIME AT CONTINUOUS CURRENT LIMIT INDEX 0X2384, SUB-INDEX 18

Type Access Units Range Map PDO Memory
Integer 16 RO CPU cycles - NO F
This fixed amplifier parameter gives the PWM dead time used at or above the continuous current
limit. The dead time below the continuous current limit is a linear function of this parameter and
PWM Dead Time At Zero Current (Index 0x2384, Sub-Index 19, p. 82).

PWM DEAD TIME AT ZERO CURRENT INDEX 0X2384, SUB-INDEX 19

Type Access Units Range Map PDO Memory
Integer 16 RO CPU cycles - NO F
This fixed amplifier parameter gives the PWM dead time used at or above the continuous current
limit. The dead time below the continuous current limit is a linear function of this parameter and
PWM Dead Time At Continuous Current Limit (Index 0x2384, Sub-Index 18 p. 82).

PEAK CURRENT INTERNAL REGEN RESISTOR INDEX 0X2384, SUB-INDEX 20

Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - NO F
The amplifier’s peak current rating for its internal regen resistor.

CONTINUOUS CURRENT INTERNAL REGEN RESISTOR INDEX 0X2384, SUB-INDEX 21

Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - NO F
The amplifier’s continuous current rating for its internal regen resistor.

TIME AT PEAK CURRENT INTERNAL REGEN RESISTOR INDEX 0X2384, SUB-INDEX 22

Type Access Units Range Map PDO Memory
Integer 16 RO ms - NO F
The amplifier’s maximum time at peak current rating for its internal regen resistor.

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ANALOG ENCODER SCALING FACTOR INDEX 0X2384, SUB-INDEX 23

Type Access Units Range Map PDO Memory
Integer 16 RO - - NO F
This parameter selects the resolution of an analog encoder input. The parameter is not used for
other encoder types.

FIRMWARE VERSION NUMBER INDEX 0X2384, SUB-INDEX 24

Type Access Units Range Map PDO Memory
Unsigned 16 RO - - NO F
The version number consists of a major version number and a minor version number. The minor
number is passed in bits 0-7; the major number is in bits 8-15. For example, the version 1.12
would be encoded 0x010C.

AXIS COUNT INDEX 0X2384, SUB-INDEX 25

Type Access Units Range Map PDO Memory
Unsigned 16 RO - - NO F
Returns the number of axis implemented by this amplifier.

INTERNAL REGEN CURRENT INDEX 0X2384, SUB-INDEX 26

Type Access Units Range Map PDO Memory
Unsigned 16 RO mA - NO F
Amplifier internal maximum regen current.

FPGA IMAGE VERSION INDEX 0X2384, SUB-INDEX 27

Type Access Units Range Map PDO Memory
Unsigned 16 RO - - NO R
FPGA firmware version number (available on certain amplifier models).

SECONDARY FIRMWARE VERSION INDEX 0X2384, SUB-INDEX 28

Type Access Units Range Map PDO Memory
Unsigned 32 RO - - NO R
Firmware version of second processor for amplifiers equipped with two processors.

AMPLIFIER DATA INDEX 0X6510

Type Access Units Range Map PDO Memory
Record RO - - NO -
Description
This object is no longer recommended. Use object 0x2384 (p.80).This record lists various amplifier
parameters. Sub-index 0 contains the number of sub-elements of this record.

AMPLIFIER SERIAL NUMBER INDEX 0X6510, SUB-INDEX 1

Type Access Units Range Map PDO Memory
Integer 32 RO - - NO -
Description
Gives the amplifier serial number.

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AMPLIFIER DATE CODE INDEX 0X6510, SUB-INDEX 2

Type Access Units Range Map PDO Memory
String RO - - NO -
Description
Date of manufacture of the amplifier.

AMPLIFIER PEAK CURRENT INDEX 0X6510, SUB-INDEX 3

Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - NO -
Description
The amplifier's peak current rating.

AMPLIFIER CONTINUOUS CURRENT INDEX 0X6510, SUB-INDEX 4

Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - NO -
Description
The amplifier's continuous current rating.

AMPLIFIER PEAK CURRENT TIME INDEX 0X6510, SUB-INDEX 5

Type Access Units Range Map PDO Memory
Integer 16 RO milliseconds - NO -
Description
The maximum time for which the amplifier is rated to output peak current.

AMPLIFIER MAXIMUM VOLTAGE INDEX 0X6510, SUB-INDEX 6

Type Access Units Range Map PDO Memory
Integer 16 RO 0.1 volts - NO -
Description
Maximum bus voltage rating for amplifier.

AMPLIFIER MINIMUM VOLTAGE INDEX 0X6510, SUB-INDEX 7

Type Access Units Range Map PDO Memory
Integer 16 RO 0.1 volts - NO -
Description
Minimum bus voltage rating for amplifier.

AMPLIFIER VOLTAGE HYSTERESIS INDEX 0X6510, SUB-INDEX 8

Type Access Units Range Map PDO Memory
Integer 16 RO 0.1 volts - NO -
Description
Hysteresis for maximum bus voltage cut-out.

AMPLIFIER MAXIMUM TEMPERATURE INDEX 0X6510, SUB-INDEX 9

Type Access Units Range Map PDO Memory
Integer 16 RO degrees centigrade - NO -
Description
Temperature limit for amplifier.

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AMPLIFIER TEMPERATURE HYSTERESIS INDEX 0X6510, SUB-INDEX 10

Type Access Units Range Map PDO Memory
Integer 16 RO degrees centigrade - NO -
Description
Hysteresis value for amplifier over temperature cut-out.

AMPLIFIER CURRENT LOOP PERIOD INDEX 0X6510, SUB-INDEX 11

Type Access Units Range Map PDO Memory
Integer 16 RO 10 nanoseconds - NO -
Description
Current loop update period in 10-nanosecond units.

AMPLIFIER SERVO LOOP PERIOD INDEX 0X6510, SUB-INDEX 12

Type Access Units Range Map PDO Memory
Integer 16 RO - - NO -
Description
Servo loop update period as a multiple of the current loop period.

AMPLIFIER TYPE CODE INDEX 0X6510, SUB-INDEX 13

Type Access Units Range Map PDO Memory
Integer 16 RO - See Description, below. NO -
Description
Identifies the specific amplifier model. Also known as Amplifier Hardware Type. Identical to
Product Code (index 0x1018, Sub-index 2, p. 74). Go to page 74 (index 0x1018, Sub-index 2) for
a table of current defined values.

CURRENT CORRESPONDING TO MAX A/D READING INDEX 0X6510, SUB-INDEX 14

Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - NO F
Amplifier current corresponding to maximum A/D reading.

VOLTAGE CORRESPONDING TO MAX A/D READING INDEX 0X6510, SUB-INDEX 15

Type Access Units Range Map PDO Memory
Integer 16 RO 0.1 volts - NO F
Amplifier voltage corresponding to maximum A/D reading.

ANALOG INPUT SCALING FACTOR INDEX 0X6510, SUB-INDEX 16

Type Access Units Range Map PDO Memory
Integer 16 RO - - NO F
Amplifier analog input scaling factor.

AMPLIFIER MINIMUM PWM OFF TIME INDEX 0X6510, SUB-INDEX 17

Type Access Units Range Map PDO Memory
Integer 16 RO 10 ns - NO F
This fixed amplifier parameter gives the minimum amount of time for which all PWM outputs must
be disabled for each current loop cycle.

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PWM DEAD TIME AT CONTINUOUS CURRENT LIMIT INDEX 0X6510, SUB-INDEX 18

Type Access Units Range Map PDO Memory
Integer 16 RO CPU cycles - NO F
This fixed amplifier parameter gives the PWM dead time used at or above the continuous current
limit. The dead time below the continuous current limit is a linear function of this parameter and
PWM Dead Time At Zero Current (Index 0x2384, Sub-Index 19, p. 82).

PWM DEAD TIME AT ZERO CURRENT INDEX 0X6510, SUB-INDEX 19

Type Access Units Range Map PDO Memory
Integer 16 RO CPU cycles - NO F
This fixed amplifier parameter gives the PWM dead time used at or above the continuous current
limit. The dead time below the continuous current limit is a linear function of this parameter and
PWM Dead Time At Continuous Current Limit (Index 0x2384, Sub-Index 18 p. 82).

PEAK CURRENT INTERNAL REGEN RESISTOR INDEX 0X6510, SUB-INDEX 20

Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - NO F
The amplifier’s peak current rating for its internal regen resistor.

CONTINUOUS CURRENT INTERNAL REGEN RESISTOR INDEX 0X6510, SUB-INDEX 21

Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - NO F
The amplifier’s continuous current rating for its internal regen resistor.

TIME AT PEAK CURRENT INTERNAL REGEN RESISTOR INDEX 0X6510, SUB-INDEX 22

Type Access Units Range Map PDO Memory
Integer 16 RO ms - NO F
The amplifier’s maximum time at peak current rating for its internal regen resistor.

ANALOG ENCODER SCALING FACTOR INDEX 0X6510, SUB-INDEX 23

Type Access Units Range Map PDO Memory
Integer 16 RO - - NO F
This parameter selects the resolution of an analog encoder input. The parameter is not used for
other encoder types.

FIRMWARE VERSION NUMBER INDEX 0X6510, SUB-INDEX 24

Type Access Units Range Map PDO Memory
Unsigned 16 RO - - NO F
The version number consists of a major version number and a minor version number. The minor
number is passed in bits 0-7; the major number is in bits 8-15. For example, the version 1.12
would be encoded 0x010C.

AXIS COUNT INDEX 0X6510, SUB-INDEX 25

Type Access Units Range Map PDO Memory
Unsigned 16 RO - - NO F
Returns the number of axis implemented by this amplifier.

INTERNAL REGEN CURRENT INDEX 0X6510, SUB-INDEX 26

Type Access Units Range Map PDO Memory
Unsigned 16 RO mA - NO F
Amplifier internal maximum regen current.

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FPGA IMAGE VERSION INDEX 0X6510, SUB-INDEX 27

Type Access Units Range Map PDO Memory
Unsigned 16 RO - - NO R
FPGA firmware version number (available on certain amplifier models).

SECONDARY FIRMWARE VERSION INDEX 0X6510, SUB-INDEX 28

Type Access Units Range Map PDO Memory
Unsigned 32 RO - - NO R
Firmware version of second processor for amplifiers equipped with two processors.

FIRMWARE VERSION NUMBER (EXTENDED) INDEX 0X2422

Type Access Units Range Map PDO Memory
Integer 32 RO - - NO F
Description
Firmware Version Number (extended). The upper 16 bits give the same major/minor version
number as Firmware Version Number (Index 0x2384, Sub-Index 24
, p. 83). The lower 16 bits hold a release number (upper byte) and a reserved byte (lower).

DEVICE TYPE INDEX 0X67FF

Type Access Units Range Map PDO Memory
Unsigned 32 RO - - NO -
Description
Holds the same data as object 0x1000. Repeated as required by the CANopen specification.

PWM MODE INDEX 0X2140

Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. NO RF
Description
PWM mode and status. This bit-mapped register allows some details of the PWM output to be
controlled and monitored. Fields are described below:
Bit Description
0 Force bus clamping if set, disable bus clamping if clear. Note that if bit 1 is set, then this bit is ignored.
1 Automatic bus clamping mode if set. Setting this bit causes bus clamping mode to be automatically selected
based on the output voltage. Bit 0 is ignored if this bit is set.
3 Factory reserved. If set, DBrk mode is enabled.
4 Use hex voltage limiting if set, circular limiting if clear. This setting is only used with brushless motors.
6 Double PWM frequency if set.
8 Status bit, set when bus clamping is active.

RUNNING SUM OF USER CURRENT LIMIT INDEX 0X2116

Type Access Units Range Map PDO Memory
Integer16 RO 0.01% - YES R*
Description
Running sum of user current limit.

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RUNNING SUM OF AMP CURRENT LIMIT INDEX 0X2117

Type Access Units Range Map PDO Memory
Integer16 RO 0.01% - YES R*
Description
Running sum of the amp current limit.

D/A CONVERTER CONFIGURATION. INDEX 0X21E0

Type Access Units Range Map PDO Memory
Integer32 RW - - NO RF
Description
This parameter sets the mode for the D/A converter on drives so equipped. The bits are mapped
as follows:
Bit Description
0-3 Define the mode of the D/A converter
16-17 Identify the axis associated with the D/A converter
Mode Description
0 Manual configuration (set using parameter 0x135)
1 Actual current of configured axis

D/A CONVERTER OUTPUT VALUE INDEX 0X21E1

Type Access Units Range Map PDO Memory
Integer16 mV - R
Description
For drives that support an auxiliary D/A converter, this parameter sets the output value in mV units
when the D/A is in manual mode. In other modes, the current value being output on the D/A can
be read here.

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3.5: Basic Motor Configuration Objects

Contents of this Section
Objects described in this section provide access to basic motor parameters. They include:
Motor Model Number Index 0x6403 .......................................................................................................... 91
Motor Manufacturer Index 0x6404 ............................................................................................................ 91
Motor Data Index 0x2383 .......................................................................................................................... 91
Motor Type Index 0x2383, Sub-Index 1 ............................................................................. 91
Motor Pole Pairs Index 0x2383, Sub-Index 2 ............................................................................. 91
Motor Wiring Configuration Index 0x2383, Sub-Index 3 ....................................................................... 92
Hall Sensor Type Index 0x2383, Sub-Index 4 ............................................................................. 92
Hall Sensor Wiring Index 0x2383, Sub-Index 5 ............................................................................. 92
Hall Offset Index 0x2383, Sub-Index 6 ............................................................................. 93
Motor Resistance Index 0x2383, Sub-Index 7 ............................................................................. 93
Motor Inductance Index 0x2383, Sub-Index 8 ............................................................................. 93
Motor Inertia Index 0x2383, Sub-Index 9 ............................................................................. 93
Motor Back EMF Index 0x2383, Sub-index 10 ........................................................................... 93
Motor Maximum Velocity Index 0x2383, Sub-Index 11 ........................................................................... 93
Motor Torque Constant Index 0x2383, Sub-Index 12 ........................................................................... 93
Motor Peak Torque Index 0x2383, Sub-Index 13 ........................................................................... 94
Motor Continuous Torque Index 0x2383, Sub-Index 14 ........................................................................... 94
Motor Temperature Sensor Index 0x2383, Sub-Index 15 ..................................................................... 94
Motor Has A Brake Index 0x2383, Sub-Index 16 ........................................................................... 94
Motor Stopping Time Index 0x2383, Sub-Index 17 ........................................................................... 94
Motor Brake Delay Index 0x2383, Sub-Index 18 ........................................................................... 94
Motor Brake Velocity Index 0x2383, Sub-Index 19 ........................................................................... 95
Encoder Type Code Index 0x2383, Sub-Index 20 ........................................................................... 95
Encoder Units Index 0x2383, Sub-Index 21 ........................................................................... 95
Motor Encoder Direction Index 0x2383, Sub-Index 22 ........................................................................... 95
Motor Counts/Rev Index 0x2383, Sub-Index 23 ........................................................................... 96
Motor Encoder Resolution Index 0x2383, Sub-Index 24 ...................................................................... 96
Motor Electrical Distance Index 0x2383, Sub-Index 25 ........................................................................... 96
Reserved Index 0x2383, Sub-Index 26-27...................................................................... 96
Analog Encoder Shift Index 0x2383, Sub-Index 28 ........................................................................... 96
Microsteps/Rev Index 0x2383, Sub-Index 29 ........................................................................... 96
Load Encoder Type Index 0x2383, Sub-Index 30 ........................................................................... 97
Load Encoder Direction Index 0x2383, Sub-Index 31 ........................................................................... 97
Load Encoder Resolution Index 0x2383, Sub-Index 32 ........................................................................... 97
Bi-Quad Filter Coefficients Index 0x2383, Sub-Index 33 ...................................................................... 97
Number of Resolver Cycles/Motor Rev Index 0x2383, Sub-Index 34 ................................................... 97
Motor Data Index 0x6410 .......................................................................................................................... 98
Motor Type Index 0x6410, Sub-Index 1 ............................................................................. 98
Motor Pole Pairs Index 0x6410, Sub-Index 2 ............................................................................. 98
Motor Wiring Configuration Index 0x6410, Sub-Index 3 ....................................................................... 98
Hall Sensor Type Index 0x6410, Sub-Index 4 ............................................................................. 98
Hall Sensor Wiring Index 0x6410, Sub-Index 5 ............................................................................. 99
Hall Offset Index 0x6410, Sub-Index 6 ............................................................................. 99
Motor Resistance Index 0x6410, Sub-Index 7 ............................................................................. 99
Motor Inductance Index 0x6410, Sub-Index 8 ............................................................................. 99
Motor Inertia Index 0x6410, Sub-Index 9 ........................................................................... 100
Motor Back EMF Index 0x6410, Sub-index 10 ......................................................................... 100
Motor Maximum Velocity Index 0x6410, Sub-Index 11 ......................................................................... 100
Motor Torque Constant Index 0x6410, Sub-Index 12 ......................................................................... 100
Motor Peak Torque Index 0x6410, Sub-Index 13 ......................................................................... 100
Motor Continuous Torque Index 0x6410, Sub-Index 14 ......................................................................... 100

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Motor Temperature Sensor Index 0x6410, Sub-Index 15 ................................................................... 100

Motor Has A Brake Index 0x6410, Sub-Index 16 ......................................................................... 101
Motor Stopping Time Index 0x6410, Sub-Index 17 ......................................................................... 101
Motor Brake Delay Index 0x6410, Sub-Index 18 ......................................................................... 101
Motor Brake Velocity Index 0x6410, Sub-Index 19 ......................................................................... 101
Encoder Type Code Index 0x6410, Sub-Index 20 ......................................................................... 102
Encoder Units Index 0x6410, Sub-Index 21 ......................................................................... 102
Motor Encoder Direction Index 0x6410, Sub-Index 22 ......................................................................... 102
Motor Counts/Rev Index 0x6410, Sub-Index 23 ......................................................................... 102
Motor Encoder Resolution Index 0x6410, Sub-Index 24 .................................................................... 103
Motor Electrical Distance Index 0x6410, Sub-Index 25 ......................................................................... 103
Encoder Index Pulse Distance Index 0x6410, Sub-Index 26 .............................................................. 103
Motor Units Index 0x6410, Sub-Index 27 ......................................................................... 103
Analog Encoder Shift Index 0x6410, Sub-Index 28 ......................................................................... 103
Microsteps/Rev Index 0x6410, Sub-Index 29 ......................................................................... 103
Load Encoder Type Index 0x6410, Sub-Index 30 ......................................................................... 104
Load Encoder Direction Index 0x6410, Sub-Index 31 ......................................................................... 104
Load Encoder Resolution Index 0x6410, Sub-Index 32 ......................................................................... 104
Motor Gear Ratio Index 0x6410, Sub-Index 33 ......................................................................... 104
Number of Resolver Cycles/Motor Rev Index 0x6410, Sub-Index 34 ................................................. 104
Motor Brake Enable Delay Time Index 0x2199 ....................................................................................... 105
Motor Encoder Wrap Index 0x2220 ........................................................................................................ 105
Load Encoder Wrap Index 0x2221.......................................................................................................... 105
Motor Encoder Options Index 0x2222 ..................................................................................................... 105
Load Encoder Options Index 0x2223 ...................................................................................................... 106
Motor Encoder Status Index 0x2224 ....................................................................................................... 107
Load Encoder Status Index 0x2225 ........................................................................................................ 108
Phasing Mode Index 0x21C0 .................................................................................................................. 108

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MOTOR MODEL NUMBER INDEX 0X6403

Type Access Units Range Map PDO Memory
String RW - - NO F
Description
The motor's model number.

MOTOR MANUFACTURER INDEX 0X6404

Type Access Units Range Map PDO Memory
String RW - - NO F
Description
The motor's manufacturer name.

MOTOR DATA INDEX 0X2383

Type Access Units Range Map PDO Memory
Record RW - - NO -
Description
This record holds a variety of motor parameters.
Note that all motor parameters are stored to non-volatile memory on the amplifier. The
programmed values are preserved across power cycles. Sub-index 0 contains the number of sub-
elements of this record.

MOTOR TYPE INDEX 0X2383, SUB-INDEX 1

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO F
Description
Defines the type of motor connected to the amplifier:
Type Description
0 Rotary motor.
1 Linear motor.

MOTOR POLE PAIRS INDEX 0X2383, SUB-INDEX 2

Type Access Units Range Map PDO Memory
Integer 16 RW - 0 - 32,767 NO F
Description
Number of motor pole pairs (electrical cycles) per rotation. For example, a 1.8 deg/step motor
would require setting motor poll pairs to 50.
This parameter is only used for rotary motors. For linear motors its value is ignored.

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MOTOR WIRING CONFIGURATION INDEX 0X2383, SUB-INDEX 3

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO F
Description
Defines the direction of the motor wiring:
Type Description
0 Standard wiring.
1 Motor's U and V wires are swapped.

HALL SENSOR TYPE INDEX 0X2383, SUB-INDEX 4

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO F
Description
Defines the type of Hall Effect sensors attached to the motor:
Type Description
0 No Hall sensors available.
1 Digital Hall sensors.
2 Analog Hall sensors.

HALL SENSOR WIRING INDEX 0X2383, SUB-INDEX 5

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO F
Description
Defines the wiring of the Hall sensors. Bit-mapped as follows (when analog Halls are used, only bit
8 is relevant):
Bits Description
0-2 The Hall wiring code (see below).
3 Reserved.
4 Invert W Hall input if set. Inversion occurs after Halls wiring has been modified by bits 0-2.
5 Invert V Hall input if set. Inversion occurs after Halls wiring has been modified by bits 0-2.
6 Invert U Hall input if set. Inversion occurs after Halls wiring has been modified by bits 0-2.
7 Reserved.
8 Swap analog Halls if set.
9-15 Reserved.

The Hall wiring codes define the order of the Hall connections:
Code Hall ordering
0 UVW
1 UWV
2 VUW
3 VWU
4 WVU
5 WUV
6 Reserved
7 Reserved

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HALL OFFSET INDEX 0X2383, SUB-INDEX 6

Type Access Units Range Map PDO Memory
Integer 16 RW degrees -360 - 360 NO F
Description
Offset angle to be applied to the Hall sensors.

MOTOR RESISTANCE INDEX 0X2383, SUB-INDEX 7

Type Access Units Range Map PDO Memory
Integer 16 RW 0.01 Ohm 0 - 32,767 NO F
Description
Motor winding resistance, in 0.01-Ohm units.

MOTOR INDUCTANCE INDEX 0X2383, SUB-INDEX 8

Type Access Units Range Map PDO Memory
Integer 16 RW 0.01 milliHenry 0 - 32,767 NO F
Description
Motor winding inductance, in 0.01-milliHenry units.

MOTOR INERTIA INDEX 0X2383, SUB-INDEX 9

Type Access Units Range Map PDO Memory
Integer 32 RW Rotary: 0 - 2,147,483,647 NO F
0.000001 Kg / cm2
Linear: 0.0001 Kg.

Description
Motor inertia.

MOTOR BACK EMF INDEX 0X2383, SUB-INDEX 10

Type Access Units Range Map PDO Memory
Integer 32 RW Rotary: 0.01 V/KRPM 0 - 2,147,483,647 NO F
Linear: 0.01 V/mps
Description
Motor back-EMF constant.

MOTOR MAXIMUM VELOCITY INDEX 0X2383, SUB-INDEX 11

Type Access Units Range Map PDO Memory
Integer 32 RW 0.1 counts / second 0 - 500,000,000 NO F
Description
Maximum motor velocity.

MOTOR TORQUE CONSTANT INDEX 0X2383, SUB-INDEX 12

Type Access Units Range Map PDO Memory
Integer 32 RW Rotary: 0.001 Nm / Amp 0 - 2,147,483,647 NO F
Linear: 0.00001 N.
Description
Motor Torque (Force) constant.

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MOTOR PEAK TORQUE INDEX 0X2383, SUB-INDEX 13

Type Access Units Range Map PDO Memory
Integer 32 RW Rotary: 0.001 Nm 0 - 2,147,483,647 NO F
Linear: 0.00001 N
Description
Motor Peak Torque (Force).

MOTOR CONTINUOUS TORQUE INDEX 0X2383, SUB-INDEX 14

Type Access Units Range Map PDO Memory
Integer 32 RW Rotary: 0.001 Nm/Amp 0 - 2,147,483,647 NO F
Linear: 0.00001 N/Amp
Description
Motor Continuous Torque (Force).

MOTOR TEMPERATURE SENSOR INDEX 0X2383, SUB-INDEX 15

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO F
Description
Value Description
0 No temperature sensor available.
1 Temperature sensor is available.

MOTOR HAS A BRAKE INDEX 0X2383, SUB-INDEX 16

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO F
Description
Value Description
0 The motor has a brake.
1 The motor does not have a brake.

MOTOR STOPPING TIME INDEX 0X2383, SUB-INDEX 17

Type Access Units Range Map PDO Memory
Integer 16 RW milliseconds 0 - 10,000 NO F
Description
Also known as Brake/Stop Delay Time. When the amplifier is disabled, it will actively decelerate
the motor for this amount of time (in milliseconds) before activating the brake output.
This delay may be cut short if the motor velocity falls below the value programmed in Motor Brake
Velocity (Index 0x2383, Sub-Index 19, p. 95).

MOTOR BRAKE DELAY INDEX 0X2383, SUB-INDEX 18

Type Access Units Range Map PDO Memory
Integer 16 RW milliseconds 0 - 10,000 NO F
Description
After the brake output is activated, the amplifier will stay enabled for this amount of time to allow
the brake to engage.

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MOTOR BRAKE VELOCITY INDEX 0X2383, SUB-INDEX 19

Type Access Units Range Map PDO Memory
Integer 32 RW 0.1 counts / second 0 - 500,000,000 NO F
Description
During the Motor Stopping Time (Index 0x2383, Sub-Index 17, p. 94), if the motor's actual velocity
falls below this value the brake output is activated immediately.

ENCODER TYPE CODE INDEX 0X2383, SUB-INDEX 20

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO F
Description
Also known as Motor Encoder Type. Identifies the type of encoder attached to the motor:
Value Description
0 Primary incremental quadrature encoder.
1 No encoder.
2 Analog encoder.
3 Multi-mode port incremental quadrature encoder
4 Analog Halls used for position feedback.
5 Resolver input.
6 Digital Halls.
7 Analog encoder, special.
8 Reserved.
9 Panasonic Minas-A.
10 SPI Command
11 SSI
12 EnDat 2.2

ENCODER UNITS INDEX 0X2383, SUB-INDEX 21

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO F
Description
This value defines the units used to describe linear motor encoders. It is not used with rotary
motors.
Value Description
0 microns
1 nanometers
2 millimeters

MOTOR ENCODER DIRECTION INDEX 0X2383, SUB-INDEX 22

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO F
Description
Motor encoder direction. Value 0 for standard, value 1 to reverse direction.

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MOTOR COUNTS/REV INDEX 0X2383, SUB-INDEX 23

Type Access Units Range Map PDO Memory
Integer 32 RW counts / rev 0 - 2,147,483,647 NO F
Description
For rotary motors gives the number of counts/motor revolution. When a resolver is used as the
motor feedback device, this parameter sets the resolution of the interpolated position. This
parameter is not used for linear motors.

MOTOR ENCODER RESOLUTION INDEX 0X2383, SUB-INDEX 24

Type Access Units Range Map PDO Memory
Integer 16 RW encoder units / count 0 - 32,767 NO F
Description
Number of Encoder Units (sub-index 21)/ count. Only used with linear motors.

MOTOR ELECTRICAL DISTANCE INDEX 0X2383, SUB-INDEX 25

Type Access Units Range Map PDO Memory
Integer 32 RW encoder units / cycle 0 - 2,147,483,647 NO F
Description
Number of Encoder Units (sub-index 21) / motor electrical cycle. Only used with linear motors.

RESERVED INDEX 0X2383, SUB-INDEX 26-27

Type Access Units Range Map PDO Memory
RESERVED - - - NO F
Description
Reserved.

ANALOG ENCODER SHIFT INDEX 0X2383, SUB-INDEX 28

Type Access Units Range Map PDO Memory
Unsigned 16 RW - 0 -10 NO F
Description
This value gives the number of bits of interpolation to be applied to an analog encoder. The
n
fundamental encoder resolution will be increased by a multiplier of 2 where n is the value
programmed in this parameter. The range of this value is 0 to 8 giving possible multipliers of 1 to
256.

MICROSTEPS/REV INDEX 0X2383, SUB-INDEX 29

Type Access Units Range Map PDO Memory
Integer 32 RW microsteps - NO F
Description
Microsteps per revolution for microstepping motors.

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LOAD ENCODER TYPE INDEX 0X2383, SUB-INDEX 30

Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. NO F
Description
Also known as Position Encoder Type. This bit-mapped value defines the type of encoder
attached to the load:
Bits Description
0-2 Encoder Type (see below).
3 Reserved.
4 Linear encoder if set, rotary encoder if clear.
5 Passive load encoder if set.

The encoder type codes define the type of encoder.

Code Encoder Type
0 No load encoder present.
1 Primary incremental quadrature encoder.
2 Analog encoder.
3 Multi-mode port incremental quadrature encoder.
4 Low frequency analog encoder
5 Resolver.

LOAD ENCODER DIRECTION INDEX 0X2383, SUB-INDEX 31

Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. NO F
Description
Also known as Position Encoder Direction. Load encoder direction. Value 0 for standard, value 1
to reverse direction.

LOAD ENCODER RESOLUTION INDEX 0X2383, SUB-INDEX 32

Type Access Units Range Map PDO Memory
Integer 32 RW encoder units / count 0 - 2,147,483,647 NO F
Description
Only used with linear motors. Also known as Position Encoder Resolution. Number of Encoder
Units / encoder count. For information, see Encoder Units (Index 0x2383, Sub-Index 21, p. 95).

BI-QUAD FILTER COEFFICIENTS INDEX 0X2383, SUB-INDEX 33

Type Access Units Range Map PDO Memory
RESERVED - - - NO F
Description
Reserved.

NUMBER OF RESOLVER CYCLES/MOTOR REV INDEX 0X2383, SUB-INDEX 34

Type Access Units Range Map PDO Memory
Unsigned 16 - - - NO F
Description
Number of Resolver Cycles/Motor Rev. This parameter is only used with resolver feedback
devices.

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MOTOR DATA INDEX 0X6410

Type Access Units Range Map PDO Memory
Record RW - - NO -
Description
This object is no longer recommended. Use object 0x2383 (p.91).This record holds a variety of
motor parameters.
Note that all motor parameters are stored to non-volatile memory on the amplifier. The
programmed values are preserved across power cycles. Sub-index 0 contains the number of sub-
elements of this record.

MOTOR TYPE INDEX 0X6410, SUB-INDEX 1

Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. NO F
Description
Defines the type of motor connected to the amplifier:
Type Description
0 Rotary motor.
1 Linear motor.

MOTOR POLE PAIRS INDEX 0X6410, SUB-INDEX 2

Type Access Units Range Map PDO Memory
Integer 16 RW - 0 - 32,767 NO F
Description
Number of motor pole pairs (electrical cycles) per rotation. For example, a 1.8 deg/step motor
would require setting motor poll pairs to 50.
This parameter is only used for rotary motors. For linear motors its value is ignored.

MOTOR WIRING CONFIGURATION INDEX 0X6410, SUB-INDEX 3

Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. NO F
Description
Defines the direction of the motor wiring:
Type Description
0 Standard wiring.
1 Motor's U and V wires are swapped.

HALL SENSOR TYPE INDEX 0X6410, SUB-INDEX 4

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO F
Description
Defines the type of Hall Effect sensors attached to the motor:
Type Description
0 No Hall sensors available.
1 Digital Hall sensors.
2 Analog Hall sensors.

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HALL SENSOR WIRING INDEX 0X6410, SUB-INDEX 5

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO F
Description
Defines the wiring of the Hall sensors. Bit-mapped as follows (when analog Halls are used, only bit
8 is relevant):
Bits Description
0-2 The Hall wiring code (see below).
3 Reserved.
4 Invert W Hall input if set. Inversion occurs after Halls wiring has been modified by bits 0-2.
5 Invert V Hall input if set. Inversion occurs after Halls wiring has been modified by bits 0-2.
6 Invert U Hall input if set. Inversion occurs after Halls wiring has been modified by bits 0-2.
7 Reserved.
8 Swap analog Halls if set.
9-15 Reserved.

The Hall wiring codes define the order of the Hall connections:
Code Hall ordering
0 UVW
1 UWV
2 VUW
3 VWU
4 WVU
5 WUV
6 Reserved
7 Reserved

HALL OFFSET INDEX 0X6410, SUB-INDEX 6

Type Access Units Range Map PDO Memory
Integer 16 RW degrees -360 - 360 NO F
Description
Offset angle to be applied to the Hall sensors.

MOTOR RESISTANCE INDEX 0X6410, SUB-INDEX 7

Type Access Units Range Map PDO Memory
Integer 16 RW 0.01 Ohm 0 - 32,767 NO F
Description
Motor winding resistance, in 0.01-Ohm units.

MOTOR INDUCTANCE INDEX 0X6410, SUB-INDEX 8

Type Access Units Range Map PDO Memory
Integer 16 RW 0.01 milliHenry 0 - 32,767 NO F
Description
Motor winding inductance, in 0.01-milliHenry units.

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MOTOR INERTIA INDEX 0X6410, SUB-INDEX 9

Type Access Units Range Map PDO Memory
Integer 32 RW Rotary: 0 - 2,147,483,647 NO F
0.000001 Kg / cm2
Linear: 0.0001 Kg.

Description
Motor inertia.

MOTOR BACK EMF INDEX 0X6410, SUB-INDEX 10

Type Access Units Range Map PDO Memory
Unsigned 32 RW Rotary: 0.01 V/KRPM 0 - 2,147,483,647 NO F
Linear: 0.01 V/mps
Description
Motor back-EMF constant.

MOTOR MAXIMUM VELOCITY INDEX 0X6410, SUB-INDEX 11

Type Access Units Range Map PDO Memory
Integer 32 RW 0.1 counts / second 0 - 500,000,000 NO F
Description
Maximum motor velocity.

MOTOR TORQUE CONSTANT INDEX 0X6410, SUB-INDEX 12

Type Access Units Range Map PDO Memory
Integer 32 RW Rotary: 0.001 Nm / Amp 0 - 2,147,483,647 NO F
Linear: 0.00001 N.
Description
Motor Torque (Force) constant.

MOTOR PEAK TORQUE INDEX 0X6410, SUB-INDEX 13

Type Access Units Range Map PDO Memory
Integer 32 RW Rotary: 0.001 Nm 0 - 2,147,483,647 NO F
Linear: 0.00001 N
Description
Motor Peak Torque (Force).

MOTOR CONTINUOUS TORQUE INDEX 0X6410, SUB-INDEX 14

Type Access Units Range Map PDO Memory
Integer 32 RW Rotary: 0.001 Nm/Amp 0 - 2,147,483,647 NO F
Linear: 0.00001 N/Amp
Description
Motor Continuous Torque (Force).

MOTOR TEMPERATURE SENSOR INDEX 0X6410, SUB-INDEX 15

Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. NO F
Description
Value Description
0 No temperature sensor available.
1 Temperature sensor is available.

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MOTOR HAS A BRAKE INDEX 0X6410, SUB-INDEX 16

Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. NO F
Description
Value Description
0 The motor has a brake.
1 The motor does not have a brake.

MOTOR STOPPING TIME INDEX 0X6410, SUB-INDEX 17

Type Access Units Range Map PDO Memory
Unsigned 16 RW milliseconds 0 - 10,000 NO F
Description
Also known as Brake/Stop Delay Time. When the amplifier is disabled, it will actively decelerate
the motor for this amount of time (in milliseconds) before activating the brake output.
This delay may be cut short if the motor velocity falls below the value programmed in Motor Brake
Velocity (Index 0x2383, Sub-Index 19, p. 95).

MOTOR BRAKE DELAY INDEX 0X6410, SUB-INDEX 18

Type Access Units Range Map PDO Memory
Unsigned 16 RW milliseconds 0 - 10,000 NO F
Description
After the brake output is activated, the amplifier will stay enabled for this amount of time to allow
the brake to engage.

MOTOR BRAKE VELOCITY INDEX 0X6410, SUB-INDEX 19

Type Access Units Range Map PDO Memory
Integer 32 RW 0.1 counts / second 0 - 500,000,000 NO F
Description
During the Motor Stopping Time (Index 0x2383, Sub-Index 17, p. 94), if the motor's actual velocity
falls below this value the brake output is activated immediately.

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ENCODER TYPE CODE INDEX 0X6410, SUB-INDEX 20

Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. NO F
Description
Also known as Motor Encoder Type. Identifies the type of encoder attached to the motor:
Value Description
0 Primary incremental quadrature encoder.
1 No encoder.
2 Analog encoder.
3 Multi-mode port incremental quadrature encoder
4 Analog Halls used for position feedback.
5 Resolver input.
6 Digital Halls.
7 Analog encoder, special.
8 Reserved.
9 Panasonic Minas-A.
10 SPI Command
11 SSI
12 EnDat 2.2

ENCODER UNITS INDEX 0X6410, SUB-INDEX 21

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO F
Description
This value defines the units used to describe linear motor encoders. It is not used with rotary
motors.
Value Description
0 microns
1 nanometers
2 millimeters

MOTOR ENCODER DIRECTION INDEX 0X6410, SUB-INDEX 22

Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. NO F
Description
Motor encoder direction. Value 0 for standard, value 1 to reverse direction.

MOTOR COUNTS/REV INDEX 0X6410, SUB-INDEX 23

Type Access Units Range Map PDO Memory
Unsigned 32 RW counts / rev 0 - 2,147,483,647 NO F
Description
For rotary motors gives the number of counts/motor revolution. When a resolver is used as the
motor feedback device, this parameter sets the resolution of the interpolated position. This
parameter is not used for linear motors.

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MOTOR ENCODER RESOLUTION INDEX 0X6410, SUB-INDEX 24

Type Access Units Range Map PDO Memory
Integer 16 RW encoder units / count 0 - 32,767 NO F
Description
Number of Encoder Units (sub-index 21)/ count. Only used with linear motors.

MOTOR ELECTRICAL DISTANCE INDEX 0X6410, SUB-INDEX 25

Type Access Units Range Map PDO Memory
Integer 32 RW encoder units / cycle 0 - 2,147,483,647 NO F
Description
Number of Encoder Units (sub-index 21) / motor electrical cycle. Only used with linear motors.

ENCODER INDEX PULSE DISTANCE INDEX 0X6410, SUB-INDEX 26

Type Access Units Range Map PDO Memory
Integer 32 RW encoder units / cycle 0 - 2,147,483,647 NO F
Description
Encoder index pulse distance.

MOTOR UNITS INDEX 0X6410, SUB-INDEX 27

Type Access Units Range Map PDO Memory
Integer 16 RW - - NO F
Description
Number of motor units. This is only used by CME for display.

ANALOG ENCODER SHIFT INDEX 0X6410, SUB-INDEX 28

Type Access Units Range Map PDO Memory
Integer 16 RW - 0 -10 NO F
Description
This value gives the number of bits of interpolation to be applied to an analog encoder. The
n
fundamental encoder resolution will be increased by a multiplier of 2 where n is the value
programmed in this parameter. The range of this value is 0 to 8 giving possible multipliers of 1 to
256.

MICROSTEPS/REV INDEX 0X6410, SUB-INDEX 29

Type Access Units Range Map PDO Memory
Unsigned 32 RW microsteps - NO F
Description
Microsteps per revolution for microstepping motors.

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LOAD ENCODER TYPE INDEX 0X6410, SUB-INDEX 30

Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. NO F
Description
Also known as Position Encoder Type. This bit-mapped value defines the type of encoder
attached to the load:
Bits Description
0-2 Encoder Type (see below).
3 Reserved.
4 Linear encoder if set, rotary encoder if clear.
5 Passive load encoder if set.

The encoder type codes define the type of encoder.

Code Encoder Type
0 No load encoder present.
1 Primary incremental quadrature encoder.
2 Analog encoder.
3 Multi-mode port incremental quadrature encoder.
4 Low frequency analog encoder
5 Resolver.

LOAD ENCODER DIRECTION INDEX 0X6410, SUB-INDEX 31

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO F
Description
Also known as Position Encoder Direction. Load encoder direction. Value 0 for standard, value 1
to reverse direction.

LOAD ENCODER RESOLUTION INDEX 0X6410, SUB-INDEX 32

Type Access Units Range Map PDO Memory
Integer 32 RW encoder units / count 0 - 2,147,483,647 NO F
Description
Only used with linear motors. Also known as Position Encoder Resolution. Number of Encoder
Units / encoder count. For information, see Encoder Units (Index 0x2383, Sub-Index 21, p. 95).

MOTOR GEAR RATIO INDEX 0X6410, SUB-INDEX 33

Type Access Units Range Map PDO Memory
Integer 32 RW - - NO F
Description
This parameter may be used to store gear ratio information for dual encoder systems where a
gearbox sits between the two encoders. This parameter is not used by the firmware and is
supported as a convenience to the CME program.

NUMBER OF RESOLVER CYCLES/MOTOR REV INDEX 0X6410, SUB-INDEX 34

Type Access Units Range Map PDO Memory
Integer 16 RW - - NO F
Description
Number of Resolver Cycles/Motor Rev. This parameter is only used with resolver feedback
devices.

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MOTOR BRAKE ENABLE DELAY TIME INDEX 0X2199

Type Access Units Range Map PDO Memory
Integer16 RW milliseconds - NO F
Description
This parameter gives a delay between enabling the drive PWM outputs and releasing the brake.
Positive values mean the PWM is enabled first and then the brake is released N milliseconds later.
Negative values cause the brake to be released before PWM outputs are enabled.

MOTOR ENCODER WRAP INDEX 0X2220

Type Access Units Range Map PDO Memory
Integer 32 RW Counts - NO RF
Description
Actual motor position will wrap back to zero when this value is reached. Setting this value to zero
disables this feature.

LOAD ENCODER WRAP INDEX 0X2221

Type Access Units Range Map PDO Memory
Integer 32 RW Counts - NO RF
Description
Actual load position will wrap back to zero when this value is reached. Setting this value to zero
disables this feature.

MOTOR ENCODER OPTIONS INDEX 0X2222

Type Access Units Range Map PDO Memory
Unsigned 32 RW - - NO F
Description
Specifies various configuration options for the motor encoder. The mapping of option bits to
function depends on the encoder type.
Quadrature Encoder
Bit Description
0 If set, ignore differential signal errors (if detected in hardware).
1 If set, select single ended encoder inputs (if available in hardware).
2 Ignore differential signal errors on index input only (if supported by hardware).
Continued…

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…continued:
EnDat Encoder
Bit Description
0-4 Number of bits of single turn data available from encoder.
8-12 Number of bits of multiturn data available from encoder.
16 Set if analog inputs are supplied by encoder.
SSI Encoder
Bits Description
0-5 Number of bits of position data available.
8-10 Extra bits after position containing fault info.
12 If set, ignore first received bit.
13 If set. gray code encoded data.
16-21 Encoder bit rate in 100 kHz units
24 If set, first bit is 'data valid'.
Encoded Type 14 (Tamagawa, Panasonic, Harmonic Drives, etc.)
Bits Description
0-5 Number of bits of single turn data.
8-12 Number of bits of multi-turn data.
16-19 Number of LSB to discard from reading.
20-22 Number of consecutive CRC errors to ignore.
24-27 Encoder sub-type (0=Tamagawa, 1=Panasonic absolute, 2=HD systems, 3=Panasonic Incremental,
4=Sanyo Denki).
28 Bit rate (set for 4 Mbit, clear for 2.5 Mbit).
BiSS
Bits Description
0-5 Number of bits of single turn data.
8-12 Number of bits of multi-turn data.
16 Set for mode-C.
20 If set, error bits are active low.
21 If set, error bits are sent before position, after position (if clear).
24-26 Number of alignmen bits.

LOAD ENCODER OPTIONS INDEX 0X2223

Type Access Units Range Map PDO Memory
Unsigned 32 RW - - NO F
Description
Specifies various configuration options for the motor encoder. The mapping of option bits to
function depends on the encoder type.
Quadrature Encoder
Bit Description
0 If set, ignore differential signal errors (if detected in hardware).
1 If set, select single ended encoder inputs (if available in hardware).
EnDat Encoder
Bit Description
0-4 Number of bits of single turn data available from encoder.
8-12 Number of bits of multiturn data available from encoder.
16 Set if analog inputs are supplied by encoder.

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MOTOR ENCODER STATUS INDEX 0X2224

Type Access Units Range Map PDO Memory
Unsigned 32 RO - - YES R*
Description
Motor encoder status. This parameter gives additional status information for the encoder. Bits set
in the status word are latched and cleared when the status value is read. The format of this status
word is dependent on the encoder type. Many error bits are taken directly from encoder data
stream. For a full description of what these error bits mean, please consult the encoder
manufacturer.
BiSS
Bits Description
0 CRC error on data received from encoder
1 Encoder failed to transmit data to amp
2 Error bit on encoder stream is active
3 Warning bit on encoder stream is active
4 Encoder transmission delay is too long
EnDAT
Bits Description
0 CRC error on data received from encoder
1 Failed to detect encoder connected to amplifier
2 Error bit on encoder stream is active
3 Encoder failed to respond to request for position
Tamagawa & Panasonic
Bits Description
0 Over speed error reported by encoder
1 Absolute position error reported by encoder
2 Counting error reported by encoder
3 Counter overflow reported by encoder
5 Multi-turn error reported by encoder
6 Battery error reported by encoder
7 Battery warning reported by encoder
8 Error bit 0 reported by encoder
9 Error bit 1 reported by encoder
10 Comm error 0
11 Comm error 1
15 CRC error on data received from encoder
Sanyo Denki & Harmonic Drives (encoder type 14)
Bits Description
0 Battery warning reported by encoder
1 Battery error reported by encoder
3 Over speed reported by encoder
4 Memory error reported by encoder
5 STERR reported by encoder
6 PSERR reported by encoder
7 Busy error reported by encoder

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LOAD ENCODER STATUS INDEX 0X2225

Type Access Units Range Map PDO Memory
Unsigned 32 RO - - YES R*
Description
Load encoder status. Same as parameter 0x12E, but for the load encoder.

PHASING MODE INDEX 0X21C0

Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. NO RF
Description
Controls the mechanism used by the amplifier to compute the motor phasing angle. Determines
what inputs the amplifier uses to initialize and maintain the phase angle. This variable is normally
set using CME and stored to flash, but it can also be accessed via object 0x21C0.
The values that can be programmed into this object are as follows:
Code Description
0 Standard mode. Use digital Hall inputs to initialize phase, then switch to an encoder to maintain it. The
encoder is the primary sensing device with the Hall effect sensors used to monitor and adjust the phase
angle as necessary during operation. This mode gives smooth operation and should be selected for most
applications.
1 Trapezoidal (hall based) phasing. The Hall sensors are used for phasing all the time. This mode can be
used if no encoder is available.
2 Like mode 0 except that the phase angle is not adjusted based on the Hall inputs. Hall sensors are still
required to initialize the phase angle at startup.
3 Analog Halls (90°). Only available on amplifier's with the necessary analog inputs.
4 DC Brush.
5 Algorithmic phase init mode (wake & wiggle).
6 Encoder based phasing. Use with resolver or Servo Tube motor.
7 Trapezoidal commutation with phase angle interpolation.

Algorithmic Phase Init Mode Details

When mode 5 is selected the amplifier enters a state machine used to initialize its phase. While
the amplifier is performing this operation, bit 29 of the Manufacturer Status Register (0x1002) is
set.
At the start of the phase init algorithm the amplifier will wait to be enabled. Once enabled, the main
algorithm will start. If the amplifier is disabled during the phase initialization, it will wait to be
enabled again and start over.
When the phase init algorithm ends successfully, bit 29 the Manufacturer Status Register
(0x1002) is cleared and the amplifier will start using the encoder input to maintain its phasing info.
If the algorithm fails for any reason, bit 29 remains set and bit 6 (phase error) is also set in the
status word. The amplifier is then disabled.
To restart the phase init algorithm, object 0x21C0 can be written with the value 5. Bit 29 of the
status register will immediately be set and the phase init algorithm will restart as soon as the
amplifier is enabled.
Note that no profiles can be started until the phase init algorithm is completed.

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MAX CURRENT TO USE WITH ALGORITHMIC PHASE INITIALIZATION INDEX 0X21C2

Type Access Units Range Map PDO Memory
Integer 16 RW 0.01 amps - YES RF
Description
See Algorithmic Phase Init Mode Details (p. 108).

ALGORITHMIC PHASE INITIALIZATION TIMEOUT INDEX 0X21C3

Type Access Units Range Map PDO Memory
Unsigned 16 RW milliseconds - YES RF
Description
See Algorithmic Phase Init Mode Details (p. 108).

ALGORITHMIC PHASE INITIALIZATION CONFIG INDEX 0X21C4

Type Access Units Range Map PDO Memory
Integer 16 RW milliseconds - YES RF
Description
See Algorithmic Phase Init Mode Details (p. 108). Bit-mapped:
Bits Description
0 If clear, use algorithmic phase initialization.
If set force the phase angle to zero degrees.
1 If set, increment the initial phase angle by 90 degrees after each failed attempt.
2 If set, use the Hall Offset (Index 0x2383, Sub-Index 6, p. 93), as the initial angle for the first attempt.
3-15 Reserved.

SECONDARY ANALOG REFERENCE OFFSET INDEX 0X2314

Type Access Units Range Map PDO Memory
Integer16 RW millivolts - YES RF
Description
Offset for secondary analog reference input.

SECONDARY ANALOG REFERENCE CALIBRATION INDEX 0X2315

Type Access Units Range Map PDO Memory
Integer16 millivolts - RF
Description
Calibration offset for second analog reference input.

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3.6: Real-time Amplifier and Motor Status Objects

Contents of this Section
This section describes the following objects:
Analog/Digital Reference Input Value Index 0x2200............................................................................... 111
High Voltage Reference Index 0x2201 ................................................................................................... 111
Amplifier Temperature Index 0x2202 ...................................................................................................... 111
System Time Index 0x2141 .................................................................................................................... 111
Winding A Current Index 0x2203 ............................................................................................................ 111
Winding B Current Index 0x2204 ............................................................................................................ 111
Sine Feedback Voltage Index 0x2205 .................................................................................................... 111
Cosine Feedback Voltage Index 0x2206 ................................................................................................ 112
A/D Offset Value Index 0x2207............................................................................................................... 112
Current Offset A Index 0x2210 ............................................................................................................... 112
Current Offset B Index 0x2211 ............................................................................................................... 112
Stator Current X Index 0x2212 .............................................................................................................. 112
Stator Voltage- X Axis Index 0x221A ...................................................................................................... 112
Stator Voltage- Y Axis Index 0x221B ...................................................................................................... 112
RMS Current Calculation Period Index 0x2114 ...................................................................................... 113
RMS current over set period Index 0x2115 ............................................................................................ 113
Motor Phase Angle Index 0x2260 ........................................................................................................... 113
Motor Phase Angle Index 0x2262 ........................................................................................................... 113
Encoder Phase Angle Index 0x2263 ....................................................................................................... 113
Hall State Index 0x2261 ........................................................................................................................ 113
Digital Command Input Scaling Factor Index 0x2321 ............................................................................. 114

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ANALOG/DIGITAL REFERENCE INPUT VALUE INDEX 0X2200

Type Access Units Range Map PDO Memory
Integer 16 RO millivolts - YES -
Description
Most recent value read from the reference A/D input (millivolts). Available on certain amplifiers.

HIGH VOLTAGE REFERENCE INDEX 0X2201

Type Access Units Range Map PDO Memory
Integer 16 RO 0.1 volts - YES -
Description
The voltage present on the high-voltage bus. Also known as Bus Voltage.

AMPLIFIER TEMPERATURE INDEX 0X2202

Type Access Units Range Map PDO Memory
Integer 16 RO degrees centigrade - YES R
Description
The amplifier temperature.

SYSTEM TIME INDEX 0X2141

Type Access Units Range Map PDO Memory
Unsigned 32 RO milliseconds - YES R
Description
Time since startup.

WINDING A CURRENT INDEX 0X2203

Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - YES -
Description
The current present on one of the motor windings (0.01-amp units).

WINDING B CURRENT INDEX 0X2204

Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - YES -
Description
The current present on one of the motor windings (0.01-amp units).

SINE FEEDBACK VOLTAGE INDEX 0X2205

Type Access Units Range Map PDO Memory
Integer 16 RO millivolts - YES -
Description
The voltage present on the analog feedback, sine input (millivolts). Not available on all amplifiers.
Also known as analog Sine Input Voltage.

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COSINE FEEDBACK VOLTAGE INDEX 0X2206

Type Access Units Range Map PDO Memory
Integer 16 RO millivolts - YES -
Description
Voltage present on the analog feedback, cosine input (millivolts). Available on certain amplifiers.

A/D OFFSET VALUE INDEX 0X2207

Type Access Units Range Map PDO Memory
Integer 16 RO millivolts - YES -
Description
Primarily of diagnostic interest, this object gives the offset value applied to the internal A/D unit. It
is part of a continuous calibration routine that the amplifier performs on itself while running.

CURRENT OFFSET A INDEX 0X2210

Type Access Units Range Map PDO Memory
Integer 16 RW 0.01 amps - YES -
Description
A calibration offset value, calculated at startup, and applied to the winding A current reading.

CURRENT OFFSET B INDEX 0X2211

Type Access Units Range Map PDO Memory
Integer 16 RW 0.01 amps - YES -
Description
A calibration offset value, calculated at startup, and applied to the winding B current reading.

STATOR CURRENT X INDEX 0X2212

Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - YES -
Description
X axis of calculated stator current vector. Units: 0.01 A.

STATOR VOLTAGE- X AXIS INDEX 0X221A

Type Access Units Range Map PDO Memory
Integer16 RO 0.01 amps - YES R*
Description
X axis of stator output voltage vector.

STATOR VOLTAGE- Y AXIS INDEX 0X221B

Type Access Units Range Map PDO Memory
Integer16 RO 0.01 amps - YES R*
Description
Y axis of stator output voltage vector.

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RMS CURRENT CALCULATION PERIOD INDEX 0X2114

Type Access Units Range Map PDO Memory
Integer16 RW milliseconds - YES RF
Description
This sets the period over which the RMS current is calculated. If this value is set to zero, then the
RMS current will be updated each time it is read for the period since the last read. In this case, the
RMS current must be read at least once every 65536 current loop periods (about every 4 seconds)
for the returned RMS values to be accurate.

RMS CURRENT OVER SET PERIOD INDEX 0X2115

Type Access Units Range Map PDO Memory
Integer16 RO 0.01 amps - YES RF
Description
RMS current over the period set in parameter 0x130.

MOTOR PHASE ANGLE INDEX 0X2260

Type Access Units Range Map PDO Memory
Integer 16 R degrees 0 - 360 YES R
Description
Motor phase angle, derived from motor commutation.

MOTOR PHASE ANGLE INDEX 0X2262

Type Access Units Range Map PDO Memory
Integer 16 RW degrees 0 - 360 YES R
Description
Same as 0x2260 but writeable. Writes are only useful when running in diagnostic micro-stepping
mode.

ENCODER PHASE ANGLE INDEX 0X2263

Type Access Units Range Map PDO Memory
Integer 16 RO degrees 0 - 360 YES R
Description
For feedback types, such as resolver, that can also calculate phase angle information. This
parameter allows the phase information to be read directly.

HALL STATE INDEX 0X2261

Type Access Units Range Map PDO Memory
Integer 16 RO - 0-7 YES -
Description
The lower three bits of the returned value give the present state of the Hall input pins.
The Hall state is the value of the Hall lines AFTER the ordering and inversions specified in the Hall
wiring configuration have been applied.

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DIGITAL COMMAND INPUT SCALING FACTOR INDEX 0X2321

Type Access Units Range Map PDO Memory
Integer 32 RW - - YES -
Description
This value gives the amount of current to command at 100% PWM input.

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3.7: Digital I/O Configuration Objects

Contents of this Section
This section describes the following objects:
Input Pin States Index 0x2190 ................................................................................................................ 116
Input Pin State Index 0x219A .................................................................................................................. 116
Input Pin Config register (16 Bit) Index 0x2191....................................................................................... 117
Input Pin Config Register (32 bit) Index 0x219C ..................................................................................... 117
Input Pin Configuration Index 0x2192 ..................................................................................................... 118
Input Pin Configuration Index 0x2192, Sub-Index 1-N ....................................................................... 118
Input Pin Debounce Values Index 0x2195 .............................................................................................. 119
Input Pin Debounce Values Index 0x2195, Sub-Index 1-N ................................................................. 119
Raw Input Pin Value (16 bit) Index 0x2196 ............................................................................................. 119
Raw Input Pin Value (32 bit) Index 0x219B ............................................................................................. 119
Output pin configuration Index 0x2193.................................................................................................... 120
Output Pin Configuration Index 0x2193, Sub-Index 1-N ....................................................................... 120
Output States and Program Control Index 0x2194 ................................................................................. 121
Digital Control Input Configuration Index 0x2320 .................................................................................... 121
Digital Control Input Scaling Index 0x2321.............................................................................................. 122
Digital Inputs Index 0x60FD ................................................................................................................... 122
Configure I/O Options Index 0x2198 ....................................................................................................... 122

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INPUT PIN STATES INDEX 0X2190

Type Access Units Range Map PDO Memory
Unsigned 16 RO - See Description, below YES -
Description
The 16-bit value returned by this command gives the current state (high/low) of the amplifier’s
input pins after debouncing. The inputs are returned one per bit as shown below.
Bits Description
0 Input 1
1 Input 2
2 Input 3
3 Input 4
4 Input 5
5 Input 6
6 Input 7
7 Input 8
8 Input 9
9 Input 10
10 Input 11
11 Input 12
12 Input 13
13 Input 14
14 Input 15
15 Input 16
There is a PDO event associated with the input states object that can transmit a PDO any time an
input pin changes state.

INPUT PIN STATE INDEX 0X219A

Type Access Units Range Map PDO Memory
Integer 32 R0 - - EVENT R*
Description
32-bit version of parameter 0x2190. Useful on drives with more than 16 input pins.
Some amplifiers have one or more pull-up resistors associated with their general-purpose input
pins. On these amplifiers, the state of the pull-ups can be controlled by writing to this register.
This register has one bit for each pull-up resistor available on the amplifier. Setting the bit causes
the resistor to pull any inputs connected to it up to the high state when they are not connected.
Bits 0 – 7 of this register are used to control pull-up resistor states. Each bit represents an input
number. Bit 0 = IN1, bit 1 = IN2, etc.
On amplifiers that allow groups of inputs to be configured as either single ended or differential, bit
8 controls this feature. Set bit 8 to 0 for single ended, 1 for differential.

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INPUT PIN CONFIG REGISTER (16 BIT) INDEX 0X2191

Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below YES RF
Description
Some amplifiers have one or more pull-up resistors associated with their general-purpose input
pins. On these amplifiers, the state of the pull-ups can be controlled by writing to this register.
This register has one bit for each pull-up resistor available on the amplifier. Setting the bit causes
the resistor to pull any inputs connected to it up to the high state when they are not connected.
Bits 0 – 7 of this register are used to control pull-up resistor states. Each bit represents an input
number. Bit 0 = IN1, bit 1 = IN2, etc.
On amplifiers that allow groups of inputs to be configured as either single ended or differential, bit
8 controls this feature. Set bit 8 to 0 for single ended, 1 for differential.

INPUT PIN CONFIG REGISTER (32 BIT) INDEX 0X219C

Type Access Units Range Map PDO Memory
Unsigned 32 RW - See Description, below YES RF
Description
Some amplifiers have one or more pull-up resistors associated with their general-purpose input
pins. On these amplifiers, the state of the pull-ups can be controlled by writing to this register.
This register has one bit for each pull-up resistor available on the amplifier. Setting the bit causes
the resistor to pull any inputs connected to it up to the high state when they are not connected.
Bits 0 – 7 of this register are used to control pull-up resistor states. Each bit represents an input
number. Bit 0 = IN1, bit 1 = IN2, etc.
On amplifiers that allow groups of inputs to be configured as either single ended or differential, bit
8 controls this feature. Set bit 8 to 0 for single ended, 1 for differential.

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INPUT PIN CONFIGURATION INDEX 0X2192

Type Access Units Range Map PDO Memory
Array RW - - YES -
Description
This object consists of N identical sub-elements, where N is the number of input pins available on
the amplifier. Sub-index 0 contains the number of sub-elements of this array.

INPUT PIN CONFIGURATION INDEX 0X2192, SUB-INDEX 1-N

Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below NO RF
These values allow functions to be assigned to each of the input pins. The available functions are:
Code Description
0 No function
1 Reserved for future use (no function)
2 Reset the amplifier on the rising edge of the input.
3 Reset the amplifier on the falling edge of the input.
4 Positive side limit switch. Active high. See Misc Amplifier Options Register (index 0x2420, p. 76).
5 Positive side limit switch. Active low. See Misc Amplifier Options Register (index 0x2420, p. 76).
6 Negative side limit switch. Active high. See Misc Amplifier Options Register (index 0x2420, p. 76).
7 Negative side limit switch. Active low. See Misc Amplifier Options Register (index 0x2420, p. 76).
8 Motor temperature sensor. Active high.
9 Motor temperature sensor. Active low.
10 Disable amplifier when high. Clear latched faults on low to high transition.
11 Disable amplifier when low. Clear latched faults on high to low transition.
12 Reset on rising edge. Disable amplifier when high.
13 Reset on falling edge. Disable amplifier when low.
14 Home switch. Active high.
15 Home switch. Active low.
16 Disable amplifier when high.
17 Disable amplifier when low.
19 PWM synchronization. Only for high speed inputs; see amplifier data sheet.
20 Halt motor and prevent a new trajectory when high.
21 Halt motor and prevent a new trajectory when low.
22 High resolution analog divide when high.
23 High resolution analog divide when low.
24 High speed position capture on rising edge. Only for high speed inputs.
25 High speed position capture on falling edge. Only for high speed inputs.
26 Counter input, rising edge.
Note: Upper byte of this parameter designates which Indexer register to store the count in.
27 Counter input, falling edge.
Note: Upper byte of this parameter designates which Indexer register to store the count in.

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INPUT PIN DEBOUNCE VALUES INDEX 0X2195

Type Access Units Range Map PDO Memory
Array RW - - YES -
Description
This object consists of N identical sub-index objects, where N is the number of input pins available
on the amplifier. (Sub-index object 0 contains the number of elements of this record.) These
values allow debounce times to be assigned to each of the input pins. Each sub-index object can
be described as shown below:

INPUT PIN DEBOUNCE VALUES INDEX 0X2195, SUB-INDEX 1-N

Type Access Units Range Map PDO Memory
Unsigned 16 RW milliseconds 0 - 10,000 YES RF
Description
The debounce time for the input identified by the sub-index in milliseconds. This time specifies
how long an input must remain stable in a new state before the amplifier recognizes the state.

RAW INPUT PIN VALUE (16 BIT) INDEX 0X2196

Type Access Units Range Map PDO Memory
Unsigned 16 RO - See Description, below. YES -
Description
This object shows the current state of the input pins before debouncing.
The inputs are returned one per bit. The value of IN1 is returned in bit 0 (1 if high, 0 if low), IN2 in
bit 1, etc.
For input states with debouncing, see Input Pin States (index 0x2190, p. 116).

RAW INPUT PIN VALUE (32 BIT) INDEX 0X219B

Type Access Units Range Map PDO Memory
Unsigned 32 RO - See Description, below. YES -
Description
The 32-bit value returned by this command gives the current state (high/low) of the amplifier’s
input pins. Unlike input pin states, no debounce is applied when reading the inputs using this
variable.
The inputs are returned one per bit. The value of IN1 is returned in bit 0 (1 if high, 0 if low), IN2 in
bit 1, etc.
For input states with debouncing, see Input Pin States (index 0x2190, p. 116).

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OUTPUT PIN CONFIGURATION INDEX 0X2193

Type Access Units Range Map PDO Memory
Array RW - - YES RF
Description
This array consists of N identical sub-elements, where N is the number of outputs. Sub-index 0
contains the number of sub-elements of this array.

OUTPUT PIN CONFIGURATION INDEX 0X2193, SUB-INDEX 1-N

Type Access Units Range Map PDO Memory
Variable RW - See Description, below. YES RF
The values programmed into these objects allow the amplifier’s digital outputs to be driven by
internal amplifier events, or externally driven.
Each output configuration consists of a 16-bit configuration word (bits 0-15), followed by a variable
number of words (2-4), depending on the configuration code chosen. The configuration word is
defined as follows:
Bits Configuration
0-2 Define which internal register drives the output. The acceptable values for these bits are as follows:
Value Description
0 Word 2 (bits 16-32) is used as a mask of the amplifier's Manufacturer Status Register object (index
0x1002, p. 60). When any bit set in the mask is also set in the Manufacturer Status Register object,
the output goes active.
1 Word 2 (bits 16-32) is used as a mask of the amplifier's Latched Event Status Register (index
0x2181, p. 62). When any bit set in the mask is also set in the Latched Event Status Register, the
output goes active and remains active until the necessary bit in the Latched Event Status Register is
cleared.
2 Puts the output in manual mode. Additional words are not used in this mode, and the output's state
follows the value programmed in the manual output control register.
3 Word 2 (bits 16-32) is used as a mask of the amplifier's Trajectory Generator Status object (index
0x2252, p. 202). When any bit set in the mask is also set in the Trajectory Generator Status object
the output goes active.
4 Output goes active if the actual axis position is between the low position specified in words 2 and 3
(bits 16-47) and the high position specified in words 4 and 5 (bits 48-80).
5 Output goes active if the actual axis position crosses, with a low to high transition; the position
specified in words 2 and 3 (bits 16-47). The output will stay active for number of milliseconds
specified in words 4 and 5 (bits 48-80).
6 Same as 5 but for a high to low crossing.
7 Same as 5 but for any crossing.
3-7 Reserved for future use.
8 If set, the output is active low. If clear, the output is active high.
9-15 Reserved for future use.

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OUTPUT STATES AND PROGRAM CONTROL INDEX 0X2194

Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. EVENT R
Description
When read, this parameter gives the active/inactive state of the amplifier’s general-purpose digital
outputs. Each bit represents an input number. Bit 0 = digital output 1 (OUT1), bit 1 = OUT2, etc.,
up to OUTn, the number of digital outputs on the amplifier. Additional bits are ignored.
Outputs that have been configured for program control can be set by writing to this parameter (see
the Output pin configuration object, index 0x2193, p. 120 for pin configuration details). Set a bit to
activate the output. It will be activated high or low according to how it was programmed. Clear a bit
to make the output inactive. If an output was not configured for program control it will not be
affected.

DIGITAL CONTROL INPUT CONFIGURATION INDEX 0X2320

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. YES RF
Description
Defines the configuration of the digital control inputs when the amplifier is running in a mode that
uses them as a control source.
The lower 8 bits control the PWM input configuration for controlling current and velocity modes.
The upper 8 bits configure the digital inputs when running in position mode.
Bits Description
0 If set, use PWM in signed/magnitude mode. If clear, use PWM in 50% duty cycle offset mode.
1 Invert the PWM input if set.
2 Invert the sign bit if set.
3 Allow 100% duty cycle if set. If clear, treat 100% duty cycle as a zero command, providing a measure of
safety in case of controller failure or cable break.
4-7 Reserved for future use.
8-9 Input pin interpretation for position mode (see below).
Value Description
0 Step & Direction mode.
1 Separate up & down counters.
2 Quadrature encoder input.
10-11 Reserved for future use.
12 Count falling edges if set, rising edges if clear.
13 Invert command signal.
14-15 Selects source of digital position input command.
Value Description
0 Single ended high speed inputs.
1 Multi-mode encoder port.
2 Differential high speed inputs.
3 Motor encoder port.

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DIGITAL CONTROL INPUT SCALING INDEX 0X2321

Type Access Units Range Map PDO Memory
Integer 32 RW See Description, below. See Description, below. YES RF
Description
When the amplifier is running in a mode that takes input from the digital control input pins (as
determined by the setting of object 0x2300, Desired State), this object gives the amount of current
to command at 100% PWM input. The scaling depends on what the PWM input is driving:
Current mode: 0.01 A
Velocity: 0.1 counts/s
In position mode the scaling factor is a ratio of two 16-bit values. The first word passed gives the
numerator and the second word gives the denominator. This ratio determines the number of
encoder units moved for each pulse (or encoder count) input.
For example, a ratio of 1/3 would cause the motor to move 1 encoder unit for every three input
steps.

DIGITAL INPUTS INDEX 0X60FD

Type Access Units Range Map PDO Memory
Unsigned 32 RO - See Description, below. EVENT -
Description
This object gives the present value of the digital inputs of the amplifier. The lower 16 bits are
defined by the device profile and show the value of input based on the function associated with
them. The upper 16 bits give the raw values of the inputs connected to the amplifier in the same
ordering as Input Pin States (index 0x2190, p. 116).
Bits Description
0 Negative limit switch is active when set.
1 Positive limit switch is active when set.
2 Home switch is active when set.
3 Amplifier enable input is active when set.
4-15 Reserved.
16- Raw input mapping. These bits contain the same data as Input Pin States (index 0x2190, p. 116).
31

CONFIGURE I/O OPTIONS INDEX 0X2198

Type Access Units Range Map PDO Memory
Integer32 RW - - NO RF
Description
This parameter is used to configure optional features of the general purpose I/O. Bit-mapped:
Bit Description
0-3 For AEM/APM, these bits determine whether several I/O pins are used as a serial interface for
expanded I/O features, and if so how they are configured.
0 – normal I/O
1 – AEM/APM development board LEDs and address switches.
2 – LEDs wired the same as the developer's kit board, but using separate red & green LEDs for the network
status.
4-31 Reserved for future use.

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3.8: XENUS REGEN RESISTOR OBJECTS

Contents of this Section
This section describes the following objects:
Xenus Regen Resisitor Resistance Index 0x2150 .................................................................................. 124
Xenus Regen Resisitor Continuous Power Index 0x2151....................................................................... 124
Xenus Regen Resisitor Peak Power Index 0x2152................................................................................. 124
Xenus Regen Resisitor Peak Time Index 0x2153................................................................................... 124
Xenus Regen Resisitor Turn-On Voltage Index 0x2154 ......................................................................... 124
Xenus Regen Resisitor Turn-Off Voltage Index 0x2155 ......................................................................... 124
Xenus Regen Resisitor Model String Index 0x2156 ................................................................................ 124
Xenus Regen Resisitor Status Index 0x2157 .......................................................................................... 125

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XENUS REGEN RESISITOR RESISTANCE INDEX 0X2150

Type Access Units Range Map PDO Memory
Unsigned 16 RW 0.01 Ω - YES RF
Description
Regen resistor resistance.

XENUS REGEN RESISITOR CONTINUOUS POWER INDEX 0X2151

Type Access Units Range Map PDO Memory
Unsigned 16 RW watts - YES RF
Description
Regen resistor, continuous power.

XENUS REGEN RESISITOR PEAK POWER INDEX 0X2152

Type Access Units Range Map PDO Memory
Unsigned 16 RW watts - YES RF
Description
Regen resistor, peak power.

XENUS REGEN RESISITOR PEAK TIME INDEX 0X2153

Type Access Units Range Map PDO Memory
Unsigned 16 RW milliseconds - YES RF
Description
Regen resistor, peak time.

XENUS REGEN RESISITOR TURN-ON VOLTAGE INDEX 0X2154

Type Access Units Range Map PDO Memory
Unsigned 16 RW 0.1 Vdc - YES RF
Description
Regen resistor, turn-on voltage.

XENUS REGEN RESISITOR TURN-OFF VOLTAGE INDEX 0X2155

Type Access Units Range Map PDO Memory
Unsigned 16 RW 0.1 Vdc - YES RF
Description
Regen resistor, turn-off voltage.

XENUS REGEN RESISITOR MODEL STRING INDEX 0X2156

Type Access Units Range Map PDO Memory
String RW - - NO F
Description
Regen resistor model number string.

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XENUS REGEN RESISITOR STATUS INDEX 0X2157

Type Access Units Range Map PDO Memory
Unsigned 16 RO - See Description, below. YES -
Description
Describes regen system status. Bit-mapped as follows:
Bit Description
0 Set if the regen circuit is currently closed.
1 Set if regen is required based on bus voltage.
2 Set if the regen circuit is open due to an overload condition. The overload may be caused by either the
resistor settings or the internal amplifier protections.
3-15 Reserved for future use.

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126 Copley Controls

CHAPTER
4: CONTROL LOOP CONFIGURATION
This chapter describes nested control loop model used by Copley Controls amplifiers to control
the position of the motor.
Contents include:
4.1: Control Loop Configuration Overview ................................................................................................. 128
4.2: Position Loop Configuration Objects ................................................................................................... 136
4.3: Velocity Loop Configuration Objects ................................................................................................... 143
4.4: Current Loop Configuration Objects ................................................................................................... 149
4.5: Gain Scheduling Configuration ........................................................................................................... 154
4.6: Chained Biquad Filters ........................................................................................................................ 155

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4.1: Control Loop Configuration Overview

Contents of this Section
This section provides an overview of the control loops.
Topics include:
Nested Position, Velocity, and Current Loops ............................................................................................ 129
The Position Loop ...................................................................................................................................... 130
The Velocity Loop ...................................................................................................................................... 132
The Current Loop ....................................................................................................................................... 135

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Nested Position, Velocity, and Current Loops

Nesting of Control Loops and Modes
Copley Controls amplifiers use up to three nested control loops - current, velocity, and position - to
control a motor in three associated operating modes.
In position mode, the amplifier uses all three loops. As shown in the typical system illustrated
below, the position loop drives the nested velocity loop, which drives the nested current loop.

Limits

Target Position Velocity Limited Current Limited PWM

Position Command Command Velocity Command Current Command

FILTER

FILTER
Trajectory Position Velocity Velocity Current Current Motor/
Generator Loop Limiter Loop Limiter Loop Sensors

Actual Position Derived Velocity Actual Current

In velocity mode, the velocity loop drives the current loop. In current mode, the current loop is
driven directly by external or internal current commands.
Basic Attributes of All Control Loops
These loops (and servo control loops in general) share several common attributes:
Loop Attribute Description
Command input Every loop is given a value to which it will attempt to control. For example, the velocity loop
receives a velocity command that is the desired motor speed.
Limits Limits are set on each loop to protect the motor and/or mechanical system.
Feedback The nature of servo control loops is that they receive feedback from the device they are
controlling. For example, the position loop uses the actual motor position as feedback.
Gains These are constant values that are used in the mathematical equation of the servo loop. The
values of these gains can be adjusted during amplifier setup to improve the loop
performance. Adjusting these values is often referred to as tuning the loop.
Output The loop generates a control signal. This signal can be used as the command signal to another
control loop or the input to a power amplifier.

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The Position Loop

Position Loop Diagram
The CANopen master provides a target position to the amplifier’s internal trajectory generator. In
turn the generator provides the position loop a position command and velocity and acceleration
limit values. The position loop applies corrective gains in response to feedback to forward a
velocity command to the velocity loop. The inputs to the position loop vary with different operating
modes. The following diagram summarizes the position loop in position profile mode.

Position Loop
Profile Velocity
Velocity Feed Forw ard (Vff)
+
Target Trajectory Profile Acceleration + Gain Velocity
Position Ge ne rator Acceleration Feed Forw ard (Aff)
Multiplier Command
Limited Position + +
Position Proportional Gain (Pp)
-
Limits:
Max velocity
Feedback from motor encoder or resolver
Max accel
Max decel
from optional position encoder (on load)
Abort decel

Trajectory Generator Inputs and Limits

The inputs to the trajectory generator include profile position, velocity, and acceleration values.
They are accessed through different sets of mode-specific objects as summarized below.
Mode Input Object Name/ID Description Page #
Homing Homing Method / 0x6098 Defines the method to find the motor home position 184
Homing Speeds / 0x6099 The sub-index objects of 0x6099 hold the two velocities 185
(fast and slow) used when homing.
Homing Acceleration / 0x609A Defines the acceleration used for all homing moves. 185
Home Offset / 0x607C Used in homing mode as an offset between the home 185
sensor position and the zero position.
Profile Motion Profile Type / 0x6086 Selects the type of trajectory profile to use. Choices are 205
Position trapezoidal, S-curve, and velocity.
Target Position / 0x607A Destination position of the move. 202
Profile Velocity / 0x6081 The velocity that the trajectory generator attempts to 203
achieve when running in position profile mode.
Profile Acceleration / 0x6083 Acceleration that the trajectory generator attempts to 204
achieve when running in position profile mode
Profile Deceleration / 0x6084 Deceleration that the trajectory generator attempts to 203
achieve at the end of a trapezoidal profile when running in
position profile mode.
Trajectory Jerk Limit / 0x2121 Defines the maximum jerk (rate of change of acceleration) 202
for use with S-curve profile moves.
Interpolated IP move segment command / Used to send PVT segment data and buffer commands 214
Position 0x2010 when running in interpolated position mode.

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Position Loop Inputs

Inputs from the trajectory generator to the position loop are described below.
Input Object Name/ID Description Page #
Instantaneous Commanded Velocity to which the position loop's velocity feed forward gain is 137
Velocity / 0x2250 applied.
Instantaneous Commanded Acceleration to which the position loop's acceleration feed forward gain 137
Acceleration / 0x2251 is applied.
Position Command Value / Motor position (in units of counts) to which the amplifier is currently 137
0x6062 trying to move the axis.

Position Loop Feedback

The feedback to the loop is the actual motor position, obtained from a position sensor attached to
the motor (most often a quadrature encoder). This is provided by Position Actual Value object
(index 0x6063, p. 137).
Position Loop Gains
The following gains are used by the position loop to calculate the output value:
Gain Description
Pp - Position loop proportional The loop calculates its Position Error (index 0x60F4, p. 139) as the difference
between the Position Actual Value and the Position Command Value. This error in
turn is multiplied by the proportional gain value. The primary effect of this gain is to
reduce the following error.
Vff - Velocity feed forward The value of the Instantaneous Commanded Velocity object is multiplied by this
value. The primary effect of this gain is to decrease following error during constant
velocity.
Aff - Acceleration feed forward The value of the Instantaneous Commanded Acceleration object is multiplied by
this value. The primary effect of this gain is to decrease following error during
acceleration and deceleration.

These gains are accessed through the sub-index objects of the Position Loop Gains object (index
0x2382, sub-index 1-6, p. 139).
Position Loop Output
The output of the position loop is a velocity value that is fed to the velocity loop as a command
input. This output is associated with two objects, as described below.
Output Object Name/ID Description Page #
Velocity Command Value / Velocity that the velocity loop is currently trying to attain. In normal 144
0x606B operation, this value is provided by the position loop and is identical to
the Position loop control effort.
Optionally, the velocity loop can be controlled by one of several
alternate control sources. In this case, the Velocity command value
comes from the analog reference input, the digital PWM inputs, or the
internal function generator.
Position Loop Control Effort / Normally, this value is provided by the position loop. When the velocity 139
Index 0x60FA loop is driven by an alternate control source, the Position loop control
effort object does not hold a meaningful value.

Modulo Count (Position Wrap)

The position variable cannot increase indefinitely. After reaching a certain value the variable rolls
back. This type of counting is called modulo count. See bit 21 of the Manufacturer Status Register
object (index 0x1002, p. 60).

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The Velocity Loop

Overview of the Velocity Loop
As shown below, the velocity loop limiting stage accepts a velocity command, applies limits, and
passes a limited velocity command to the input filter. The filter then passes a velocity command to
the summing junction. The summing junction subtracts the actual velocity, represented by the
feedback signal, and produces an error signal. (The velocity loop feedback signal is always from
the motor feedback device even when an additional encoder is attached to the load.) The error
signal is then processed using the integral and proportional gains to produce a current command.
Programmable digital filters are provided on both the input and output command signals.

Velocity Loop
Velocity Integral Gain (Vi)
Limited +
Velocity +
Velocity Lim iter Filter Velocity Filter Current
Command Velocity Proportional Gain (Vp)
+ Command
-

Limits:
Velocity
Acceleration* Feedback (Derived Velocity)
Deceleration*
Emergency Stop Deceleration*
*Not used w hen velocity loop is controlled by position loop. See "Velocity Loop Limits" for details.

Velocity Loop Limits

The velocity loop starts with a command limiter. This is useful because the position loop may
produce large spikes in its output velocity command value that are beyond the safe operating
range of the motor. During normal operation, with the velocity loop driven by the position loop, the
limiter requires and accepts only a maximum velocity value.
Optionally, the velocity loop can be driven by an alternate source of control (such as such as the
device’s serial port, digital I/O channels, analog reference, or internal generator), without input
from the position loop. (See Alternative Control Sources Overview, p. 225.) In these cases, the
velocity loop limiter also requires and accepts maximum acceleration and deceleration values.
Velocity limiter parameters are accessed through the following objects:
Limiter Object Name/ID Page #
Velocity Loop – Maximum Velocity / 0x2103 (used in all control modes) 145
*Velocity Loop Maximum Acceleration / 0x2100 (used only without position loop) 144
*Velocity Loop Maximum Deceleration / 0x2101 (used only without position loop) 145
Velocity Loop Emergency Stop Deceleration / 0x2102 (used only without position loop) 145
*Not used when velocity loop is controlled by position loop.

Velocity Loop Input

The output of the velocity loop limiter is the input of the velocity loop. It is accessed through the
object Limited Velocity (index 0x2230, p. 146).
Velocity Loop Gains
The velocity loop uses the following gains. See Error! Reference source not found. (index
0x2381, p. 146).
Gain Description
Vp - Velocity loop The velocity error (the difference between the actual and the limited commanded velocity) is
proportional multiplied by this gain. The primary effect of this gain is to increase bandwidth (or decrease the
step-response time) as the gain is increased.

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Vi - Velocity loop The integral of the velocity error is multiplied by this value. Integral gain reduces the velocity error
integral to zero over time. It controls the DC accuracy of the loop, or the flatness of the top of a square
wave signal. The error integral is the accumulated sum of the velocity error value over time.

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Velocity Loop Filters

The velocity loop contains two programmable digital filters. The input filter should be used to
reduce the effects of a noisy velocity command signal. The output filter can be used to reduce the
excitation of any resonance in the motion system.
Two filter classes can be programmed: the Low-Pass and the Custom Bi-Quadratic. The Low-
Pass filter class includes the Single-Pole and the Two-Pole Butterworth filter types. The Custom
Bi-Quadratic filter allows advanced users to define their own filters incorporating two poles and two
zeros.
Program the filters using Velocity Loop Output Filter Coefficients (index 0x2106, p. 149) and
Velocity Loop Command Filter Coefficients (index 0x2108, p. 149).
Velocity Loop Output
The output of the velocity loop is accessed in the Commanded Current object (index 0x221D, p.
152).

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The Current Loop

Overview of the Current Loop
As shown below, the current limiter accepts a current command from the velocity loop, applies
limits, and passes a limited current value to the summing junction. The summing junction takes
the commanded current, subtracts the actual current (represented by the feedback signal), and
produces an error signal. This error signal is then processed using the integral and proportional
gains to produce a command. This command is then applied to the amplifier’s power stage.

Current Loop
PWM
Current Integral Gain (Ci) Command
+
Current Command Limited Current +
Current Limiter Current Proportional Gain (Cp) Motor
+
Current Offset
-

Limits: Feedback (Actual Current)

Peak Current
Continuous Current
Peak Current Limit Time

Current Loop Limits

The commanded current value is first reduced based on a set of current limit parameters designed
to protect the motor. These current limits are accessed through the following objects:
Output Object Name/ID Description Page #
User Peak Current Limit / Maximum current that can be generated by the amplifier for a short 151
0x2110 duration of time. This value cannot exceed the peak current rating of
the amplifier.
User Continuous Current Limit Maximum current that can be constantly generated by the amplifier. 151
/ 0x2111
User Peak Current Limit Time / Maximum amount of time that the peak current can be applied to the 151
0x2112 motor before it must be reduced to the continuous limit.

Current Loop Input

The output of the current limiting block is the input to the current loop. It is accessed through the
object Limited Current object (index 0x221E, p. 152).
Current Loop Gains
The current loop uses these gains:
Gain Description
Cp - Current loop proportional The current error (the difference between the actual and the limited commanded
current) is multiplied by this value. The primary effect of this gain is to increase
bandwidth (or decrease the step-response time) as the gain is increased.
Ci - Current loop integral The integral of the current error is multiplied by this value. Integral gain reduces the
current error to zero over time. It controls the DC accuracy of the loop, or the
flatness of the top of a square wave signal. The error integral is the accumulated
sum of the current error value over time.

These gains are represented by Error! Reference source not found. (index 0x2380, p.153) and
its sub-index objects.
Current Loop Output
The output of the current loop is a command that sets the duty cycle of the PWM output stage of
the amplifier.

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4.2: Position Loop Configuration Objects

Contents of this Section
This section describes the objects used to configure the position control loop.
They include:
Instantaneous Commanded Velocity Index 0x2250 ................................................................................ 137
Instantaneous Commanded Acceleration Index 0x2251......................................................................... 137
Position Command Value Index 0x6062 ................................................................................................. 136
Position Actual Value Index 0x6063 ........................................................................................................ 136
Position Actual Value Index 0x6064 ........................................................................................................ 136
Tracking Warning Window Index 0x6065 ............................................................................................... 137
Maximum Slippage-Profile Velocity Mode Index 0x60F8 ........................................................................ 137
Position Tracking Window Index 0x6067 ................................................................................................ 137
Position Tracking Window Time Index 0x6068 ....................................................................................... 137
Position Error Index 0x60F4 .................................................................................................................... 138
Position Loop Control Effort Index 0x60FA ............................................................................................. 138
Position Loop Gains Index 0x2382 .......................................................................................................... 138
Position Loop Proportional Gain Index 0x2382, Sub-Index 1 .............................................................. 138
Position Loop Velocity Feed Forward Index 0x2382, Sub-Index 2 ...................................................... 138
Position Loop Acceleration Feed Forward Index 0x2382, Sub-Index 3 .............................................. 139
Position Loop Output Gain Multiplier Index 0x2382, Sub-Index 4 ....................................................... 139
Position Loop Gains Index 0x60FB ......................................................................................................... 139
Position Loop Proportional Gain Index 0x60FB, Sub-Index 1 ............................................................. 139
Position Loop Velocity Feed Forward Index 0x60FB, Sub-Index 2 ..................................................... 139
Position Loop Acceleration Feed Forward Index 0x60FB, Sub-Index 3 .............................................. 140
Position Loop Output Gain Multiplier Index 0x60FB, Sub-Index 4 ...................................................... 140
Position Command Value Index 0x60FC ................................................................................................ 140
Software Position Limits Index 0x607D ................................................................................................... 140
Negative Software Limit Position Index 0x607D, Sub-Index 1 ............................................................ 140
Positive Software Limit Position Index 0x607D, Sub-Index 2.............................................................. 140
Software Limit Deceleration Index 0x2253 .............................................................................................. 141
Motor Encoder Position Index 0x2240 .................................................................................................... 141
Load Encoder Position Index 0x2242 ...................................................................................................... 141
Minimum PWM Pulse Width Index 0x2323 ............................................................................................. 141
Maximum PWM Pulse Width Index 0x2324 ............................................................................................ 141

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INSTANTANEOUS COMMANDED VELOCITY INDEX 0X2250

Type Access Units Range Map PDO Memory
Integer 32 RO 0.1 counts / sec - YES -
Description
This is the velocity output from the trajectory generator. It is the velocity by which the position
loop's Position Loop Velocity Feed Forward gain (Index 0x2382, Sub-Index 2, p. 139) is multiplied.

INSTANTANEOUS COMMANDED ACCELERATION INDEX 0X2251

Type Access Units Range Map PDO Memory
Integer 32 RO 10 counts / sec2 - YES -

Description
This is the acceleration output from the trajectory generator. It is the acceleration by which the
position loop's gain (Index 0x2382, Sub-Index 3, p. 140) is multiplied.

POSITION COMMAND VALUE INDEX 0X6062

Type Access Units Range Map PDO Memory
Integer 32 R0 counts - YES -
Description
This is the motor position (in units of counts) to which the amplifier is currently trying to move the
axis. This value is updated every servo cycle based on the amplifier's internal trajectory generator.
Identical to Position Command Value (index 0x6062. p. 137).

POSITION ACTUAL VALUE INDEX 0X6063

Type Access Units Range Map PDO Memory
Integer 32 RW counts - YES R
Description
This is the actual motor position as calculated by the amplifier every servo cycle based on the
state of the encoder input lines, and as used by the position loop. For single encoder systems, this
is the same as the Motor Encoder Position object (index 0x2240). For dual encoder systems, it is
the same as Load Encoder Position (index 0x2242, p. 142).

POSITION ACTUAL VALUE INDEX 0X6064

Type Access Units Range Map PDO Memory
Integer 32 RW counts - YES R
Description
This object holds the same value as Position Actual Value object (index 0x6063, p. 137).

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TRACKING WARNING WINDOW INDEX 0X6065

Type Access Units Range Map PDO Memory
Integer 32 RW counts 0 - 2,147,483,647 YES RF
Description
This object holds the maximum position error that the amplifier will tolerate before indicating a
tracking warning. If the absolute position error (defined as the difference between the actual motor
position and the position command value) exceeds this window, then the warning bit (bit 19) of the
Manufacturer Status Register (index 0x1002, p. 60) is set.
Note that this following error window generates a warning, not an amplifier fault. A separate
tracking error window may be programmed which will cause an amplifier fault condition if
exceeded. See the Tracking Error Window object (index 0x2120, p. 67) for details.

MAXIMUM SLIPPAGE-PROFILE VELOCITY MODE INDEX 0X60F8

Type Access Units Range Map PDO Memory
Integer 32 RW counts 0 - 2,147,483,647 YES RF
Description
Object 60F8 is included because the CANopen Profile for Drives and Motion Control (DSP 402)
mandates it for support of profile velocity mode operation. This object is identical to Tracking
Warning Window (index 0x6065, p. 138). A change to either object is reflected in the other.

POSITION TRACKING WINDOW INDEX 0X6067

Type Access Units Range Map PDO Memory
Integer 32 RW counts 0 - 2,147,483,647 YES RF
Description
Size of the amplifier's tracking window. When the absolute position error of the motor is less then
or equal to the position tracking window value, the motor is considered to be tracking the desired
position correctly. This is true both when moving and when resting in position.
The target reached bit (bit 10) is set in the Status Word (index 0x6041, p. 58) when the amplifier
has finished running a trajectory, and the position error has been within the position tracking
window for the programmed time.
The Manufacturer Status Register (index 0x1002, p. 60) has two bits that are affected by the
tracking window. Bit 25 is set any time the motor position has fallen outside the position tracking
window (whether in motion or not), and bit 27 is set when the motor position is outside the position
tracking window, or the amplifier is in motion.

POSITION TRACKING WINDOW TIME INDEX 0X6068

Type Access Units Range Map PDO Memory
Unsigned 16 RW milliseconds 0 - 5000 YES RF
Description
Accesses the time component of the position tracking window. The motor will only be treated as
tracking properly when the position error has been within the Position Tracking Window (index
0x6067, p. 138) for at least this long. The tracking window bit (bit 25) in the Manufacturer Status
Register (index 0x1002, p. 60) will not be cleared until the position has been within the position
tracking window for at least this long.

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POSITION ERROR INDEX 0X60F4

Type Access Units Range Map PDO Memory
Integer 32 RO counts - YES -
Description
Also known as following error. This object gives the difference, in units of counts, between the
Position Actual Value object (index 0x6063, p. 137) and the Position Command Value object
(index 0x60FC, p. 141).
This value is calculated as part of the position control loop. It is also the value that the various
tracking windows are compared to. See Tracking Warning Window object (index 0x60FC, p. 141),
Position Tracking Window object (index 0x6067, p. 138), and Tracking Error Window object (index
0x2120, p. 67).

POSITION LOOP CONTROL EFFORT INDEX 0X60FA

Type Access Units Range Map PDO Memory
Integer 32 RO 0.1 counts/sec - YES -
Description
The position loop produces a commanded velocity as its output. This object gives access to that
value. This value also represents the input to the velocity loop.

POSITION LOOP GAINS INDEX 0X2382

Type Access Units Range Map PDO Memory
Record RW - - YES -
Description
This object contains the various gain values used to optimize the position control loop. Sub-index
0 contains the number of sub-elements of this record.

POSITION LOOP PROPORTIONAL GAIN INDEX 0X2382, SUB-INDEX 1

Type Access Units Range Map PDO Memory
Unsigned 16 RW - 0 –32,767 YES RF
Description
This gain value is multiplied by the position loop error. The position loop error is the difference
between the Position Command Value (index 0x60FC, p. 141) and the Position Actual Value
(index 0x6064, p. 137).

POSITION LOOP VELOCITY FEED FORWARD INDEX 0X2382, SUB-INDEX 2

Type Access Units Range Map PDO Memory
Unsigned 16 RW - 0 –32,767 YES RF
Description
This value is multiplied by the Instantaneous Commanded Velocity (index 0x2250, p. 137)
generated by the trajectory generator. The product is added to the output of the position loop.
This gain is scaled by 1/16384. Therefore, setting this gain to 0x4000 (16384) would cause the
input velocity to be multiplied by 1.0, and the result added to the output of the position loop.

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POSITION LOOP ACCELERATION FEED FORWARD INDEX 0X2382, SUB-INDEX 3

Type Access Units Range Map PDO Memory
Unsigned 16 RW - 0 –32,767 YES RF
Description
This value is multiplied by the Instantaneous Commanded Acceleration (index 0x2251, p. 137)
generated by the trajectory generator. The product is added to the output of the position loop.

POSITION LOOP OUTPUT GAIN MULTIPLIER INDEX 0X2382, SUB-INDEX 4

Type Access Units Range Map PDO Memory
Unsigned 16 RW - - YES RF
Description
The output of the position loop is multiplied by this value before being passed to the velocity loop.
This scaling factor is calculated such that a value of 100 is a 1.0 scaling factor.
This parameter is most useful in dual loop systems.

POSITION LOOP GAINS INDEX 0X60FB

Type Access Units Range Map PDO Memory
Record RW - - YES -
Description
This object is no longer recommended. Use object 0x2382 (p.139).This object contains the various
gain values used to optimize the position control loop. Sub-index 0 contains the number of sub-
elements of this record.

POSITION LOOP PROPORTIONAL GAIN INDEX 0X60FB, SUB-INDEX 1

Type Access Units Range Map PDO Memory
Unsigned 16 RW - 0 –32,767 YES RF
Description
This gain value is multiplied by the position loop error. The position loop error is the difference
between the Position Command Value (index 0x60FC, p. 141) and the Position Actual Value
(index 0x6064, p. 137).

POSITION LOOP VELOCITY FEED FORWARD INDEX 0X60FB, SUB-INDEX 2

Type Access Units Range Map PDO Memory
Unsigned 16 RW - 0 –32,767 YES RF
Description
This value is multiplied by the Instantaneous Commanded Velocity (index 0x2250, p. 137)
generated by the trajectory generator. The product is added to the output of the position loop.
This gain is scaled by 1/16384. Therefore, setting this gain to 0x4000 (16384) would cause the
input velocity to be multiplied by 1.0, and the result added to the output of the position loop.

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POSITION LOOP ACCELERATION FEED FORWARD INDEX 0X60FB, SUB-INDEX 3

Type Access Units Range Map PDO Memory
Unsigned 16 RW - 0 –32,767 YES RF
Description
This value is multiplied by the Instantaneous Commanded Acceleration (index 0x2251, p. 137)
generated by the trajectory generator. The product is added to the output of the position loop.

POSITION LOOP OUTPUT GAIN MULTIPLIER INDEX 0X60FB, SUB-INDEX 4

Type Access Units Range Map PDO Memory
Unsigned 16 RW - - YES RF
Description
The output of the position loop is multiplied by this value before being passed to the velocity loop.
This scaling factor is calculated such that a value of 100 is a 1.0 scaling factor.
This parameter is most useful in dual loop systems.

POSITION COMMAND VALUE INDEX 0X60FC

Type Access Units Range Map PDO Memory
Integer 32 RO counts - YES -
Description
This value is the output of the trajectory generator, and represents the commanded position input
to the position control loop. Each servo cycle the trajectory generator will update this value, and
the position loop will attempt to drive the motor to this position. Identical to Position Command
Value (index 0x6062, p. 137).

SOFTWARE POSITION LIMITS INDEX 0X607D

Type Access Units Range Map PDO Memory
Array RW - - YES -
Description
This array holds the two software position limit values Negative Software Limit Position and
Positive Software Limit Position.

NEGATIVE SOFTWARE LIMIT POSITION INDEX 0X607D, SUB-INDEX 1

Type Access Units Range Map PDO Memory
Integer 32 RW counts - YES RF
Description
Software limits are only in effect after the amplifier has been referenced (i.e. homing has been
successfully completed). Set to less than negative software limit to disable.

POSITIVE SOFTWARE LIMIT POSITION INDEX 0X607D, SUB-INDEX 2

Type Access Units Range Map PDO Memory
Integer 32 RW counts - YES RF
Description
Software limits are only in effect after the amplifier has been referenced (i.e. homing has been
successfully completed). Set to greater than positive software limit to disable.

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SOFTWARE LIMIT DECELERATION INDEX 0X2253

Type Access Units Range Map PDO Memory
2
Unsigned 32 RW 10 counts / sec 0 – 100,000,000 YES RF
Description
The deceleration rate used when approaching a software limit.

MOTOR ENCODER POSITION INDEX 0X2240

Type Access Units Range Map PDO Memory
Integer 32 RW counts - YES R
Description
For single-encoder systems, this is the same as the Position Actual Value object (index 0x6063, p.
137). For dual-encoder systems this gives the motor position rather than the load encoder
position. For more information, see Load Encoder Velocity (index 0x2231, p. 144).

LOAD ENCODER POSITION INDEX 0X2242

Type Access Units Range Map PDO Memory
Integer 32 RW counts - YES R
Description
For dual encoder systems, this object gives the load (position) encoder position and is the same
as the Position Actual Value object (index 0x6063, p. 137). For single encoder systems, this object
is not used.

MINIMUM PWM PULSE WIDTH INDEX 0X2323

Type Access Units Range Map PDO Memory
Integer 16 RW microseconds - NO RF
Description
Minimum PWM pulse width in microseconds. Used when running in PWM position mode. In this
mode the PWM input pulse width is captured by the drive and used to calculate an absolute
position using the following formula:
pos = ((PW-MIN) / (MAX-MIN)) * SCALE + OFFSET
where this parameter is the minimum pulse width (MIN), parameter 0x13D is the maximum pulse
width (MAX), parameter 0xA9 is the scaling factor (SCALE) and parameter 0x10F is the offset
(OFFSET).

MAXIMUM PWM PULSE WIDTH INDEX 0X2324

Type Access Units Range Map PDO Memory
Integer 16 microseconds - RF
Description
Maximum PWM pulse width used when running in PWM position mode.

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4.3: Velocity Loop Configuration Objects

Contents of this Section
This section describes the objects used to configure the velocity control loop.
They include:
Velocity Command Value Index 0x606B ................................................................................................. 144
Actual Velocity Index 0x6069 .................................................................................................................. 144
Actual Velocity Index 0x606C .................................................................................................................. 143
Unfiltered Motor Encoder Velocity Index 0x2232 .................................................................................... 143
Load Encoder Velocity Index 0x2231 ...................................................................................................... 143
Velocity Loop Maximum Acceleration Index 0x2100 ............................................................................... 143
Velocity Loop Maximum Deceleration Index 0x2101 .............................................................................. 144
Velocity Loop Emergency Stop Deceleration Index 0x2102.................................................................... 144
Velocity Loop – Maximum Velocity Index 0x2103 ................................................................................... 144
Velocity Error Window – Profile Position Index 0x2104 .......................................................................... 144
Velocity Error Window – Profile Velocity Index 0x606D .......................................................................... 144
Velocity Error Window Time Index 0x2105 ............................................................................................. 145
Velocity Error Window Time Index 0x606E ............................................................................................. 145
Limited Velocity Index 0x2230 ................................................................................................................. 145
Programmed Velocity Command Index 0x2341...................................................................................... 145
Velocity Loop Gains Index 0x2381 .......................................................................................................... 145
Velocity Loop Proportional Gain Index 0x2381, Sub-Index 1 .............................................................. 145
Velocity Loop Integral Gain Index 0x2381, Sub-Index 2 ..................................................................... 146
Velocity Loop Acceleration Feed Forward Index 0x2381, Sub-Index 3 ............................................... 146
Velocity Loop Gain Scaler Index 0x2381, Sub-Index 4 ........................................................................... 146
Velocity Loop Vi Drain (Integral Bleed) Index 0x2381, Sub-Index 5.................................................... 146
Velocity Loop Command Feed Index 0x2381, Sub-Index 6 ................................................................ 146
Velocity Loop Gains Index 0x60F9 .......................................................................................................... 146
Velocity Loop Proportional Gain Index 0x60F9, Sub-Index 1 .............................................................. 146
Velocity Loop Integral Gain Index 0x60F9, Sub-Index 2 ..................................................................... 147
Velocity Loop Acceleration Feed Forward Index 0x60F9, Sub-Index 3 .............................................. 147
Velocity Loop Gain Scaler Index 0x60F9, Sub-Index 4........................................................................... 147
Velocity Loop Vi Drain (Integral Bleed) Index 0x60F9, Sub-Index 5 ................................................... 147
Velocity Loop Command Feed Index 0x60F9, Sub-Index 6 ................................................................ 147
Hall Velocity Mode Shift Value Index 0x2107 .......................................................................................... 147
Velocity Loop Output Filter Coefficients Index 0x2106 ............................................................................ 148
Velocity Loop Command Filter Coefficients Index 0x2108 ...................................................................... 148
Analog Input Filter Coefficients Index 0x2109 ......................................................................................... 148

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VELOCITY COMMAND VALUE INDEX 0X606B

Type Access Units Range Map PDO Memory
Integer 32 RO 0.1 counts/sec - YES -
Description
Also known as commanded velocity. The velocity that the velocity loop is currently trying to attain.
When the amplifier is running in homing, profile position, or interpolated position mode, the
velocity command value is the output of the position loop, and the input to the velocity loop.
Copley Controls CANopen amplifiers support some modes in which the velocity command is
produced from a source other then the position loop. In these modes the command velocity comes
from the analog reference input, the digital PWM inputs, or the internal function generator.

ACTUAL VELOCITY INDEX 0X6069

Type Access Units Range Map PDO Memory
Integer 32 RO 0.1 enc counts / sec - YES -
Description
Actual motor velocity.

ACTUAL VELOCITY INDEX 0X606C

Type Access Units Range Map PDO Memory
Integer 32 RO 0.1 counts/sec - YES -
Description
This object contains exactly the same information as object 0x6069.

UNFILTERED MOTOR ENCODER VELOCITY INDEX 0X2232

Type Access Units Range Map PDO Memory
Integer 32 RO 0.1 enc counts / sec - YES -
Description
Unfiltered motor velocity.

LOAD ENCODER VELOCITY INDEX 0X2231

Type Access Units Range Map PDO Memory
Integer 32 RO 0.1 counts / sec - YES -
Description
Also known as Position Encoder Velocity. Copley Controls supports the use of two encoders on a
system, where the motor encoder is on the motor and the load or position encoder is on the load
(the device being controlled). In such a system, the actual velocity objects read the motor encoder
velocity, and the velocity loop acts on the motor encoder input. Object 0x2231 reads the load
encoder velocity.

VELOCITY LOOP MAXIMUM ACCELERATION INDEX 0X2100

Type Access Units Range Map PDO Memory
2
Unsigned 32 RW 1000 enc counts / sec 0 – 100,000,000 YES RF
Description
This acceleration value limits the maximum rate of change of the commanded velocity input to the
velocity loop. This limit only applies when the absolute value of the velocity change is positive (i.e.
the speed is increasing in either direction).

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VELOCITY LOOP MAXIMUM DECELERATION INDEX 0X2101

Type Access Units Range Map PDO Memory
2
Unsigned 32 RW 1000 enc counts / sec 0 – 100,000,000 YES RF
Description
This acceleration value limits the maximum rate of change of the commanded velocity input to the
velocity loop. This limit only applies when the absolute value of the velocity change is negative (i.e.
the speed is decreasing in either direction).

VELOCITY LOOP EMERGENCY STOP DECELERATION INDEX 0X2102

Type Access Units Range Map PDO Memory
2
Unsigned 32 RW 1000 enc counts / sec 0 – 100,000,000 YES RF
Description
The deceleration rate used during the time that the amplifier is trying to actively stop a motor
before applying the brake output.
Also known as the Velocity Loop Fast Stop Ramp.
Note that this feature is not used when the position loop is driving the velocity loop. In that case,
the trajectory generator's abort acceleration is used.

VELOCITY LOOP – MAXIMUM VELOCITY INDEX 0X2103

Type Access Units Range Map PDO Memory
Integer 32 RW 0.1 counts/sec 0 – 500,000,000 YES RF
Description
This velocity value is a limit on the commanded velocity used by the velocity loop.
Also known as the Velocity Loop Velocity Limit.
The velocity loop's commanded velocity can be generated by several sources, including the output
of the position loop. Velocity Loop-Maximum Velocity allows that velocity to be limited to a
specified amount.

VELOCITY ERROR WINDOW – PROFILE POSITION INDEX 0X2104

Type Access Units Range Map PDO Memory
Integer 32 RW 0.1 counts/sec 0 – 500,000,000 YES RF
Description
Also known as the Velocity Tracking Window, this object defines the velocity loop error window. If
the absolute velocity error exceeds this value, then the velocity window bit of the Manufacturer
Status Register object (index 0x1002, p. 60) is set. The Velocity Window bit will only be cleared
when the velocity error has been within the Velocity Error Window for the timeout period defined in
the Velocity Error Window Time object (index 0x2120, p. 67).

VELOCITY ERROR WINDOW – PROFILE VELOCITY INDEX 0X606D

Type Access Units Range Map PDO Memory
Unsigned 16 RW 0.1 counts/sec 0 – 65,535 YES RF
Description
Object 606D holds the same value as index 0x2104. It is included because the CANopen Profile
for Drives and Motion Control (DSP 402) mandates it for support of profile velocity mode
operation. In the Copley Controls implementation, 0x2104 and 0x606D differ only in the data type.
Object 0x606D is unsigned 16 and 0x2104 is Integer 32. Changes made to either object affect
both.

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VELOCITY ERROR WINDOW TIME INDEX 0X2105

Type Access Units Range Map PDO Memory
Unsigned 16 RW milliseconds 0- 5,000 YES RF
Description
Also known as Velocity Tracking Time. When the absolute velocity error remains below the limit
set in the Velocity Error Window – Profile Position object (index 0x2104, p. 145) the Velocity
Window bit (bit 28) in the Manufacturer Status Register object (index 0x1002, p. 60) is cleared.

VELOCITY ERROR WINDOW TIME INDEX 0X606E

Type Access Units Range Map PDO Memory
Unsigned 16 RW milliseconds 0- 5,000 YES RF
Description
Object 606E holds the same value as 0x2105. It is included because the CANopen Profile for
Drives and Motion Control (DSP 402) mandates it for support of profile velocity mode operation.
Changes made to either 0x606E or 0x2105 affect both objects.

LIMITED VELOCITY INDEX 0X2230

Type Access Units Range Map PDO Memory
Integer 32 RO 0.1 counts/sec - YES -
Description
This is the commanded velocity after it passes through the velocity loop limiter and the velocity
command filter. It is the velocity value that the velocity loop will attempt to achieve.

PROGRAMMED VELOCITY COMMAND INDEX 0X2341

Type Access Units Range Map PDO Memory
Integer 32 RW 0.1 counts/sec -500,000,000 – 500,000,000 YES RF
Description
Gives the commanded velocity value when running in programmed velocity mode (see mode 11,
Desired State object, p. 65, and Alternative Control Sources Overview, p. 225).

VELOCITY LOOP GAINS INDEX 0X2381

Type Access Units Range Map PDO Memory
Record RW - - YES -
Description
This object contains the various gain values used to optimize the velocity control loop.

VELOCITY LOOP PROPORTIONAL GAIN INDEX 0X2381, SUB-INDEX 1

Type Access Units Range Map PDO Memory
Unsigned 16 RW - 0 – 32,767 YES RF
Description
This gain value is multiplied by the velocity loop error. The velocity loop error is the difference
between the desired and actual motor velocity.

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VELOCITY LOOP INTEGRAL GAIN INDEX 0X2381, SUB-INDEX 2

Type Access Units Range Map PDO Memory
Unsigned 16 RW - 0 – 32,767 YES RF
Description
This gain value is multiplied by the integral of the velocity loop error.

VELOCITY LOOP ACCELERATION FEED FORWARD INDEX 0X2381, SUB-INDEX 3

Type Access Units Range Map PDO Memory
Unsigned 16 RW - 0 – 32,767 YES RF
Description
This gain value is multiplied by the Instantaneous Commanded Acceleration (index 0x2251, p.
137) from the trajectory generator. The result is added to the output of the velocity loop.

VELOCITY LOOP GAIN SCALER INDEX 0X2381, SUB-INDEX 4

Type Access Units Range Map PDO Memory
Integer 16 RW - 0 – 32,767 YES RF
Description
Velocity loop output is shifted this many times to arrive at the commanded current value. Positive
values result in a right shift while negative values result in a left shift. The shift allows the velocity
loop gains to have reasonable values for very high or low resolution encoders.
Recommended values for this parameter are 8, 0 or -1.

VELOCITY LOOP VI DRAIN (INTEGRAL BLEED) INDEX 0X2381, SUB-INDEX 5

Type Access Units Range Map PDO Memory
Unsigned 16 RW - 0 – 32,000 YES RF
Description
Modifies the effect of velocity loop integral gain. The higher the Vi Drain value, the faster the
integral sum is lowered.

VELOCITY LOOP COMMAND FEED INDEX 0X2381, SUB-INDEX 6

Type Access Units Range Map PDO Memory
Unsigned 16 RW - 0 – 32,000 YES RF
Description
The input command (after limiting) to the velocity loop is scaled by this value and added in to the
output of the velocity loop.

VELOCITY LOOP GAINS INDEX 0X60F9

Type Access Units Range Map PDO Memory
Record RW - - YES -
Description
This object is no longer recommended. Use object 0x2381 (p.146).This object contains the various
gain values used to optimize the velocity control loop.

VELOCITY LOOP PROPORTIONAL GAIN INDEX 0X60F9, SUB-INDEX 1

Type Access Units Range Map PDO Memory
Integer 16 RW - 0 – 32,767 YES RF
Description
This gain value is multiplied by the velocity loop error. The velocity loop error is the difference
between the desired and actual motor velocity. Not recommended. Please use 0x2381.

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VELOCITY LOOP INTEGRAL GAIN INDEX 0X60F9, SUB-INDEX 2

Type Access Units Range Map PDO Memory
Integer 16 RW - 0 – 32,767 YES RF
Description
This gain value is multiplied by the integral of the velocity loop error.
CAN ID 0x60F9 is no longer recommended. Please use 0x2381.

VELOCITY LOOP ACCELERATION FEED FORWARD INDEX 0X60F9, SUB-INDEX 3

Type Access Units Range Map PDO Memory
Integer 16 RW - 0 – 32,767 YES RF
Description
This gain value is multiplied by the Instantaneous Commanded Acceleration (index 0x2251, p.
137) from the trajectory generator. The result is added to the output of the velocity loop.
CAN ID 0x60F9 is no longer recommended. Please use 0x2381.

VELOCITY LOOP GAIN SCALER INDEX 0X60F9, SUB-INDEX 4

Type Access Units Range Map PDO Memory
Integer 16 RW - 0 – 32,767 YES RF
Description
Velocity loop output is shifted this many times to arrive at the commanded current value. Positive
values result in a right shift while negative values result in a left shift. The shift allows the velocity
loop gains to have reasonable values for very high or low resolution encoders.
Recommended values for this parameter are 8, 0 or -1.
CAN ID 0x60F9 is no longer recommended. Please use 0x2381.

VELOCITY LOOP VI DRAIN (INTEGRAL BLEED) INDEX 0X60F9, SUB-INDEX 5

Type Access Units Range Map PDO Memory
Unsigned 16 RW - 0 – 32,000 YES RF
Description
Modifies the effect of velocity loop integral gain. The higher the Vi Drain value, the faster the
integral sum is lowered.
CAN ID 0x60F9 is no longer recommended. Please use 0x2381.

VELOCITY LOOP COMMAND FEED INDEX 0X60F9, SUB-INDEX 6

Type Access Units Range Map PDO Memory
Unsigned 16 RW - 0 – 32,000 YES RF
Description
Velocity loop command feed forward. The input command (after limiting) to the velocity loop is
scaled by this value and added in to the output of the velocity loop.
CAN ID 0x60F9 is no longer recommended. Please use 0x2381.

HALL VELOCITY MODE SHIFT VALUE INDEX 0X2107

Type Access Units Range Map PDO Memory
Integer 16 RW - 0 – 32,767 YES RF
Description
This parameter is only used in Hall velocity mode. It specifies a left shift value for the position and
velocity information calculated in that mode.

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VELOCITY LOOP OUTPUT FILTER COEFFICIENTS INDEX 0X2106

Type Access Units Range Map PDO Memory
Octet RW - - NO RF
Description
Programs the filter coefficients of a bi-quad filter structure that acts on the velocity loop output.
Contact Copley Controls for more information.

VELOCITY LOOP COMMAND FILTER COEFFICIENTS INDEX 0X2108

Type Access Units Range Map PDO Memory
Octet RW - - NO RF
Description
Programs the filter coefficients of a bi-quad filter structure that acts on the velocity loop input.
Contact Copley Controls for more information.

ANALOG INPUT FILTER COEFFICIENTS INDEX 0X2109

Type Access Units Range Map PDO Memory
Octet RW - - NO RF
Description
Programs the filter coefficients of a bi-quad filter structure that acts on the analog reference input
at servo loop update rate (3 kHz). Contact Copley Controls for more information.

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4.4: Current Loop Configuration Objects

Contents of this Section
This section describes the objects used to configure the current control loop.
They include:
User Peak Current Limit Index 0x2110 ................................................................................................... 151
User Continuous Current Limit Index 0x2111 ......................................................................................... 151
User Peak Current Limit Time Index 0x2112 .......................................................................................... 150
Actual Current, D Axis Index 0x2214 ...................................................................................................... 150
Actual Current, Q Axis Index 0x2215 ...................................................................................................... 150
Current Command, D Axis Index 0x2216................................................................................................ 150
Current Command, Q Axis Index 0x2217 ............................................................................................... 150
Current Loop Output, D Axis Index 0x2218............................................................................................. 151
Current Loop Output, Q Axis Index 0x2219 ............................................................................................ 151
Actual Motor Current Index 0x221C ........................................................................................................ 151
Commanded Current Index 0x221D ....................................................................................................... 151
Limited Current Index 0x221E ................................................................................................................. 151
Programmed Current Command Index 0x2340 ..................................................................................... 151
Commanded Current Ramp Rate Index 0x2113 ..................................................................................... 151
Current Loop Gains Index 0x2380 .......................................................................................................... 152
Current Loop Proportional Gain Index 0x2380, Sub-Index 1 .............................................................. 152
Current Loop Integral Gain Index 0x2380, Sub-Index 2 ...................................................................... 152
Current Offset Index 0x2380, Sub-Index 3 ........................................................................... 152
Current Loop Gains Index 0x60F6 .......................................................................................................... 152
Current Loop Proportional Gain Index 0x60F6, Sub-Index 1 .............................................................. 152
Current Loop Integral Gain Index 0x60F6, Sub-Index 2...................................................................... 152
Current Offset Index 0x60F6, Sub-Index 3........................................................................... 153

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USER PEAK CURRENT LIMIT INDEX 0X2110

Type Access Units Range Map PDO Memory
Integer 16 RW 0.01 amps 0 – 32,767 YES RF
Description
User peak current limit. Known as boost current on stepper amplifiers. This value cannot exceed
the peak (or boost) current rating of the amplifier.

USER CONTINUOUS CURRENT LIMIT INDEX 0X2111

Type Access Units Range Map PDO Memory
Integer 16 RW 0.01 amps 0 – 32,767 YES RF
Description
User Continuous Current Limit. Also known as Run Current on stepper amplifiers. This value
should be less then the User Peak Current Limit. The amplifier uses this value as an input to an
I2T current limiting algorithm to prevent over stressing the load.

USER PEAK CURRENT LIMIT TIME INDEX 0X2112

Type Access Units Range Map PDO Memory
Unsigned 16 RW milliseconds 0 – 10,000 YES RF
Description
Specifies the maximum time at peak current. The amplifier uses this value as an input to an I 2T
current limiting algorithm to prevent over stressing the load.
Also known as Time at Boost Current on stepper amplifiers.

ACTUAL CURRENT, D AXIS INDEX 0X2214

Type Access Units Range Map PDO Memory
Integer 16 RW 0.01 amps - YES -
Description
Part of the internal current loop calculation.

ACTUAL CURRENT, Q AXIS INDEX 0X2215

Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - YES -
Description
Part of the internal current loop calculation.

CURRENT COMMAND, D AXIS INDEX 0X2216

Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - YES -
Description
Part of the internal current loop calculation.

CURRENT COMMAND, Q AXIS INDEX 0X2217

Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - YES -
Description
Part of the internal current loop calculation.

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CURRENT LOOP OUTPUT, D AXIS INDEX 0X2218

Type Access Units Range Map PDO Memory
Integer 16 RO 0.1 V - YES -
Description
Part of the internal current loop calculation. Also known as Terminal Voltage Stepper.

CURRENT LOOP OUTPUT, Q AXIS INDEX 0X2219

Type Access Units Range Map PDO Memory
Integer 16 RO 0.1 V - YES -
Description
Part of the internal current loop calculation. Also known as Terminal Voltage Servo.

ACTUAL MOTOR CURRENT INDEX 0X221C

Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - YES -
Description
Actual motor current.

COMMANDED CURRENT INDEX 0X221D

Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - YES -
Description
Instantaneous commanded current as applied to the current limiter.

LIMITED CURRENT INDEX 0X221E

Type Access Units Range Map PDO Memory
Integer 16 RO 0.01 amps - YES -
Description
Output of the current limiter (input to the current loop).

PROGRAMMED CURRENT COMMAND INDEX 0X2340

Type Access Units Range Map PDO Memory
Integer 16 RW 0.01 amps - YES RF
Description
This object gives the programmed current value used when running in programmed current mode
(mode 1) or diagnostic micro-stepping mode (mode 42). (See Desired State object, p. 65, and
Alternative Control Sources Overview, p. 225.)

COMMANDED CURRENT RAMP RATE INDEX 0X2113

Type Access Units Range Map PDO Memory
Integer 32 RW mA/second - YES RF
Description
Setting this to zero disables slope limiting in Profile Torque mode. It is also used when the
amplifier is running in Programmed Current mode (Desired State object [index 0x2300, p. 65] = 1).

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CURRENT LOOP GAINS INDEX 0X2380

Type Access Units Range Map PDO Memory
Record RW - - YES -
Description
This object contains the various gain values used to optimize the current control loop. Sub-index 0
contains the number of sub-elements of this record.

CURRENT LOOP PROPORTIONAL GAIN INDEX 0X2380, SUB-INDEX 1

Type Access Units Range Map PDO Memory
Unsigned 16 RW - 0 – 32,767 YES RF
Description
This gain value is multiplied by the current error value. The current error is the difference between
the desired current and the actual current.

CURRENT LOOP INTEGRAL GAIN INDEX 0X2380, SUB-INDEX 2

Type Access Units Range Map PDO Memory
Unsigned 16 RW - 0 – 32,767 YES RF
Description
This gain value is multiplied by the integral of current error.

CURRENT OFFSET INDEX 0X2380, SUB-INDEX 3

Type Access Units Range Map PDO Memory
Integer 16 RW 0.01 amps - YES RF
Description
This offset value is added to the commanded motor current. It can be used to compensate for a
directional bias affecting the current loop.

CURRENT LOOP GAINS INDEX 0X60F6

Type Access Units Range Map PDO Memory
Record RW - - YES -
Description
This object is no longer recommended. Use object 2380 (p.153).This object contains the various
gain values used to optimize the current control loop. Sub-index 0 contains the number of sub-
elements of this record.

CURRENT LOOP PROPORTIONAL GAIN INDEX 0X60F6, SUB-INDEX 1

Type Access Units Range Map PDO Memory
Unsigned 16 RW - 0 – 32,767 YES RF
Description
This gain value is multiplied by the current error value. The current error is the difference between
the desired current and the actual current.

CURRENT LOOP INTEGRAL GAIN INDEX 0X60F6, SUB-INDEX 2

Type Access Units Range Map PDO Memory
Unsigned 16 RW - 0 – 32,767 YES RF
Description
This gain value is multiplied by the integral of current error.

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CURRENT OFFSET INDEX 0X60F6, SUB-INDEX 3

Type Access Units Range Map PDO Memory
Unsigned 16 RW 0.01 amps - YES RF
Description
This offset value is added to the commanded motor current. It can be used to compensate for a
directional bias affecting the current loop.

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4.5: Gain Scheduling Configuration

The Gain Scheduling feature allows you to schedule gain adjustments based on changes to a key
parameter. For instance, Pp, Vp, and Vi could be adjusted based on changes to commanded
velocity.
Gain adjustments are specified in a Gain Scheduling Table. Each table row contains a key
parameter value and the corresponding gain settings. The amplifier uses linear interpolation to
make smooth gain adjustments between the programmed settings.
Gain Scheduling Tables are stored in the Copley Virtual Machine (CVM) memory space. They can
be created and modified using CME 2 software.
The following objects are used to configure Gain Scheduling.

GAIN SCHEDULING CONFIG INDEX 0X2370

Type Access Units Range Map PDO Memory
Unsigned 32 RW - - YES RF
Description
Bits Meaning
0-2 Key parameter for gain scheduling.
Value Description
0 None. Setting the key parameter to zero disables gain scheduling.
1 Use value written to Gain Scheduling Key Parameter (index 0x2371, p. 155) as the key.
2 Use Instantaneous Commanded Velocity (index 0x2250, p. 137).
3 Use Load Encoder Velocity (index 0x2231, p. 144).
4 Use Position Command Value object (index 0x60FC, p. 141).
5 Use Position Actual Value object (index 0x6063, p. 137).
6-7 Reserved.
3-7 Reserved.
8 If set, use the absolute value of key parameter for gain lookup.
9 If set, disable gain scheduling until the axis is referenced (homed).

GAIN SCHEDULING KEY PARAMETER INDEX 0X2371

Type Access Units Range Map PDO Memory
Integer 32 RW - - YES R
Description
Gain scheduling key parameter value. When gain scheduling is enabled, the current value of the
key parameter is stored here. When this parameter is selected as the key parameter for gain
scheduling, then it may be written to manually move through entries in the gain scheduling table.

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4.6: Chained Biquad Filters

SECOND CHAINED BIQUAD FILTER INDEX 0X210A
Type Access Units Range Map PDO Memory
14 Word RW - - NO RF
Description
Second chained biquad filter on output of velocity loop.

THIRD CHAINED BIQUAD FILTER INDEX 0X210B

Type Access Units Range Map PDO Memory
14 Word RW - - NO RF
Description
Third chained biquad filter on output of velocity loop.

FIRST CHAINED BIQUAD FILTER INDEX 0X210C

Type Access Units Range Map PDO Memory
14 Word RW - - NO RF
Description
First chained biquad filter on input of current loop.

SECOND CHAINED BIQUAD FILTER INDEX 0X210D

Type Access Units Range Map PDO Memory
14 Word RW - - NO RF
Description
Second chained biquad filter on input of current loop.

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CHAPTER
5: STEPPER MODE SUPPORT
This chapter describes Copley Controls’ support of stepper motor operation over a CANopen
network.
Contents include:
5.1: Stepper Mode Operation ..................................................................................................................... 159
5.2: Stepper Mode Objects ........................................................................................................................ 161

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5.1: Stepper Mode Operation

Copley Controls Amplifiers and Stepper Mode Operation
Copley Controls supports the use of stepper motors over a CANopen network.
The Stepnet amplifier can drive a two-phase stepper motor in stepper or servo mode.
The Accelnet and Xenus amplifiers can drive a three-phase stepper motor in stepper mode.
Stepper vs. Servo
In a closed-loop servo system, sensors feed back the actual position and/or velocity of the motor,
and the amplifier calculates how much torque to apply to the motor to move it to the target
destination.
An open-loop stepper system does not typically have sensors to feed back actual position or
velocity information. Nor does it use the position and velocity loops used in servo systems.
Instead, the amplifier moves the motor in steps by applying fixed current to the motor’s windings in
measured intervals. Position and velocity commands can be derived but not measured.
Microstepping
The type of stepper motor supported by the Copley Controls Stepnet amplifier has two windings. It
can be driven using the simple full stepping method or the more precise microstepping method.
Copley Controls supports microstepping as described in Microstepping (p. 159).
The Accelnet and Xenus amplifiers support three-phase, three-winding stepper motors. The
Accelnet and Xenus also use microstepping to drive these three-phase stepper motors.
Microstepping
Copley Controls’ microstepping amplifiers provide a much higher degree of control over a motor’s
position than does a full stepping system. The microstepping amplifier applies varying amounts of
current into both windings of the motor at the same time, making it possible to rest the motor not
only at the full step locations, but at points between them, and thus allowing a high degree of
control over the motor’s position.
In microstepping mode it is necessary to program the following CANopen objects:
Object Description
Motor Pole Pairs Number of motor pole pairs (electrical phases) per rotation. For example, for
(Index 0x2383, Sub-Index 2, p. 91) a 1.8 deg/step motor, set Motor Pair Polls to 50.
Microsteps/Rev Microsteps per revolution.
(Index 0x2383, Sub-Index 29, p. 96)

There is virtually no limit on the number of microsteps/rev. Programming a very high value does
not mean that the amplifier can actually move the motor to that many distinct positions, because
the ability to control current in the windings is limited. The practical limit depends on the motor, but
something on the order of 1000 microsteps/electrical cycle is generally reasonable. It is
sometimes advantageous to program a large number of microsteps, so the system works as
expected when connected to a high resolution encoder.
Some drive manufacturers require that the number of microsteps/rev be an integer multiple of the
number of electrical cycles. Copley Controls amplifiers do not have such a limitation.

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Current Control in Microstepping Mode

Servo systems use their servo loops to determine how much current (and in which direction) to
apply to the motor. For a stepper motor, the amount of current is typically a constant value
programmed by the user.
In addition, Copley Controls amplifiers use different current values for different states of motor
activity. During constant speed moves, the Run Current is applied.
During the acceleration / deceleration portion of the move, the Boost Current is used. After a move
completes (the velocity reaches zero) the amplifier continues to apply the Run Current to the
motor for the amount of time programmed in the Run to Hold Time object. Once that timeout has
expired, the Hold Current is applied.
2
While Boost Current is applied to the motor, an I T limit is used to protect the motor from
overheating. If the move remains in the acceleration phase for longer than the boost current time,
then the current applied to the motor falls back to the run current. This allows the system to set the
Run Current value equal to the motor’s continuous current limit, and set the Boost Current to a
value larger then the motor’s continuous limit.
Once the move has finished and the holding current has been applied to the motor, an optional
voltage control mode of operation can be entered. In this mode of operation, the motor is held in
position with extremely low jitter at the expense of a slightly looser control of the current in the
motor's windings. The Voltage Control Mode Time Delay object can be programmed to control the
delay between entering hold current mode and entering the voltage control mode.
If the Voltage Control Mode Time Delay is set to zero, the voltage control mode is disabled.

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5.2: Stepper Mode Objects

Contents of this Section
This section describes the objects used to support stepper motor operation. Some are also used
in servo mode operation.
They include:
Boost Current Index 0x2110 ................................................................................................................... 162
Run Current Index 0x2111 .................................................................................................................... 162
Time at Boost Current Index 0x2112 ...................................................................................................... 161
Hold Current Index 0x21D0.................................................................................................................... 161
Run to Hold Time Index 0x21D1 ............................................................................................................. 161
Detent Correction Gain Factor For Microstepping Mode Index 0x21D2 ................................................. 161
Voltage Control Mode Time Delay Index 0x21D5 ................................................................................... 162
Stepper Configuration and Status Index 0x21D6 .................................................................................... 162
Maximum Velocity Adjustment Index 0x21D8......................................................................................... 162
Proportional Gain For Stepper Outer Loop Index 0x21D7 ...................................................................... 162

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BOOST CURRENT INDEX 0X2110

Type Access Units Range Map PDO Memory
Integer 16 RW 0.01 amps 0 – 32,767 YES RF
Description
Functions as boost current in stepper mode and peak current in servo mode. Current used during
acceleration and deceleration in stepper mode. Specifies a boost or peak current limit in 0.01-amp
units.

RUN CURRENT INDEX 0X2111

Type Access Units Range Map PDO Memory
Integer 16 RW 0.01 amps 0 – 32,767 YES RF
Description
Functions as run current in stepper mode and continuous current in servo mode. Output of the
current limiter (0.01-amp units). This is the current that the current loop will attempt to apply to the
stepper motor during continuous velocity portion of moves.

TIME AT BOOST CURRENT INDEX 0X2112

Type Access Units Range Map PDO Memory
Unsigned 16 RW milliseconds 0 – 10,000 YES RF
Description
Functions as time at boost current in stepper mode and time at peak current in servo mode.
Specifies the maximum time at boost or peak current. The amplifier uses this value as an input to
an I2T current limiting algorithm to prevent over stressing the load.

HOLD CURRENT INDEX 0X21D0

Type Access Units Range Map PDO Memory
Unsigned 16 RW 0.01 amps 0 - 32,767 YES RF
Description
Current used to hold the motor at rest. Used in stepper mode only.

RUN TO HOLD TIME INDEX 0X21D1

Type Access Units Range Map PDO Memory
Unsigned 16 RW milliseconds 0 - 10,000 YES RF
Description
The period of time, beginning when a move is completed, during which the output stays at run
current level before switching to hold current level. Used in stepper mode only.

DETENT CORRECTION GAIN FACTOR FOR MICROSTEPPING MODE INDEX 0X21D2

Type Access Units Range Map PDO Memory
Unsigned 16 RW - - YES RF
Description
Can be used to reduce detent noise.

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VOLTAGE CONTROL MODE TIME DELAY INDEX 0X21D5

Type Access Units Range Map PDO Memory
Unsigned 16 RW milliseconds 0 - 10,000 YES RF
Description
Time delay from entering hold current before entering the special voltage control mode of
operation. This mode trades the normal tight control of current for very low jitter on the motor
position. Used in stepper mode only. Set to 0 to disable this feature.

STEPPER CONFIGURATION AND STATUS INDEX 0X21D6

Type Access Units Range Map PDO Memory
Integer 16 RW - - YES RF
Description
Bit-mapped as follows:
Bit Description
0 Use the encoder input for phase compensation if enabled. Pure stepper mode if disabled.
1 Use on outer position loop to adjust the stepper position based on Position Error (index 0x60F4, p. 139).
When this bit is set, the gain value Maximum Velocity Adjustment (index 0x21D5, p. 163) is multiplied by the
Position Error, and the result is a velocity that is added to the microstepping position.
2-15 Reserved.

MAXIMUM VELOCITY ADJUSTMENT INDEX 0X21D8

Type Access Units Range Map PDO Memory
Unsigned 32 RW 0.1 steps/sec - YES RF
Description
This is the maximum velocity adjustment made by the stepper outer position loop when enabled.
This parameter is only used when the stepper outer loop is engaged, which occurs when bit 1 of
Stepper Configuration and Status (index 0x21D6, p. 163) is set.

PROPORTIONAL GAIN FOR STEPPER OUTER LOOP INDEX 0X21D7

Type Access Units Range Map PDO Memory
Unsigned 16 RW - - YES RF
Description
This parameter gives the gain used for calculating a velocity adjustment based on Position Error
(index 0x60F4, p. 139). This parameter is only used when the stepper outer loop is engaged,
which occurs when bit 1 of Stepper Configuration and Status (index 0x21D6, p. 163) is set.

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CHAPTER
6: HOMING MODE OPERATION
This chapter describes the operation of an amplifier in homing mode.
Contents include:
6.1: Homing Mode Operation Overview ..................................................................................................... 165
6.2: Homing Mode Operation Objects........................................................................................................ 183

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6.1: Homing Mode Operation Overview

Contents of this Section
This section describes control of the amplifier in homing mode.
Topics include:
Homing Overview ....................................................................................................................................... 166
Homing Methods Overview ........................................................................................................................ 167
Home is Current Position ........................................................................................................................... 167
Home is Current Position; Move to New Zero ............................................................................................ 167
Next Index .................................................................................................................................................. 167
Limit Switch ................................................................................................................................................ 168
Limit Switch Out to Index ........................................................................................................................... 169
Hardstop..................................................................................................................................................... 170
Hardstop Out to Index ................................................................................................................................ 171
Home Switch .............................................................................................................................................. 172
Home Switch Out to Index ......................................................................................................................... 173
Home Switch In to Index ............................................................................................................................ 174
Lower Home ............................................................................................................................................... 175
Upper Home ............................................................................................................................................... 176
Lower Home Outside Index ....................................................................................................................... 177
Lower Home Inside Index .......................................................................................................................... 178
Upper Home Outside Index ....................................................................................................................... 179
Upper Home Inside Index .......................................................................................................................... 180
Copley Controls Home Configuration Object for Custom Homing Methods .............................................. 181

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Homing Overview
Homing is the method by which a drive seeks the home position (also called the datum, reference
point, or zero point). There are various methods of achieving this using:
 limit switches at the ends of travel, or
 a dedicated home switch.
Most of the methods also use the index pulse input from an incremental encoder.
The amplifier performs homing operations in Homing Mode (Mode Of Operation [index 0x6060, p.
64] =6).
The Homing Function
The homing function provides a set of trajectory parameters to the position loop, as shown below.
The parameters are generated by the homing function and are not directly accessible through
CANopen dictionary objects. They include the profile mode and velocity, acceleration, and
deceleration data.
Home Offset
Homing Method
Homing Trajectory Trajectory Position
Homing Speeds Position Demand
Function Parameters Generator Loop
Home Velocity Fast / Slow
Homing Acceleration

Initiating and Verifying a Homing Sequence

A homing move is started by setting bit 4 of the Control Word object (index 0x6040, p. 58). The
results of a homing operation can be accessed in the Status Word (index 0x6041, p. 58).
Home Offset
The home offset is the difference between the zero position for the application and the machine
home position (found during homing). During homing the home position is found and once the
homing is completed the zero position is offset from the home position by adding the Home Offset
to the home position. All subsequent absolute moves shall be taken relative to this new zero
position. This is illustrated in the following diagram.

Homing Speeds
There are two homing speeds: fast and slow. The fast speed is used to find the home switch and
the slow speed is used to find the index pulse. (See the Homing Speeds object [index 0x6099, p.
185])
Homing Acceleration
Homing Acceleration (index 0x609A, p. 185) establishes the acceleration to be used for all
accelerations and decelerations with the standard homing modes.
Note that in homing, it is not possible to program a separate deceleration rate.

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Homing Methods Overview

There are several homing methods. Each method establishes the:
 Home reference (limit or home switch transition or encoder index pulse)
 Direction of motion and, where appropriate, the relationship of the index pulse to limit
or home switches.
Legend to Homing Method Descriptions
As highlighted in the example below, each homing method diagram shows the starting position on
a mechanical stage. The arrow line indicates direction of motion, and the circled H indicates the
home position. Solid line stems on the index pulse line indicate index pulse locations. Longer
dashed lines overlay these stems as a visual aid. Finally, the relevant limit switch is represented,
showing the active and inactive zones and transition.

Mechanical Stage Limits

Axis

Starting position

H Direction of motion
Home position
H Starting position
Index pulse location
Index Pulse

Positive Limit
Switch
Sw itch inactive Sw itch active
Sw itch transition

Note that in the homing method descriptions, negative motion is leftward and positive motion is
rightward.

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Home is Current Position

Using this method, home is the current position.
Set Homing Method (index 0x6098, p. 184) to: 0.

Home is Current Position; Move to New Zero

Set current position to home and move to new zero position (including home offset). This is the
same as Home is Current Position except that mode 0 does not do the final move to the home
position.
Set Homing Method (index 0x6098, p. 184) to: 35.

Next Index
Direction of Motion: Positive
Home is the first index pulse found in the positive direction. Direction of motion is positive. If a
positive limit switch is activated before the index pulse, an error is generated.

H
Index Pulse

Set Homing Method (index 0x6098, p. 184) to: 34.

Direction of Motion: Negative

Home is the first index pulse found in negative direction. Direction of motion is negative. If a
negative limit switch is activated before the index pulse, an error is generated.

H
Index Pulse

Set Homing Method (index 0x6098, p. 184) to: 33.

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Limit Switch
Direction of Motion: Positive
Home is the transition of the positive limit switch. Initial direction of motion is positive if the positive
limit switch is inactive.

H
Positive Limit
Switch

Set Homing Method (index 0x6098, p. 184) to: 18.

Direction of Motion: Negative

Home is the transition of negative limit switch. Initial direction of motion is negative if the negative
limit switch is inactive.

Negative Limit
Switch

Set Homing Method (index 0x6098, p. 184) to: 17.

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Limit Switch Out to Index

Direction of Motion: Positive
Home is the first index pulse to the negative side of the positive limit switch transition. Initial
direction of motion is positive if the positive limit switch is inactive (shown here as low).

H
Positive Limit
Switch

Index Pulse

Set Homing Method (index 0x6098, p. 184) to: 2.

Direction of Motion: Negative

Home is the first index pulse to the positive side of the negative limit switch transition. Initial
direction of motion is negative if the negative limit switch is inactive (shown here as low).

Negative Limit H
Switch

Index Pulse

Set Homing Method (index 0x6098, p. 184) to: 1.

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Hardstop
Direction of Motion: Positive
Home is the positive hard stop. Direction of motion is positive. The hard stop is reached when the
amplifier outputs the homing Current Limit continuously for the amount of time specified in the
Delay Time. If a positive limit switch is activated before the hard stop, an error is generated.
In stepper amplifiers in stepper mode, the hard stop is reached when the following error exceeds
the tracking window.

Set Homing Method (index 0x6098, p. 184) to: -1.

Direction of Motion: Negative

Home is the negative hard stop. Direction of motion is negative. The hard stop is reached when
the amplifier outputs the homing Current Limit continuously for the amount of time specified in the
Delay Time. If a negative limit switch is activated before the hard stop, an error is generated.

Set Homing Method (index 0x6098, p. 184) to: -2.

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Hardstop Out to Index

Direction of Motion: Positive
Home is the first index pulse on the negative side of the positive hard stop. Initial direction of
motion is positive. The hard stop is reached when the amplifier outputs the homing Current Limit
continuously for the amount of time specified in the Delay Time. If a positive limit switch is
activated before the hard stop, an error is generated.
In stepper amplifiers in stepper mode, the hard stop is reached when the following error exceeds
the tracking window.

Index Pulse

Set Homing Method (index 0x6098, p. 184) to: -4.

Direction of Motion: Negative

Home is the first index pulse on the positive side of the negative hard stop. Initial direction of
motion is negative. The hard stop is reached when the amplifier outputs the homing Current Limit
continuously for the amount of time specified in the Delay Time. If a negative limit switch is
activated before the hard stop, an error is generated.

Index Pulse

Set Homing Method (index 0x6098, p. 184) to:-3.

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Home Switch
Direction of Motion: Positive
Home is the home switch transition. Initial direction of motion is positive if the home switch is
inactive. If a limit switch is activated before the home switch transition, an error is generated.

Home Switch
Set Homing Method (index 0x6098, p. 184) to: 19.

Direction of Motion: Negative

Home is the home switch transition. Initial direction of motion is negative if the home switch is
inactive. If a limit switch is activated before the home switch transition, an error is generated.

H
Home Switch

Set Homing Method (index 0x6098, p. 184) to: 21.

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Home Switch Out to Index

Direction of Motion: Positive
Home is the first index pulse to the negative side of the home switch transition. Initial direction of
motion is positive if the home switch is inactive. If a limit switch is activated before the home
switch transition, an error is generated.

H
Home Switch

Index Pulse

Set Homing Method (index 0x6098, p. 184) to: 3.

Direction of Motion: Negative

Home is the first index pulse to the positive side of the home switch transition.
Initial direction of motion is negative if the home switch is inactive. If a limit switch is activated
before the home switch transition, an error is generated.

H
Home Switch

Index Pulse
Set Homing Method (index 0x6098, p. 184) to: 5.

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Home Switch In to Index

Direction of Motion: Positive
Home is the first index pulse to the positive side of the home switch transition. Initial direction of
motion is positive if the home switch is inactive. If a limit switch is activated before the home
switch transition, an error is generated.

Home Switch

Index Pulse

Set Homing Method (index 0x6098, p. 184) to: 4.

Direction of Motion: Negative

Home is the first index pulse to the negative side of the home switch transition. Initial direction of
motion is negative if the home switch is inactive. If a limit switch is activated before the home
switch transition, an error is generated.

H
Home Switch

Index Pulse

Set Homing Method (index 0x6098, p. 184) to: 6.

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Lower Home
Direction of Motion: Positive
Home is the negative edge of a momentary home switch. Initial direction of motion is positive if the
home switch is inactive. Motion will reverse if a positive limit switch is activated before the home
switch; then, if a negative limit switch is activated before the home switch, an error is generated.

Home Switch
Positive Limit
Switch

Set Homing Method (index 0x6098, p. 184) to: 23.

Direction of Motion: Negative

Home is the negative edge of a momentary home switch. Initial direction of motion is negative. If
the initial motion leads away from the home switch, the axis reverses on encountering the negative
limit switch; then, if a positive limit switch is activated before the home switch, an error is
generated.

Home Switch
Negative Limit
Switch

Set Homing Method (index 0x6098, p. 184) to: 29.

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Upper Home
Direction of Motion: Positive
Home is the positive edge of a momentary home switch. Initial direction of motion is positive. If the
initial motion leads away from the home switch, the axis reverses on encountering the positive limit
switch; then, if a negative limit switch is activated before the home switch, an error is generated.

Home Switch
Positive Limit
Switch

Set Homing Method (index 0x6098, p. 184) to: 25

Direction of Motion: Negative

Home is the positive edge of momentary home switch. Initial direction of motion is negative if the
home switch is inactive. If the initial motion leads away from the home switch, the axis reverses on
encountering the negative limit switch; then, if a positive limit switch is activated before the home
switch, an error is generated.

Home Switch
Negative Limit
Switch

Set Homing Method (index 0x6098, p. 184) to: 27

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Lower Home Outside Index

Direction of Motion: Positive
Home is the first index pulse on the negative side of the negative edge of a momentary home
switch. Initial direction of motion is positive if the home switch is inactive. If the initial motion leads
away from the home switch, the axis reverses on encountering the positive limit switch; then, if a
negative limit switch is activated before the home switch, an error is generated.

Home Switch

Positive Limit
Switch

Index Pulse

Set Homing Method (index 0x6098, p. 184) to: 7.

Direction of Motion: Negative

Home is the first index pulse on the negative side of the negative edge of a momentary home
switch. Initial direction of motion is negative. If the initial motion leads away from the home switch,
the axis reverses on encountering the negative limit switch; then, if a negative limit switch is
activated before the home switch, an error is generated.

H
Home Switch

Negative Limit
Switch

Index Pulse

Set Homing Method (index 0x6098, p. 184) to: 14.

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Lower Home Inside Index

Direction of Motion: Positive
Home is the first index pulse on the positive side of the negative edge of a momentary home
switch. Initial direction of motion is positive if the home switch is inactive. If the initial motion leads
away from the home switch, the axis reverses on encountering the positive limit switch; then, if a
negative limit switch is activated before the home switch, an error is generated.

Home Switch

Positive Limit
Switch

Index Pulse

Set Homing Method (index 0x6098, p. 184) to: 8.

Direction of Motion: Negative

Home is the first index pulse on the positive side of the negative edge of a momentary home
switch. Initial direction of motion is negative. If the initial motion leads away from the home switch,
the axis reverses on encountering the negative limit switch; then, if a negative limit switch is
activated before the home switch, an error is generated.

Home Switch
Negative Limit
Switch

Index Pulse

Set Homing Method (index 0x6098, p. 184) to: 13.

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Upper Home Outside Index

Direction of Motion: Positive
Home is the first index pulse on the positive side of the positive edge of a momentary home
switch. Initial direction of motion is positive. If the initial motion leads away from the home switch,
the axis reverses on encountering the positive limit switch; then, if a negative limit switch is
activated before the home switch, an error is generated.

H
H

Home Switch

Positive Limit
Switch

Index Pulse

Set Homing Method (index 0x6098, p. 184) to: 10.

Direction of Motion: Negative

Home is the first index pulse on the positive side of the positive edge of a momentary home
switch. Initial direction of motion is negative if the home switch is inactive. If the initial position is
right of the home position, the axis reverses on encountering the home switch.

Home Switch
Negative Limit
Switch

Index Pulse

Set Homing Method (index 0x6098, p. 184) to: 11.

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Upper Home Inside Index

Direction of Motion: Positive
Home is the first index pulse on the negative side of the positive edge of momentary home switch.
Initial direction of motion is positive. If initial motion leads away from the home switch, the axis
reverses on encountering the positive limit switch; then, if a negative limit switch is activated
before the home switch, an error is generated.

Home Switch

Positive Limit
Switch

Index Pulse

Set Homing Method (index 0x6098, p. 184) to: 9.

Direction of Motion: Negative

Home is the first index pulse on the negative side of the positive edge of a momentary home
switch. Initial direction of motion is negative if the home switch is inactive. If initial motion leads
away from the home switch, the axis reverses on encountering the negative limit; then, if a
negative limit switch is activated before the home switch, an error is generated.

Home Switch
Negative Limit
Switch

Index Pulse

Set Homing Method (index 0x6098, p. 184) to: 12.

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Copley Controls Home Configuration Object for Custom Homing Methods

Copley Controls provides an object that provides access to the amplifier’s internal home
configuration register. When a standard CANopen homing method is used, the software
automatically sets a value in this register.
To specify homing options that are not supported by the standard CANopen methods, the
application can directly program this configuration register. This provides finer control of the
homing methods then the standard CANopen ones allow.
For example, all of the standard CANopen homing methods will cause a move to the new zero
position after it has been found. With a large home offset, this could be a large or slow move. This
final move can be avoided by programming the internal home configuration register directly.

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6.2: Homing Mode Operation Objects

Contents of this Section
This section describes the objects that control the operation of the amplifier in homing mode.
They include:
Homing Method Index 0x6098 ................................................................................................................ 184
Homing Speeds Index 0x6099 ................................................................................................................ 185
Home Velocity – Fast Index 0x6099, Sub-Index 1 ........................................................................... 184
Home Velocity – Slow Index 0x6099, Sub-Index 2 ........................................................................... 184
Homing Acceleration Index 0x609A ........................................................................................................ 184
Home Offset Index 0x607C.................................................................................................................... 184
Hard Stop Mode Home Delay Index 0x2351 ........................................................................................... 185
Hard Stop Mode Home Current Index 0x2350 ........................................................................................ 185
Home Config Index 0x2352 .................................................................................................................... 185
Position Capture Control Register Index 0x2400 .................................................................................... 186
Position Capture Status Register Index 0x2401...................................................................................... 186
Captured Index Position Index 0x2402 ................................................................................................... 187
Home Capture Position Index 0x2403..................................................................................................... 187
Time Stamp of Last High Speed Position Capture Index 0x2404 ........................................................... 187
Captured Position for High Speed Position Capture Index 0x2405......................................................... 187
Homing Adjustment Index 0x2353 .......................................................................................................... 187

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HOMING METHOD INDEX 0X6098

Type Access Units Range Map PDO Memory
Integer 8 RW - See Description, below. YES RF
Description
The method for finding the motor home position in homing mode. Program a method described
below by writing its code to 0x6098. Most of the methods are paired. Each member of a pair uses
the same basic method but starts in the opposite direction and has a distinct code. For a full
description of any method, see the referenced pages.
Homing Method Initial Motion Code Full Description #
Hardstop Out to Index Positive -4 p. 172
Negative -3
Hardstop Negative -2 p. 171
Positive -1

Home is Current Position Any 0 p. 168

Home is Current Position; Move to New Zero Any 35 p. 168
Limit Switch Out to Index Negative 1 p. 170
Positive 2
Home Switch Out to Index Positive 3 p. 174
Negative 5
Home Switch In to Index Positive 4 p. 175
Negative 6
Lower Home Outside Index Positive 7 p. 178
Negative 14
Lower Home Inside Index Positive 8 p. 179
Negative 13
Upper Home Inside Index Positive 9 p. 181
Negative 12
Upper Home Outside Index Positive 10 p. 180
Negative 11
Limit Switch Negative 17 p. 169
Positive 18
Home Switch Positive 19 p. 173
Negative 21
Lower Home Positive 23 p. 176
Negative 29
Upper Home Positive 25 p. 177
Negative 27
Next Index Positive 34 p. 168
Negative 33
Reserved for future use. 15-16, 20, 22, 24, 26, 28, 30-32

Note that these homing methods only define the location of the home position. The zero position is
always the home position adjusted by the homing offset. See Homing Methods Overview, p.167.

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HOMING SPEEDS INDEX 0X6099

Type Access Units Range Map PDO Memory
Array RW - - YES -
Description
This array holds the two velocities used when homing. Sub-index 0 contains the number of sub-
elements of this record.

HOME VELOCITY – FAST INDEX 0X6099, SUB-INDEX 1

Type Access Units Range Map PDO Memory
Integer 32 RW 0.1 counts/sec 0 – 500,000,000 YES RF
Description
This velocity value is used during segments of the homing procedure that may be handled at high
speed. Generally, this means move in which the home sensor is being located, but the edge of the
sensor is not being found.

HOME VELOCITY – SLOW INDEX 0X6099, SUB-INDEX 2

Type Access Units Range Map PDO Memory
Integer 32 RW 0.1 counts/sec 0 – 500,000,000 YES RF
Description
This velocity value is used for homing segment that require low speed such as cases where the
edge of a homing sensor is being sought.

HOMING ACCELERATION INDEX 0X609A

Type Access Units Range Map PDO Memory
2
Unsigned 32 RW 10 counts/sec 0 – 200,000,000 YES RF
Description
This value defines the acceleration used for all homing moves. The same acceleration value is
used at the beginning and ending of moves (i.e. there is no separate deceleration value).

HOME OFFSET INDEX 0X607C

Type Access Units Range Map PDO Memory
Integer 32 RW counts - YES RF
Description
The home offset is the difference between the zero position for the application and the machine
home position (found during homing). During homing the home position is found. Once the homing
is completed the zero position is offset from the home position by adding the Home Offset to the
home position. All subsequent absolute moves shall be taken relative to this new zero position.
See Home Offset (p. 166) for more information.

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HARD STOP MODE HOME DELAY INDEX 0X2351

Type Access Units Range Map PDO Memory
Unsigned 16 RW milliseconds 0 - 10,000 YES RF
Description
Delay used for homing to a hard stop mode.

HARD STOP MODE HOME CURRENT INDEX 0X2350

Type Access Units Range Map PDO Memory
Integer 16 RW 0.01A 0 - 32,767 YES RF
Description
Home current in hard stop mode, in which the amplifier drives the motor to the mechanical end of
travel (hard stop). End of travel is recognized when the amplifier outputs the Hard Stop Mode
Home Current for the Hard Stop Mode Home Delay time (index 0x2351, p. 186).

HOME CONFIG INDEX 0X2352

Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. YES RF
Description
Alternate method for configuring the homing mode. Provides more flexibility than the standard
CANopen method does. Bit-mapped as follows:
Bits Description
0-3 Home function.
Value Description
0 If bit 5 is not set, then just set the current position as home. If bit 5 is set, then move in the
direction specified by bit 4 and set the location of the first index pulse as home. Bit 6 is not used
in this mode.
1 Move in the direction specified by bit 4 until a limit switch is encountered. Then move in the
other direction out of limit. If bit 5 is clear, then the edge location is home. If bit 5 is set, then the
next index pulse is home. Bit 6 is not used in this mode.
2 Home on a constant home switch. The initial move is made in the direction specified by bit 4.
When the home switch is encountered, the direction is reversed. The edge of the home switch
is set as home if bit 5 is clear. If bit 5 is set, then an index pulse is used as the home position.
Bit 6 is used to define which index pulse is used.
3 Home on an intermittent home switch. This mode works the same as mode 2 except that if a
limit switch is encountered when initially searching for home, then the direction is reversed. In
mode 2, hitting a limit switch before finding home would be considered an error. Bit 8 identifies
which edge of the home to search for (positive or negative).
4 Home to a hard stop. This moves in the direction specified in bit 4 until the home current limit is
reached. It then presses against the hard stop using that current value until the home delay time
expires. If bit 5 (index) is set, drive away from the hard stop until an index is found.
4 Initial move direction (0=positive, 1=negative).
5 Home on index pulse if set.
6 Selects which index pulse to use. If set, use the pulse on the DIR side of the sensor edge. DIR is the
direction specified by bit 4 of this word.
7 If set, capture falling edge of index. Capture rising edge if clear.
8 When using a momentary home switch, this bit identifies which edge of the home switch to reference on. If
set, then the negative edge is used; if clear the positive edge is used.
9 If set, make a move to the zero position when homing is finished. If clear, the zero position is found, but not
moved to.
10 If set, the homing sequence will run as normal, but the actual position will not be adjusted at the end. Note
that even though the actual position is not adjusted, the Homing Adjustment (index 0x2353, p. 188) is
updated with the size of the adjustment (in counts) that would have been made.
Also, if bit 10 is set then no move to zero is made regardless of the setting of bit 9.

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POSITION CAPTURE CONTROL REGISTER INDEX 0X2400

Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. YES RF
Description
Sets up position capture features for the encoder index home switch input and high speed position
capture input. Bit-mapped as follows:
Bit Description
0 If set, the Captured Index Position (index 0x2402, p. 188) is captured on the falling edge of the index.
1 If set, the Captured Index Position is captured on the rising edge of the index.
2 If set, a Captured Index Position value will not be overwritten by a new position until it has been read. If clear,
new positions will overwrite old positions.
3,4 Reserved.
5 If set, Home Capture Position (index 0x2403, p. 188) captures falling edges of the home switch input
transition; if clear, it captures rising edges.
6 If set, Home Capture Position will not be overwritten by a new position until it has been read.
If clear, new positions will overwrite old positions.
8 If set, enable high speed input position capture. The position value is written to Captured Position for High
Speed Position Capture (index 0x2405, p. 188).
9 If set, don't overwrite high speed input capture positions.
10 If set, a Captured Position for High Speed Position Capture value will not be overwritten by a new position
until it has been read. If clear, new positions will overwrite old positions.
12 Clear actual position on every encoder index pulse.

POSITION CAPTURE STATUS REGISTER INDEX 0X2401

Type Access Units Range Map PDO Memory
Unsigned 16 RO - See Description, below. YES -
Description
Shows the current status of the index or home switch capture mechanism. Bit-mapped as follows:
Bit Description
0 If set, an index position has been captured. Cleared when the captured position is read.
1,2 Reserved.
3 If set, a new index transition occurred when a captured position was already stored.
The existing Captured Index Position (index 0x2402, p. 188) will be overwritten or preserved as programmed
in bit 2 of the Position Capture Control Register (index 0x2400, p. 187).
4 If set, new home switch transition data has been captured.
5,6 Reserved.
7 If set, a new home switch input transition occurred when a captured position was already stored. The existing
Home Capture Position (index 0x2403, p. 188) will be overwritten or preserved as programmed in bit 6 of the
Position Capture Control Register.
8 If set, a new high speed input position has been captured. Cleared when the captured position is read.
10 If set, high speed input position overflow.
11 If set, a new high speed input transition occurred when a Captured Position for High Speed Position Capture
(index 0x2405, p. 188) was already stored.
The existing Captured Position for High Speed Position Capture will be overwritten or preserved as
programmed in bit 10 of the Position Capture Control Register.

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CAPTURED INDEX POSITION INDEX 0X2402

Type Access Units Range Map PDO Memory
Integer 32 RO counts - YES -
Description
Reading this variable resets bits 0 & 3 of the Position Capture Status Register (index 0x2401, p.
187). Provides the position that the axis was in when an index pulse was captured. Configured by
setting bits in the Position Capture Control Register (index 0x2400, p. 187), and the status of the
captured data can be checked in the Position Capture Status Register. Reading this variable
resets bits 0 & 3 of the Position Capture Status Register.

HOME CAPTURE POSITION INDEX 0X2403

Type Access Units Range Map PDO Memory
Integer 32 RO counts - EVENT -
Description
Provides the position that the axis was in when an input pin configured as a home switch input
became active. This function can be configured by setting bits in the Position Capture Control
Register (index 0x2400, p. 187), and the status of the captured data can be checked in Position
Capture Status Register (index 0x2401, p. 187).

TIME STAMP OF LAST HIGH SPEED POSITION CAPTURE INDEX 0X2404

Type Access Units Range Map PDO Memory
Integer 32 RW microseconds - EVENT R
Description
Provides the time when an input pin configured as a high speed capture input became active (and
the axis position was captured).

CAPTURED POSITION FOR HIGH SPEED POSITION CAPTURE INDEX 0X2405

Type Access Units Range Map PDO Memory
Integer 32 RO counts - EVENT R
Description
Provides the position that the axis was in when an input pin configured as a high speed capture
input became active.

HOMING ADJUSTMENT INDEX 0X2353

Type Access Units Range Map PDO Memory
Integer 32 RO counts - EVENT R
Description
This parameter is updated after each successful homing operation. The value it contains is the
size of the actual position adjustment made in the last home sequence.

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CHAPTER
7: PROFILE POSITION, VELOCITY, AND
TORQUE MODE OPERATION
This chapter describes the operation of an amplifier in profile position, profile velocity, and profile
torque mode.
Contents include:
7.1: Profile Position Mode Operation ......................................................................................................... 191
7.2: Profile Velocity Mode Operation .......................................................................................................... 199
7.3: Profile Torque Mode Operation ........................................................................................................... 199
7.4: Profile Mode Objects ........................................................................................................................... 200

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7.1: Profile Position Mode Operation

Point-to-Point Motion Profiles
In profile position mode, an amplifier receives set points from the trajectory generator to define a
target position and moves the axis to that position at a specified velocity and acceleration. This is
known as a point-to-point move.
The amplifier performs profile position moves in Profile Position Mode (Mode Of Operation [index
0x6060, p. 64] =1).
Jerk
In a point-to-point move, the rate of change in acceleration is known as jerk. In some applications,
high rates of jerk can cause excessive mechanical wear or material damage.
Trapezoidal and S-curve Motion Profiles
To support varying levels of jerk tolerance, the profile position mode supports two motion profiles:
the trapezoidal profile, which has unlimited jerk, and the jerk-limited S-curve (sinusoidal) profile.
Trapezoidal S-Curve

Velocity Velocity

Target Velocity (Run Speed)

Deceleration Rate

Acceleration Rate

Tim e Tim e

In a trapezoidal profile, jerk is unlimited at the corners of the profile (start of the move, when the
target velocity is reached, when deceleration begins, and at the end of the move). S-curve profiling
limits jerk or “smooths” the motion.
Note that an S-curve profile move does not support an independent deceleration rate. Instead, the
acceleration rate is applied to both the acceleration and deceleration of the move. Further,
trapezoidal and profile position special velocity mode profiles support changing of the parameters
of the current move, whereas an S-curve profile does not. This difference is discussed in Handling
a Series of Point-to-Point Moves, p. 192.
The Motion Profile Type object (index 0x6086, p. 205) controls which type of profile is used.
For guidance in choosing a trapezoidal or S-curve profile, read the following sections and then
refer to Trapezoidal vs. S-Curve Profile: Some Design Considerations, p. 198.
(Copley Controls CANopen amplifiers also support a profile position special velocity mode. This
profile type resembles the trapezoidal profile, but with no target position specified. The motion
obeys the acceleration, deceleration, and velocity limits, but continues to move as though the
target position were infinite.)
Relative vs. Absolute Moves
In a relative move, the target position is added to the instantaneous commanded position, and the
result is the destination of the move. In an absolute move, the target position is offset from the
home position.

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Handling a Series of Point-to-Point Moves

There are two methods for handling a series of point-to-point moves:
 As a series of discrete profiles (supported in both trapezoidal and S-curve profile moves)
 As one continuous profile (supported in trapezoidal profile moves only)
General descriptions of the two methods follow. Detailed procedures and examples appear later in
the chapter.
A Series of Discrete Profiles
The simplest way to handle a series of point-to-point moves is to start a move to a particular
position, wait for the move to finish, and then start the next move. As shown below, each move is
discrete. The motor accelerates, runs at target velocity, and then decelerates to zero before the
next move begins.

The CANopen Profile for Drives and Motion Control (DSP 402) refers to this method as the “single
setpoint” method.
Copley Controls CANopen amplifiers allow use of this method with both trapezoidal and S-curve
profile moves.
One Continuous Profile
Alternately, a series of trapezoidal profile moves can be treated as a continuous move. As shown
below, the motor does not stop between moves. Instead, the move parameters (target position,
velocity, acceleration, and deceleration) are updated immediately at the end of the previous move
(when bit 4 of the Control Word is set, as described later in this section).

The CANopen Profile for Drives and Motion Control (DSP 402) refers to this method as the “set of
setpoints” method.
Copley Controls CANopen amplifiers allow use of this method with trapezoidal profile moves only.

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Overview of Point-to-Point Move Parameters and Related Data

Move Parameters
Each point-to-point move is controlled by a set of parameters, accessed through the following
objects.
Object Name/ID Description Page #
Trajectory Jerk Limit / 0x2121 Maximum rate of change of acceleration. Used with S-curve profiles 202
only.
Target Position / 0x607A When running in position profile mode, this object holds the destination 202
position of the trajectory generator. Note that for profile position special
velocity mode profiles, the target position only specifies the direction of
motion, not a true position.
Profile Velocity / 0x6081 Velocity that the trajectory generator will attempt to achieve when 203
running in position profile mode.
Profile Acceleration / 0x6083 Acceleration that the trajectory generator attempts to achieve when 204
running in position profile mode.
Profile Deceleration / 0x6084 Note that an S-curve profile move does not use a deceleration rate. 204
Instead, the acceleration rate is applied to both the acceleration and
deceleration of the move.

Quick Stop Deceleration / Deceleration value used when a trajectory needs to be stopped as the 205
0x6085 result of a quick stop command. Note that unlike most trajectory
configuration values, this value is NOT buffered. Therefore, if the value
of this object is updated during an abort, the new value is used
immediately.
Motion Profile Type / 0x6086 Trapezoidal, S-curve, or special velocity mode. 205

The Point-to-Point Move Buffer

In profile position mode, the amplifier uses a buffer to store the parameters (listed in Move
Parameters, above) for the next point-to-point move, or for a modification of the current
trapezoidal profile move. The move buffer can be modified at any point before a control sequence
(described in following sections) copies the “next-move” parameters to the active move registers.

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Move-Related Control Word and Status Word Bit Settings

An amplifier’s Control Word (index 0x6040) and Status Word (index 0x6041) play an important
role in the initiation and control of point-to-point move sequences, as described below.
Object Name / Index Bit # Bit Name Description/Comments
Control Word / 0x6040 4 new setpoint The transition of bit 4 from 0 to 1 is what causes the
amplifier to copy a set of move parameters from the
buffer to the active register, thus starting the next move.
5 change set Allows or prevents attempt to perform a series of moves
immediately as one continuous profile (change move parameters while
move is in progress).
Value = 0: Amplifier will ignore a 0 to 1 transition on bit 4
if there is currently a move in progress.
Value = 1 and Motion Profile Type (index 0x6086, p. 205)
= trapezoidal or velocity mode: Allow new move to begin
immediately after bit 4 low-to-high transition.
Value = 1 and Motion Profile Type is S-curve: Ignore
update and continue move with old parameters.
6 absolute/relative Value = 0: Move is absolute (based on home position).
Value = 1: Move is relative (based on current commanded
position).
8 halt Value = 1: Interrupts the motion of the drive. Wait for
release to continue.
Status Word / 0x6041 10 target reached Amplifier sets bit 10 to 1 when target position has been
reached. Amplifier clears bit 10 to zero when new target is
received.
If quick stop option code (p. 63) is 5, 6, 7, or 8, this bit is
set when the quick stop operation is finished and the
drive is halted.
Bit 10 is also set when a Halt occurs.
12 setpoint acknowledge Set by the amplifier when Control Word bit 4 goes from 0
to 1. Cleared when Control Word bit 4 is cleared. An
invalid transition on Control Word bit 4 will not cause this
bit to be set. Invalid transitions include those made while
drive is in motion and in S-curve mode, or made while
drive in motion with Control Word bit 5 not set.

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Point-To-Point Move Sequence Examples

Overview
The following sections illustrate how to perform:
 A series of moves treated as a Series of Discrete Profiles
 A series of trapezoidal or profile position special velocity moves treated as One Continuous
Profile

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Series of Discrete Profiles

This diagram illustrates how to implement a series of moves as a series of discrete profiles.

1 Notes:
Clear Control Word action or query done by amplifier
bit 5 (to 0). 1. Control Word bit 5 is “change set immediately.”
action or query done by CANopen
master Clearing it tells the amplifier to treat a series of
moves as a series of discrete profiles.
2 Set move parameters.
2. Move Parameters are described on page 193.
Set profile type to 0 for
trapezoid; 1 for s-curve. 3. Control Word bit 4 is “new setpoint.” It needs to be
0 because the move is triggered by a 0->1 transition.
3 4. Status Word bit 10 is “target reached.” Value is 0
Control when move is in progress; 1 when move is finished.
1 Clear Control Word bit 4
Word
(to 0). 5. Value of 1 indicates that valid data has been sent
bit 4
to amplifier and new move should begin.
6. Amplifier must detect 0-1 transition to begin move.
0
7. Control word bit 6: value 0 causes absolute move;
4
value 1 causes relative move.
Status 8. Status Word bit 13 is “setpoint acknowledge.” A
0 value of 1 indicates the amplifier has received a
Word
bit 10 setpoint and has started the move.
9. Control Word bit 4 is “new setpoint.” It needs to be
0 to allow the next move is triggered by a
1
5
0->1 transition. Also, the 1->0 transition causes the
Set Control Word bit 4 amplifier to clear bit 13.
(to 1). 10. Amplifier detects 0->1 transition of Control Word
bit 4 and clears bit 13 in response.
When the motor reaches the target position, the
6
Amplifier sees bit 4 0-1 amplifier sets Status Word bit 10 (“target reached”)
transition; to 1.
copies buffered move to 11. CANopen master returns to step 2 if there are
active registers.
more moves to complete; otherwise, the series of
moves is finished.

7
Control
0 Amplifier starts
Word bit
absolute move.
6

Amplifier starts relative move.

8
Amplifier sets Status Word bit
12 (to 1).

9
Clear Control Word bit 4
(to 0).

10
Amplifier clears bit 12 (to 0).
When target position is
reached, amplifier sets bit 10
of Status Word (to 1).

11
yes no
More
Finished.
moves?

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One Continuous Profile

This diagram illustrates how to implement a series of moves as one continuous profile.

1 Notes:
Set move parameters; action or query done by amplifier
Set profile type to 0 (for 1. Move Parameters are described on page
action or query done by CANopen
trapezoidal move). master
193. This type of move is only supported as a
trapezoidal profile.
2. Control Word bit 4 is “new setpoint.” It
2
needs to be 0 because the move will be
Control
1 triggered by a 0->1 transition.
Clear Control Word bit 4
Word
(to 0). 3. Bit 4, value of 1 indicates that valid data
bit 4
has been sent to amplifier and new move
should begin.
0 Bit 5 is “change set immediately.” A value of 1
3
tells the amplifier to update the current profile
Set Control Word immediately by copying the contents of the
bits 4 and 5 (to 1). move buffer to the active registers (without
waiting for move to finish).
4 4. Amplifier must detect bit 4 0-1 transition to
Amplifier sees bit 4 0-1
begin move. Bit 5 value 1 allows immediate
transition; sees that bit 5 is set;
copies buffered move to
update.
active registers. 5. Control word bit 6: value 0 causes absolute
move; value 1 causes relative move.
6. Status Word bit 13 is “setpoint
5 acknowledge.” A value of 1 indicates the
Control amplifier has received a setpoint and has
Amplifier begins
Word bit
absolute move. started the move.
6
0 7. Control Word bit 4 is “new setpoint.” It
needs to be 0 to allow the next move will be
1
triggered by a 0->1 transition. Also, the 1->0
Amplifier begins relative transition causes the amplifier to clear bit 13.
move. 8. Amplifier detects 0->1 transition of Control
Word bit 4 and clears bit 13 in response.
6
Amplifier Status Word bit 12
When the motor reaches the target position,
(to 1).
the amplifier sets Status Word bit 10 (“target
reached”) to 1.
9. CANopen master returns to step 1 if there
7 Clear Control Word bit 4 are more moves to complete; otherwise, the
(to 0). series of moves is finished.

Amplifier clears Status Word

8 bit 12 (to 0).

9
yes no
Another
Finished.
move?

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Trapezoidal vs. S-Curve Profile: Some Design Considerations

Difference Between Trapezoidal and S-Curve Profiles
Here is a review of the differences between trajectory and S-curve profiles, and some design
considerations indicated by those differences:
Trapezoidal Profile S-Curve Profile Design Considerations
Unlimited jerk, operation not as Limited jerk, smoother operation. If the application cannot tolerate jerk,
smooth. use S-curve.
If the application can tolerate jerk,
other features available exclusively in
trapezoidal profile may indicate its use.
Supports separate acceleration and Does not support separate If a separate deceleration rate is
deceleration rates. deceleration rate; uses acceleration critical, the trapezoidal profile is
rate for acceleration and deceleration. indicated.
Supports modification of current move Does not support modification of If current move modification is critical,
parameters during current move, current move. A series of moves the trapezoidal profile is indicated.
allowing the execution of a series of requires a series of discrete profiles.
moves as a continuous profile.
Generally requires less torque than the Generally requires more torque than a Designers switching a profile from
S-curve profile to complete an equal trapezoidal profile to complete an trapezoidal to S-curve or lowering the
move in equal time. equal move in equal time, to make up value of Trajectory Jerk Limit (index
for time sacrificed for gentler starts and 0x2121, p. 202) might notice some
stops. slowing. A higher Profile Acceleration
can be applied to compensate, but
watch out for amplifier and motor
limits.

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7.2: Profile Velocity Mode Operation

Position and Velocity Loops
In profile velocity mode, both the velocity and position loops are used to reach the velocity
programmed in the Target Velocity object (index 0x60FF, p. 203). Profile velocity moves are
controlled by some of the same gains and limits objects used in profile position mode.
The amplifier performs profile velocity moves in Profile Velocity Mode (Mode Of Operation [index
0x6060, p. 64] =3).
Stepper Motor Support
The profile velocity mode can be used with a stepper motor.
Encoder Used as Velocity Sensor
The actual velocity is not measured with a velocity sensor. It is derived using position feedback
from the encoder.
Starting and Stopping Profile Velocity Moves
As in Profile Position (and Interpolated Position) modes, motion is started by a low-to-high
transition of bit 4 of the Control Word (index 0x6040, p. 58). Motion is stopped by a high-to-low
transition of the same bit.
Profile Velocity Mode vs. Profile Position Special Velocity Mode
Profile Position Special Velocity Mode
As described earlier, the profile position mode supports a special velocity mode, in which the
velocity trajectory generator takes the place of the trapezoidal generator. The two generators are
identical with the exception that in the velocity trajectory generator, the Target Position object
(index 0x607A, p. 202) indicates direction, not a target position. Any positive number (including
zero) gives positive motion and any negative number gives negative motion. In this special velocity
mode, the move continues at the Profile Velocity (index 0x6081, p. 203) until a new target velocity
is set or until the move is halted.
To start a move in this mode, program all the profile parameters (trajectory mode, profile velocity,
acceleration, deceleration, and direction) and then program a 0-to-1 transition on Control Word bit
4. You can then clear bit 4 without effecting the trajectory, modify any of the parameters (direction,
velocity, acceleration, etc), and set Control Word bit 4 (with bit 5 set also) to update the profile.
The normal way to stop motion in this mode is to set a profile velocity of 0.
Profile Velocity Mode
In profile velocity mode, the target velocity is updated as soon as the Target Velocity object (index
0x60FF, p. 203) is set.
In this mode, Control Word bits 4, 5, and 6 are not used.
To start a move in profile velocity mode, set the profile parameters (profile acceleration, profile
deceleration, and target velocity). The amplifier will generate a move as long as the halt bit
(Control Word bit 8) is not set. If the halt bit is set, the amplifier will stop the move using the
deceleration value.

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7.3: Profile Torque Mode Operation

Current Loop
In profile torque mode, the current loop is used to reach the torque programmed in the Target
Torque object (index 0x6071, p.203). When the amplifier is enabled, or the torque command is
changed, the motor torque ramps to the new value at the rate programmed in Torque Slope (index
0x6087, p. 204). When the amplifier is halted, the torque ramps down at the same rate.
Profile torque moves are controlled by Error! Reference source not found. (index 0x2380, p.
153).
The amplifier performs profile torque moves in Profile Torque Mode (Mode Of Operation [index
0x6060, p. 64] =4).
Notes:
1: The profile torque mode cannot be used with a stepper motor.
2: To convert torque commands to the current commands that actually drive the motor, the
amplifier performs calculations based on the motor’s Motor Torque Constant (Index 0x2383, Sub-
Index 12, p. 93) and Motor Continuous Torque (Index 0x2383, Sub-Index 14

Starting and Stopping Profile Torque Moves

To start a move in profile torque mode, set the profile parameters. The amplifier will generate a
move as long as the halt bit (Control Word bit 8) is not set. If the halt bit is set, the amplifier will
stop the move using the torque_slope value.

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7.4: Profile Mode Objects

Contents of this Section
This section describes the objects that control operation of the amplifier in profile position, velocity,
and torque modes.
They include:
Trajectory Jerk Limit Index 0x2121 ......................................................................................................... 202
Trajectory Generator Status Index 0x2252 ............................................................................................. 202
Trajectory Generator Destination Position Index 0x2122 ....................................................................... 201
Target Position Index 0x607A ................................................................................................................. 201
Profile Velocity Index 0x6081 .................................................................................................................. 202
Target Velocity Index 0x60FF ................................................................................................................. 202
Target Torque Index 0x6071................................................................................................................... 202
Torque Command Index 0x6074 ............................................................................................................ 202
Motor Rated Torque Index 0x6076 ......................................................................................................... 202
Torque Actual Value Index 0x6077 ......................................................................................................... 202
Torque Slope Index 0x6087 .................................................................................................................... 203
Torque Profile Type Index 0x6088 .......................................................................................................... 203
Profile Acceleration Index 0x6083 .......................................................................................................... 203
Profile Deceleration Index 0x6084 .......................................................................................................... 203
Quick Stop Deceleration Index 0x6085................................................................................................... 204
Motion Profile Type Index 0x6086........................................................................................................... 204
Velocity Sensor Selection Index 0x606A ................................................................................................ 204

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TRAJECTORY JERK LIMIT INDEX 0X2121

Type Access Units Range Map PDO Memory
3
Unsigned 32 RW 100 counts / sec 0 – 100,000,000 YES RF
Description
This object defines the maximum jerk (rate of change of acceleration) for use with S-curve profile
moves. Other profile types do not use the jerk limit.

TRAJECTORY GENERATOR STATUS INDEX 0X2252

Type Access Units Range Map PDO Memory
Integer 16 RO - See Description, below. YES -
Description
This variable gives status information about the trajectory generator. It is bit-mapped as follows:
Bit Description
0-10 Reserved for future use.
11 Homing error. If set an error occurred in the last home attempt. Cleared by a home command.
12 Referenced. Set if a homing command has been successfully executed. Cleared by a home command.
13 Homing. Set when the amplifier is running a home command.
14 Set when a move is aborted. This bit is cleared at the start of the next move.
15 In motion bit. If set, the trajectory generator is presently generating a profile.

TRAJECTORY GENERATOR DESTINATION POSITION INDEX 0X2122

Type Access Units Range Map PDO Memory
Integer 32 RO counts - YES -
Description
The position that the trajectory generator uses as its destination. Mostly useful when driving the amplifier
using the pulse & direction inputs.

TARGET POSITION INDEX 0X607A

Type Access Units Range Map PDO Memory
-
Integer 32 RW counts YES RF
Description
When running in position profile mode, this object defines the destination of the trajectory
generator.
The object’s meaning varies with the move type, as set in Motion Profile Type (index 0x6086, p.
205):
Move Type Meaning
Relative Move distance.
Absolute Target position.
Velocity Direction: 1 for positive, -1 for negative.

Note that the target position programmed here is not passed to the internal trajectory generator
until the move has been started or updated using the Control Word. See Profile Position Mode
Operation, p. 191, for more information.

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PROFILE VELOCITY INDEX 0X6081

Type Access Units Range Map PDO Memory
Integer 32 RW 0.1 counts/sec 0 – 500,000,000 YES RF
Description
In profile position mode, this value is the velocity that the trajectory generator will attempt to
achieve.
Note that the value programmed here is not passed to the internal trajectory generator until the
move has been started or updated using the Control Word. See Profile Position Mode Operation,
p. 191, for more information.

TARGET VELOCITY INDEX 0X60FF

Type Access Units Range Map PDO Memory
Integer 32 RW 0.1 counts/sec -500,000,000 - 500,000,000 YES R
Description
In profile velocity mode, this object is an input to the amplifier’s internal trajectory generator. Any
change to the target velocity triggers an immediate update to the trajectory generator.
Note that this is different from the way the profile position works. In that mode, changing the
trajectory input parameters doesn't affect the trajectory generator until bit 4 of the Control Word
object (index 0x6040, p. 58) has been changed from 0 to 1.

TARGET TORQUE INDEX 0X6071

Type Access Units Range Map PDO Memory
Integer 16 RW rated torque/1000 -32,768 - 32,767 YES RF
Description
In profile torque mode, this object is an input to the amplifier’s internal trajectory generator. Any
change to the target torque triggers an immediate update to the trajectory generator.

TORQUE COMMAND INDEX 0X6074

Type Access Units Range Map PDO Memory
Integer 16 RO rated torque/1000 -32,768 - 32,767 YES RF
Description
Output value of the torque limiting function.

MOTOR RATED TORQUE INDEX 0X6076

Type Access Units Range Map PDO Memory
Integer 32 RW 0.001 Nm 0 - 32,767 YES RF
Description
Motor’s rated torque (see motor name plate or documentation).

TORQUE ACTUAL VALUE INDEX 0X6077

Type Access Units Range Map PDO Memory
Integer 16 RO rated torque/1000 -32,768 - 32,767 YES RF
Description
Instantaneous torque in the motor.

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TORQUE SLOPE INDEX 0X6087

Type Access Units Range Map PDO Memory
Integer 32 RW rated Positive integer values YES RF
torque/1000/second
Description
Torque acceleration or deceleration.

TORQUE PROFILE TYPE INDEX 0X6088

Type Access Units Range Map PDO Memory
Integer 16 RW -- 0-0 YES RF
Description
Type of torque profile used to perform a torque change. Set to zero to select trapezoidal profile.

PROFILE ACCELERATION INDEX 0X6083

Type Access Units Range Map PDO Memory
2
Integer 32 RW 10 counts/sec 0 - 200,000,000 YES RF
Description
In profile position mode, this value is the acceleration that the trajectory generator attempts to
achieve. For S-curve moves, this value is also used to decelerate at the end of the move.
Note that the value programmed here is not passed to the internal trajectory generator until the
move has been started or updated using the Control Word. See Profile Position Mode Operation,
p. 191, for more information.

PROFILE DECELERATION INDEX 0X6084

Type Access Units Range Map PDO Memory
2
Integer 32 RW 10 counts/sec 0 - 200,000,000 YES RF
Description
Deceleration that the trajectory generator uses at the end of a trapezoidal profile when running in
position profile mode.
Note that this value is only used when running trapezoidal or profile position special velocity mode
profiles. The S-curve profile generator uses the Profile Acceleration object (index 0x6083, p. 204)
as the acceleration target for both the start and end of moves.
Note that the value programmed here is not passed to the internal trajectory generator until the
move has been started or updated using the Control Word. See Profile Position Mode Operation,
p. 191, for more information.

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QUICK STOP DECELERATION INDEX 0X6085

Type Access Units Range Map PDO Memory
2
Integer 32 RW 10 counts/sec 0 - 200,000,000 YES RF
Description
Also known as Trajectory Abort Deceleration. This object gives the deceleration value used when
a trajectory needs to be stopped as the result of a quick stop command.
When a quick stop command is issued, the command velocity is decreased by this value until it
reaches zero. This occurs in all position modes (homing, profile position, and interpolated position
modes), and for all trajectory generators (trapezoidal and S-curve).
Note that unlike most trajectory configuration values, this value is NOT buffered. Therefore, if the
value of this object is updated during an abort, the new value is used immediately.
Also note that setting this object to zero causes the abort to run with unlimited deceleration. The
command velocity is immediately set to zero.

MOTION PROFILE TYPE INDEX 0X6086

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. YES RF
Description
This object selects the type of trajectory profile to use when running in profile position mode. The
supported values for this object are:
Mode Description
0 Trapezoidal profile mode.
3 S-curve profile mode (Jerk limited).
-1 Velocity mode.

The amplifier will not accept other values. See Profile Position Mode Operation, p. 191, for more
information.
Note that the value programmed here is not passed to the internal trajectory generator until the
move has been started or updated using the Control Word. See Profile Position Mode Operation,
p. 191, for more information.

VELOCITY SENSOR SELECTION INDEX 0X606A

Type Access Units Range Map PDO Memory
See description RW - 0 YES RF
Description
This object specifies how actual velocity is measured. Currently, Copley Controls drives support
only the use of position encoders for calculation of actual velocity. This should be set to zero. Any
value other than zero will return an error.

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CHAPTER
8: INTERPOLATED POSITION OPERATION
This chapter describes control of an amplifier in interpolated position mode.
Contents include:
8.1: Interpolated Position Mode Overview ................................................................................................. 207
8.2: Interpolated Position Mode Objects .................................................................................................... 213

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8.1: Interpolated Position Mode Overview

Contents of this Section
This section provides an overview of the interpolated position mode.
Topics include:
Coordinated Motion .................................................................................................................................... 208
CANopen Standard IP Move Objects ........................................................................................................ 209
Copley Controls Alternative Objects for IP Moves ..................................................................................... 208
Interpolated Position Trajectory Buffer ....................................................................................................... 209
Starting an Interpolated Position Move ...................................................................................................... 210
Ending an Interpolated Position Move ....................................................................................................... 210
Synchronization .......................................................................................................................................... 210
PVT Profile Moves Using the Copley Controls Alternative Objects ........................................................... 211

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Coordinated Motion
Interpolated position mode is used to control multiple coordinated axes or a single axis with the
need for time-interpolation of setpoint data. In interpolated position mode, the trajectory is
calculated by the CANopen master and passed to the amplifier’s interpolated position buffer as a
set of points. The amplifier reads the points from the buffer and performs linear or cubic
interpolation between them.
Copley Controls CANopen amplifiers support three interpolation sub-modes: linear interpolation
with constant time, linear interpolation with variable time, and cubic polynomial interpolation, which
is also known as position, velocity, and time (PVT) interpolation. The amplifier can switch between
linear and PVT interpolation on the fly.
Linear Interpolation with a Constant Time
In this mode, trajectory position points are assumed to be spaced at a fixed time interval. The
amplifier drives the axis smoothly between two points within the fixed time.
Linear Interpolation with Variable Time
In this linear interpolation mode, each trajectory segment can have a different time interval.
Cubic Polynomial (PVT) Interpolation
In PVT mode, the CANopen master describes the trajectory points as a position, velocity, and time
until the next point.
Given two such points, the amplifier can interpolate smoothly between them by calculating a cubic
polynomial function, and evaluating it repeatedly until the next point is encountered.
Cubic polynomial interpolation produces much smoother curves than linear interpolation. Thus it
can describe a complex profile with many fewer reference points. This allows a profile to be
compressed into a small number of reference points which can be sent over the CAN bus using
only a small amount of its total bandwidth.
Standard and Copley Custom Objects for Interpolated Position Mode
Copley Controls CANopen amplifiers provide two sets of objects for performing IP moves:
 The CANopen DSP-402 profile standard IP move objects: 0x60C0, 0x60C1, and 0x60C2.
 The Copley Controls alternative objects for PVT and linear interpolation with variable time:
0x 2010, 0x 2011, 0x 2012, and 0x 2013. These objects use bandwidth in a more efficient
manner, and feature an integrity counter to identify lost packets.

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CANopen Standard IP Move Objects

When the CANopen DSP-402 profile standard IP move objects are used, the interpolation
submode is chosen by setting a code in Interpolation Submode Select (index 0x60C0 p. 216) as
described here:
IP Submode Description
0 Linear interpolation with a constant time.
-1 Linear interpolation with variable time.
-2 PVT interpolation.

Linear Interpolation with a Constant Time

In IP submode 0, the trajectory target position of each segment is written to Interpolation Position
Target (index 0x60C1, Sub-Index 1, p. 217. Each time Interpolation Position Target is written to,
the entire record is written to the amplifier’s internal buffers. (In mode 0, Sub-Index 2 and Sub-
Index 3 are ignored).
The time interval is set in Interpolation Constant Time Index (index 0x60C2, Sub-Index 1, p. 218).
Linear Interpolation with Variable Time
In IP submode -1, each trajectory segment can have a different time interval. The trajectory target
position of each segment is written to Interpolation Position Target, which is Sub-Index 1 of the
Interpolation Data Record (index 0x60C1, p. 217). With each update to Interpolation Time (index
0x60C1, Sub-Index 2, p. 217), the entire record is written to the amplifier’s internal buffers.
(In mode -1, Sub-Index 3 is ignored.)
Cubic Polynomial (PVT) Interpolation
In IP submode -2, the trajectory target position of each segment is written to Interpolation Position
Target (index 0x60C1, Sub-Index 1, p. 217) and the segment time is written to Interpolation Time
(index 0x60C1, Sub-Index 2). When the segment velocity is written to Interpolation Velocity (index
0x60C1, Sub-Index 3, p. 217), the entire record is written to the amplifier’s internal buffers.
Copley Controls Alternative Objects for IP Moves
The Copley Controls alternative objects use bandwidth in a highly efficient manner. They also
feature an integrity counter to identify lost packets.
Each profile segment is packed into a single 8-byte object in the object dictionary (IP move
segment command, index 0x2010, p. 214). If a PDO is used to transmit the object, then a
segment may be transmitted in a single CAN message.
For a PVT example, see PVT Profile Moves Using the Copley Controls Alternative Objects, p. 212.

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Interpolated Position Trajectory Buffer

A typical profile contains a large number of segments. These segments must be passed to the
amplifier over the CANopen network quickly enough to ensure that the next point is received
before the amplifier needs it to calculate the intermediate motor positions.
To reduce the tight timing requirements of sending trajectory segments over the network, the
amplifier maintains a buffer of trajectory segments in its memory. This allows the controller to send
trajectory segments in bursts, rather than one at a time, as the profile is executing. The amplifier
can hold 32 trajectory segments. See the Trajectory Buffer Free Count object (index 0x2011, p.
215).
Guidelines for Buffer Use
The amplifier needs a minimum of 2 trajectory segments to perform interpolation. Thus, a
successful move requires at least two segments in the buffer. Generally, it is best to keep the
buffer at least one step ahead of the interpolation, so it is best to keep at least three segments in
the buffer at any time during a move.
For instance, suppose a PVT trajectory includes the three segments:
P0, V0, T0
P1, V1, T1
P2, V2, T2
While the move is between the points P0 and P1, the amplifier needs access to both of these
segments to do the interpolation. When that segment is finished (at point P1) the amplifier needs
the next segment in order to continue interpolating toward point P2.
So, between P0 and P1, the amplifier does not yet need P2. At P1, the amplifier no longer needs
P0, but does need P2 to continue. Strictly speaking, there is no time when the amplifier needs all
three segments at once. However, in practice it is best to make sure that P2 is available when the
move is getting close to it.

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Starting an Interpolated Position Move

An interpolated position move is started using Control Word settings (index 0x6040, p. 58) and
Status Word settings (index 0x6041, p. 58) settings. The transition of Control Word bit 4 from 0 to
1 causes the amplifier to start the move using the points stored in the interpolated move trajectory
buffer. For an example, see PVT Profile Moves Using the Copley Controls Alternative Objects
(below) and Format of Data Bytes in PVT Segment Mode, p. 215.
Ending an Interpolated Position Move
Interpolated position moves can be stopped by adding a zero time value to the buffer. This method
allows the amplifier to reach the present set point before motion stops.
When using the CANopen standard interpolation objects, send the zero time value using one the
methods described below.
IP Description Method
Submode
0 Linear interpolation with a constant Send a zero value to Interpolation Constant Time Index (index
time. 0x60C2, Sub-Index 1, p. 218) before sending a segment to the
buffer.

-1 Linear interpolation with variable time. Send a zero in Interpolation Time (index 0x60C1, Sub-Index 2,
-2 PVT move using standard CANopen p. 217).
objects.

Sending a segment with a zero time value is the recommended way to end an interpolation profile
that uses the Copley Controls alternate objects. See IP move segment command object (index
0x2010, p. 214), and Format of Data Bytes in PVT Segment Mode, p. 215.
An Interpolated position move can also be ended in one of several other ways:
 Clear bit 4 of the Control Word (index 0x6040, p. 58).
 Clear the quick stop bit (bit 2) of the Control Word.
 Set the halt bit (bit 8) of the Control Word.
 Stop adding segments to the buffer. This will cause a buffer underflow, stopping interpolation.
Note that each of these methods stops motion immediately, even if the axis has not reached the
set point.
Synchronization
An amplifier can run in synchronized mode or asynchronous mode. Synchronized mode should be
used when doing multi-axis interpolated position moves. (See PDO Transmission Modes, p. 25,
and SYNC and High-resolution Time Stamp Messages, p. 42.)

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PVT Profile Moves Using the Copley Controls Alternative Objects

As mentioned earlier, Copley Controls CANopen amplifiers provide an alternate set of objects for
more efficient execution of PVT moves and linear interpolation moves with variable time.
The basic method for sending PVT profile data over the CANopen network is:
1 Configure a transmit PDO to send out the Trajectory Buffer Status object (index 0x2012, p.
216). The preferred transmit type for this PDO is 255 (event driven). This causes the PDO to
be transmitted every time a segment is read from the buffer, or on error.
2 Configure a receive PDO to receive the PVT buffer data via the IP move segment command
(index 0x2010, p. 214).
3 Use either PDO or SDO transfers to fill the PVT buffer with the first N points of the profile
(where N is the size of the PVT buffer).
4 If using synchronization, start synchronization before starting motion.
5 Start the move by causing a 0-to-1 transition of bit 4 of the Control Word object (index 0x6040,
p. 58).
6 Each time a new Trajectory Buffer Status object (index 0x2012, p. 216) is received, first check
for error bits. If no errors have occurred, then one or more additional segments of PVT data
should be transmitted (until the trajectory has finished).
 If the Trajectory Buffer Status object indicates that an error has occurred, then the reaction of
the controller will depend on the type of error:
 Underflow errors indicate that the master controller is not able to keep up with the trajectory
information. When an amplifier detects a buffer underflow condition while executing an
interpolated profile, it will immediately abort the profile. In this case, using longer times
between segments is advisable.
 Overflow errors indicate an error in the CANopen master software.
 Segment sequencing errors suggest either an error in the CANopen master software or a lost
message, possibly due to noise on the bus. Since the next segment identifier value is passed
with the PVT status object, it should be possible to resend the missing segments starting with
the next expected segment. Note that the sequencing error code must be cleared with the
appropriate IP move segment command Buffer Command Mode message (p. 214) before any
new segments of PVT data are accepted.
7 End the move by setting the PVT segment time to zero. See IP move segment command
object (index 0x2010, p. 214), and Format of Data Bytes in PVT Segment Mode, p. 215.

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8.2: Interpolated Position Mode Objects

Contents of this Section
This section describes the objects that control operation of the amplifier in profile position mode.
They include:
IP move segment command Index 0x2010 ............................................................................................. 214
Trajectory Buffer Free Count Index 0x2011 ............................................................................................ 215
Trajectory Buffer Status Index 0x2012 .................................................................................................... 215
Next Trajectory Segment ID Index 0x2013 ............................................................................................. 215
Interpolation Submode Select Index 0x60C0 .......................................................................................... 215
Interpolation Data Record Index 0x60C1 ................................................................................................ 216
Interpolation Position Target Index 0x60C1, Sub-Index 1 ................................................................... 216
Interpolation Time Index 0x60C1, Sub-Index 2 .......................................................................... 216
Interpolation Velocity Index 0x60C1, Sub-Index 3 .......................................................................... 216
Interpolation Constant Time Index 0x60C2 ............................................................................................. 217
Interpolation Constant Time Index Index 0x60C2, Sub-Index 1 .......................................................... 217
Interpolation Constant Time Units Index 0x60C2, Sub-Index 2 ......................................................... 217

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IP MOVE SEGMENT COMMAND INDEX 0X2010

Type Access Units Range Map PDO Memory
8 Byte array RW - - YES R

Overview
This object is used to send PVT segment data and buffer control commands in interpolated
position mode. This object is write only.
Byte 1: Header Byte
The first byte of the object identifies the type of information contained in the rest of the message.
Among other things, it determines whether the PVT Segment Command object operates in a PVT
buffer command mode or carries a PVT profile segment.
Buffer Command Mode
If the most significant bit of the header byte is set to 1, then the PVT segment command object is
a PVT buffer command. In this case, the command code is located in the remaining 7 bits of the
header byte and should take one of the following codes:
Code Description
0 Clear the buffer and abort any move in progress.
1 Pop the N most recently sent segments off the buffer. PVT profiles will continue to run as long as the buffer
doesn't underflow. The number of segments to pop (N) is passed in the next byte (byte 1 of the message).
If there are less then N segments on the buffer, this acts the same as a buffer clear except that the profile is
not stopped except by underflow.
2 Clear buffer errors. The next byte of data gives a mask of the errors to be cleared (any set bit clears the
corresponding error). Error bit locations are the same as the top byte of the status value.
3 Reset the segment ID code to zero.
4 No operation. Used with EtherCAT

PVT Segment Mode

If the most significant bit of the first byte of the message is a zero, then the message contains a
segment of the PVT profile. The remaining bits of this first byte contain the following values:
Bits Description
0-2 Segment integrity counter. This three-bit value increases for each segment sent and is used by the amplifier to
identify missing profile segments. More details of the use of this value are provided below.
3-6 These bits hold a buffer format code. This code identifies how the PVT data is packed into the remaining 7
bytes of the message. See the table below for details.
7 Zero. This bit is always zero identifying the message as containing PVT data.

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Format of Data Bytes in PVT Segment Mode

Buffer segments hold the PVT information to be added to the buffer. The PVT data is stored in the
remaining 7 bytes of the message. The format of this data is indicated by the buffer format code
encoded in byte 0.
Code Description
0 Bytes Contents
1 The time (in milliseconds) until the start of the next PVT segment. Set to zero to end the move.
2-4 A 24-bit absolute position (counts). This is the starting position for this profile segment.
5-7 A 24-bit velocity given in 0.1 counts / second units.
1 Same as for code 0, except velocity is in 10 ct/sec units. This allows greater velocity range with less precision.
2 Same as for code 0, except the position is relative to the previous segment's position. If this is the first segment
of a move, the position is relative to the starting commanded position.
3 Same as for code 2, except velocity is in 10 ct/sec units.
4 Bytes 1-4 hold a 32-bit absolute position (counts). This is not a full segment itself, but is useful at the start of a
move when a full 32-bit position must be specified. If the next segment is a relative position segment (code 2 or
3), its position is relative to this value.
5 Bytes Contents
1 The time (in milliseconds) until the start of the next linear IP segment. Set to zero to end the move.
2-5 A 32-bit absolute position (counts). This is the starting position for this profile segment.
6 Same as for code 5, except the position is relative to the previous segment's position. If this is the first segment
of a move, the position is relative to the starting commanded position.
7-15 Reserved for future use.

Segment Integrity Counter

Each segment of a move is given a 16-bit numeric identifier. The first segment is given the
identifier 0, and each subsequent segment is given the next higher ID.
The three-bit integrity counter sent in byte zero of the segment should correspond to the lowest
three bits of the ID code (i.e. zero for the first segment and increasing by 1 for each subsequent
segment). If the amplifier receives non-consecutive segments, an error is flagged and no further
segments are accepted until the error is cleared. This allows the amplifier to identify missing
segments in the move and stop processing data at that point. Because the PVT buffer status
message includes the ID of the next expected segment, it should be possible to clear this error
and resend the missing data before the buffer is exhausted.

TRAJECTORY BUFFER FREE COUNT INDEX 0X2011

Type Access Units Range Map PDO Memory
Integer 16 RO - - YES -
Description
This object gives the number of locations in the IP trajectory buffer that are currently available to
accept new trajectory segments. It contains the same information as bits 16-23 of the Trajectory
Buffer Status object (index 0x2012), below.

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TRAJECTORY BUFFER STATUS INDEX 0X2012

Type Access Units Range Map PDO Memory
Unsigned 32 RO - See Description, below. EVENT -
Description
This object gives access to status information about the IP trajectory buffer. The status value is
bit-mapped as follows:
Bit(s) Description
0-15 These bits hold the 16-bit segment identifier of the next IP move segment expected. If a segment error has
occurred (i.e. the segment integrity counter of a received message was out of order), then these bits may
be consulted to determine the ID of the segment that should have been received.
16-23 The number of free locations in the IP buffer.
24 Set if a segment sequence error is in effect. A segment sequence error occurs when an IP segment is
received with the incorrect value in its integrity counter.
25 Set if a buffer overflow has occurred.
26 Set if a buffer underflow has occurred.
27-30 Reserved for future use.
31 This bit is set if the IP buffer is empty.

This object is intended to be read using a PDO, and has a PDO event associated with it. The
event occurs when one of the error bits (24 – 26) is set, or when the trajectory generator removes
a segment from the trajectory buffer.

NEXT TRAJECTORY SEGMENT ID INDEX 0X2013

Type Access Units Range Map PDO Memory
Unsigned 16 RO - - YES R
Description
This object gives the full 16-bit value of the next trajectory segment expected by the buffer
interface. It contains the same information as bits 0-15 of the Trajectory Buffer Status object
(index 0x2012).

INTERPOLATION SUBMODE SELECT INDEX 0X60C0

Type Access Units Range Map PDO Memory
Integer 16 RW - - YES R
Description
Determines which interpolation submode to use:
Submode Description
0 Linear interpolation with a constant time.
-1 Linear interpolation with variable time.
-2 Cubic polynomial interpolation, which is also known as position, velocity, and time (PVT) interpolation.
NOTE: Copley Controls provides a set of alternate objects (0x 2010, 0x 2011,
0x 2012, and 0x 2013) for efficient PVT move handling. When using the alternate objects, it is not
necessary to set a linear interpolation submode using Interpolation Submode Select.

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INTERPOLATION DATA RECORD INDEX 0X60C1

Type Access Units Range Map PDO Memory
Record RW - - YES R
Description
This object is used to send interpolation data to the amplifier’s interpolation buffer.

INTERPOLATION POSITION TARGET INDEX 0X60C1, SUB-INDEX 1

Type Access Units Range Map PDO Memory
Integer 32 RW Counts - YES R
Description
A target position. Used in all three interpolation modes.

INTERPOLATION TIME INDEX 0X60C1, SUB-INDEX 2

Type Access Units Range Map PDO Memory
Unsigned 8 RW milliseconds - YES R
Description
The time interval of the move segment that starts with the Interpolation Position Target (Sub-Index
1), and extends to the next segment. Not used with interpolation mode 0 (linear interpolation with
a constant time). In interpolation mode -1 (linear interpolation with variable time), writing to this
object causes the entire record to be written to the interpolation buffer. Writing a value of zero to
this object indicates the end of the interpolated move.

INTERPOLATION VELOCITY INDEX 0X60C1, SUB-INDEX 3

Type Access Units Range Map PDO Memory
Integer 32 RW 0.1 counts/sec - YES R
Description
Used only in interpolation mode -2 (PVT). This is the velocity used to drive the axis to the
Interpolation Position Target (Sub-Index 1) within the Interpolation Time (Sub-Index 2). Writing to
this object causes the entire record to be written to the interpolation buffer.

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INTERPOLATION CONSTANT TIME INDEX 0X60C2

Type Access Units Range Map PDO Memory
Record RW - - YES R
Description
Used only in interpolation mode 0 (linear interpolation with a constant time). Defines the segment
interval.

INTERPOLATION CONSTANT TIME INDEX INDEX 0X60C2, SUB-INDEX 1

Type Access Units Range Map PDO Memory
Unsigned 8 RW variable 0 - 255 YES R
Description
This object sets the constant time that is associated with each trajectory segment in interpolation
mode 0.

INTERPOLATION CONSTANT TIME UNITS INDEX 0X60C2, SUB-INDEX 2

Type Access Units Range Map PDO Memory
Integer 8 RW - -3 to -6 YES R
Description
This object, which always returns the value -3 indicating that Interpolation Constant Time index is
always formatted in units of milliseconds..

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CHAPTER
9: CYCLIC SYNCHRONOUS MODES
This section describes cyclic synchronous operating modes. In these this modes, trajectory
generation is done in the master computer (control device), not in the drive, and data is sent to the
axes in synchronous updates of position, velocity or torque.
In cyclic synchronous modes PDOs are used to send commands to the drive, which responds
immediately, without setting bit 4 in the Control Word 0x6040 (as is done in Profile Position Mode).
These commands are affected by limiting parameters that are usually sent via SDOs and don’t
require cyclical updating.
For more information go to http://www.can-cia.org/index.php?id=530.
Contents of this Section include:
9.1: Cyclic Synchronous Position Mode (CSP) .......................................................................................... 221
9.2: Cyclic Synchronous Velocity Mode (CSV) .......................................................................................... 222
9.3: Cyclic Synchronous Torque Mode (CST)............................................................................................ 222

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9.1: Cyclic Synchronous Position Mode (CSP)

In this mode the controller generates a trajectory and sends increments of position, along with
velocity and current feed-forward values, to the drive. The primary feedback from the drive is the
actual motor position and optionally, actual motor velocity and torque. Position, velocity, and
torque control loops are all closed in the servo drive which acts as a follower for the position
commands.
The diagram below shows an overview of the cascading control structure in CSP mode. Objects
in parallelograms are real-time PDO data. Other objects in rectangles are usually configured
SDOs, non-synchronously.

This diagram shows the CSP control function with real-time and other configuration parameters.

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9.2: Cyclic Synchronous Velocity Mode (CSV)

CSV mode is frequently used with controllers that close the position loop and use the position
error to command the velocity of the servo drive (which can also accept a torque feedward value).
Velocity and torque loops are closed in the servo drive.
The diagram below shows an overview of the cascading control structure in cyclic synchronous
velocity mode (CSV).

This diagram shows the CSV control function with real-time and other configuration parameters.

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9.3: Cyclic Synchronous Torque Mode (CST)

When the controller has a full PID compensator to control position and velocity, the output is a
torque command to the servo drive. A torque offset value is used for vertical loads to balance
against gravity so that the torque command from the controller produces symmetrical acceleration
up and down.
The diagram below shows an overview of the cascading control structure in cyclic synchronous
torque mode (CST).

This diagram shows the CST control function with real-time and other configuration parameters.

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APPENDIX
A: ALTERNATIVE CONTROL SOURCES
This chapter describes control of an amplifier by a source other than the CANopen network.
Contents include:
A.1: Alternative Control Sources Overview ................................................................................................ 225
A.2: Alternative Control Source Objects .................................................................................................... 226
A.3: Running CAM Tables from RAM ........................................................................................................ 231

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A.1: Alternative Control Sources Overview

Typically, when a Copley amplifier is used on a CANopen network, the CANopen master uses the
network to send commands that drive the amplifier’s position, velocity, or current loop.
Alternately, an amplifier on a CANopen network can accept position, velocity, or current
commands over the device’s serial port, digital I/O channels, or analog reference inputs, or run
under the control of the amplifier’s internal generator or a Copley Virtual Machine (CVM) program.
Use the Indexer Register Values object (index 0x2600, p. 231) to read and write the CVM Indexer
program registers.
An amplifier can also run in camming mode to execute moves programmed in camming tables.
The Camming Configuration object (index 0x2360, p. 229) and several other objects described in
this chapter are used to configure and operate the amplifier in camming mode.
Even while operating under an alternative control source, a device’s status can still be monitored
over the CANopen network.
Specify a control source by choosing a mode in the Desired State object (index 0x2300). For more
information, see page 65.
Other objects affect the amplifier under alternative control sources. They are described in the next
section.

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A.2: Alternative Control Source Objects

Contents of this Section
This section describes objects related to alternate sources of amplifier control.
They include:
Micro-Stepping Rate Index 0x21C1 ........................................................................................................ 227
Analog Reference Scaling Factor Index 0x2310 ..................................................................................... 227
Analog Reference Offset Index 0x2311 .................................................................................................. 226
Analog Reference Calibration Offset Index 0x2312 ................................................................................ 226
Analog Reference Deadband Index 0x2313 ........................................................................................... 226
Secondary Analog Reference Value Index 0x2208 ................................................................................. 226
Motor Temp Sensor Voltage Index 0x2209 ............................................................................................. 227
Motor Temp Sensor Limit Index 0x220A ................................................................................................. 227
PWM Input Frequency Index 0x2322 ...................................................................................................... 227
Function Generator Configuration Index 0x2330 .................................................................................... 227
Function Generator Frequency Index 0x2331 ......................................................................................... 228
Function Generator Amplitude Index 0x2332 .......................................................................................... 228
Function Generator Duty Cycle Index 0x2333......................................................................................... 228
Camming Configuration Index 0x2360 .................................................................................................... 228
Cam Delay Forward Index 0x2361 .......................................................................................................... 229
Cam Delay Reverse Index 0x2362 .......................................................................................................... 229
Cam Master Velocity Index 0x2363 ......................................................................................................... 229
Trace Buffer Reserved Size Index 0x250A ............................................................................................. 229
Trace Buffer Address Index 0x250B ...................................................................................................... 229
Trace Buffer Data Index 0x250C ............................................................................................................. 229
Indexer Register Values Index 0x2600 ................................................................................................... 230
Indexer Register Values Index 0x2600, Sub-Index 1-32...................................................................... 230

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MICRO-STEPPING RATE INDEX 0X21C1

Type Access Units Range Map PDO Memory
Integer 16 RW degrees / sec 0 - 32,767 YES RF
Description
This value is only used when running in diagnostic micro-stepping mode. It gives the step angle
update rate. See Desired State object (index 0x2300, p. 65), code 42.

ANALOG REFERENCE SCALING FACTOR INDEX 0X2310

Type Access Units Range Map PDO Memory
Integer 32 RW See Description, below. - YES RF
Description
When running in a mode that relies on the analog reference as an input, this object defines the
scaling that is applied to the analog reference input. See Desired State object (index 0x2300, p.
65, codes 2, 12, 22.
Mode Scaling
Current 0.01 Amps /10 volt.
Velocity 0.1 counts / second / 10 volt.
Position 1 Count /10 volt.

ANALOG REFERENCE OFFSET INDEX 0X2311

Type Access Units Range Map PDO Memory
Integer 16 RW millivolts - YES RF
Description
This is one of two offset values applied to the analog reference input before it is used in
calculations.

ANALOG REFERENCE CALIBRATION OFFSET INDEX 0X2312

Type Access Units Range Map PDO Memory
Integer 16 RW millivolts - YES RF
Description
This voltage is added to the analog command input and is calibrated at the factory to give a zero
reading for zero input voltage. It is one of two offset values applied to the analog reference input
before the input is used in calculations.

ANALOG REFERENCE DEADBAND INDEX 0X2313

Type Access Units Range Map PDO Memory
Integer 16 RW millivolts - YES RF
Description
The analog reference input is subject to a non-linear adjustment to clip reading around zero. This
object defines the size of that window.

SECONDARY ANALOG REFERENCE VALUE INDEX 0X2208

Type Access Units Range Map PDO Memory
Integer 16 RO mV - YES RF
Description
Secondary analog reference value.

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MOTOR TEMP SENSOR VOLTAGE INDEX 0X2209

Type Access Units Range Map PDO Memory
Integer16 R mV - YES R
Description
Present voltage at analog motor temperature sensor.

MOTOR TEMP SENSOR LIMIT INDEX 0X220A

Type Access Units Range Map PDO Memory
Integer16 RW mV - YES RF
Description
Limit for analog motor temperature sensor.
If this parameter is set to zero, then the analog motor temperature sensor is disabled.
If this parameter is set to a positive value, then a motor temperature error will occur any time the
voltage on the motor temperature input exceeds this value (in millivolts).
If this parameter is negative, then a motor temperature error will occur any time the voltage on the
motor temperature input is lower than the absolute value of this limit in millivolts.

PWM INPUT FREQUENCY INDEX 0X2322

Type Access Units Range Map PDO Memory
Unsigned 16 RW 10 Hz - YES RF
Description
This is the frequency of the PWM for use only in UV commutation mode (Desired State object
[index 0x2300, p. 65[ = 5).

FUNCTION GENERATOR CONFIGURATION INDEX 0X2330

Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. YES RF
Description
Configures the amplifier’s internal function generator, which can drive the current, velocity, or
position loop. Bit-mapped:
Bits Description
0-1 Function code.
2-11 Reserved for future use.
12 One-shot mode. If set, the function code is reset to zero (disabled) after one complete waveform.
13 Invert every other waveform if set.
14-15 Reserved for future use.

The function code programmed into bits 0-1 defines the type of waveform to be generated:
Code Describe
0 None (disabled)
1 Square wave.
2 Sine wave.

Note that the amplifier is placed under control of the function generator by setting the Desired
State object (index 0x2300, p. 65) to one of the following values:
4 (function generator drives current loop);
14 (function generator drives velocity loop);
24 (function generator drives position loop in servo mode);
34 (function generator drives position loop in stepper mode).

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FUNCTION GENERATOR FREQUENCY INDEX 0X2331

Type Access Units Range Map PDO Memory
Unsigned 16 RW Hz 0 – 32,767 YES RF
Description
This object gives the frequency of the internal function generator.

FUNCTION GENERATOR AMPLITUDE INDEX 0X2332

Type Access Units Range Map PDO Memory
Integer 32 RW See Description, below See Description, below YES RF
Description
The amplitude of the signal generated by the internal function generator. The units depend on the
servo operating mode:
Mode Units
Current 0.01 Amps
Velocity 0.1 counts/second.
Position Counts.

FUNCTION GENERATOR DUTY CYCLE INDEX 0X2333

Type Access Units Range Map PDO Memory
Unsigned 16 RW 0.1 percent 0 – 1,000 YES RF
Description
This object gives the function generator duty cycle for use with the square wave function. It has no
effect when running the sine function.

CAMMING CONFIGURATION INDEX 0X2360

Type Access Units Range Map PDO Memory
Unsigned 16 RW - - YES RF
Description
Configures Camming Mode operation:
Bits Description
0-3 ID Number of the Cam Table to use (0-9)
4 Reserved.
5 If set, exit table in forward direction.
6 If set, use the Camming Internal Generator. The internal generator runs at the constant velocity programmed
in Cam Master Velocity (index 0x2363, p. 230).
If clear, use digital command input as configured in using Copley’s CME 2 software camming controls or
Input Pin States (index 0x2190, p. 116)
7 If set, run tables stored in RAM. If clear, use tables stored in the flash file system.
8-11 Input number to use as Cam Trigger.
Note: a value of 0 selects IN1, value of 1 selects IN2, etc.
12-13 Cam Trigger type:
Value Type
0 None (Continuous): The active Cam Table is repeated continuously.
1 Use Input, Edge: The active Cam Table begins executing on the rising edge of the input pin
selected by bits 8-11.
2 Use Input, Level: The active Cam Table will run as long as the input selected by bits 8-11 is
high.
3 Use Master (Secondary) Encoder Index: The active Cam Table is executed when the amplifier
receives an index pulse from the Master encoder. Index pulses received during execution are
ignored.

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CAM DELAY FORWARD INDEX 0X2361

Type Access Units Range Map PDO Memory
Integer 16 RW Master Counts. 0 - 32,767 YES RF
Description
The delay applied before beginning a camming profile after the trigger has been activated, in a
forward direction.

CAM DELAY REVERSE INDEX 0X2362

Type Access Units Range Map PDO Memory
Integer 16 RW Master Counts. 0 - 32,767 YES RF
Description
The delay (in master counts) applied before beginning a camming profile after the trigger has
been activated, in a reverse direction.

CAM MASTER VELOCITY INDEX 0X2363

Type Access Units Range Map PDO Memory
Integer 16 RW 0.1 counts/second -500,000,000 - 500,000,000 YES RF
Description
Virtual master encoder velocity for camming mode.

TRACE BUFFER RESERVED SIZE INDEX 0X250A

Type Access Units Range Map PDO Memory
Unsigned 16 RW words 0 - 2048 YES R
Description
The number of RAM words in the amplifier Trace Buffer to reserve for Trace Buffer Data (such as
CAM tables).

TRACE BUFFER ADDRESS INDEX 0X250B

Type Access Units Range Map PDO Memory
Unsigned 16 RW words 0 - 2048 YES R
Description
An offset from the beginning of the memory reserved for Trace Buffer Data (index 0x250C, p.
230). Designates the location where the next Trace Buffer Data write (such as a CAM table
master/slave value pair) will be stored.

TRACE BUFFER DATA INDEX 0X250C

Type Access Units Range Map PDO Memory
Variable length RW - - YES R
Description
The first value written to this object will be stored in trace buffer RAM at the location specified by
Trace Buffer Address (index 0x250B, p. 230). On each subsequent write to this object, an internal
pointer is incremented and the value will be written to the next memory location. One use of this
data object is the storage of CAM Table master/slave position value pairs.

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INDEXER REGISTER VALUES INDEX 0X2600

Type Access Units Range Map PDO Memory
Array RW - - NO R
Description
This array object holds the values of the 32 programmable registers (0-31) maintained by the CVM
Indexer Program. Each sub-index object 1-32 contains the value of an Indexer Program register
(sub-index object 1 contains the value of Indexer Program register 0, sub-index object 32 contains
the value of register 31).
Note: When the CVM Indexer program is started, all registers are initialized to zero.

INDEXER REGISTER VALUES INDEX 0X2600, SUB-INDEX 1-32

Type Access Units Range Map PDO Memory
Unsigned 32 RW - - YES R
Description
One sub-index object for each Indexer program register.

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A.3: Running CAM Tables from RAM

Normally, Cam Tables are stored in the amplifier’s flash memory, allowing the Cam Tables to be
uploaded once and persist between power cycles.
In applications where flash storage is not appropriate or optimal, up to 16 Cam Tables can be
loaded into and run from amplifier RAM.
(For a full description of camming, see the Copley Camming User Guide.)
Cam Tables in Amplifier RAM
NOTE: Increments vs. Positions. When entering Cam Table data in CME 2, the user enters
pairs of absolute master and slave positions. CME 2 then converts the absolute position values to
increment values. When writing Cam Table data to amplifier RAM, the controller program must
write increment values (not absolute position values).
Using the Trace Buffer RAM Area for Cam Tables
Cam tables can be stored in and run from the area of amplifier RAM called the trace buffer. This
RAM area is normally reserved for trace data collected by the CME 2 Scope Tool. When not
needed for trace data, it may be used for other purposes, including the storage of Cam Tables.
RAM Cam Table Capacity
The Trace Buffer is 2048 16-bit words long. It can store up to 16 Cam Tables.
The maximum number of master/slave increment value pairs that can be stored in RAM varies. If
the master increment is constant, a compressed format can be used.
Furthermore, each Cam Table requires two words of metadata, so using 16 tables would reduce
the data allocation by 32 words.
Using one table in compressed format, about 2,000 master/slave increment value pairs can be
represented. A typical maximum is about 1000 value pairs.
CAM Table Structure
When used for Cam Tables, the trace buffer begins with Cam Table metadata consisting of up to
16 word pairs (32 words). The first word in each pair defines the address (offset from the
beginning of the buffer). The second word contains the length of the Cam Table.
The metadata is followed by Cam Table data, starting at the address (offset) specified in the
metadata.
In standard format, Cam Table data consists of master/slave increment value pairs. The first word
in a pair contains a master increment and the second word contains the corresponding slave
increment.
A compressed format may be used when the master increment changes at a constant rate as
described in Compressed Format for Uniform Master Increments (p. 234).
NOTE: The controller program must make sure that there is a pair of metadata words for each
Cam Table. The metadata rows must start at address (offset) 0 and must be in table ID order. For
instance, the metadata pair that begins at address 0 defines Cam Table 0, the metadata pair that
begins at address 2 defines Cam Table 1, etc. When configured to run Cam Table 0, the amplifier
will look at address 0 for a metadata pair. When configured to run Cam Table 1, the amplifier will
look at address 2, and so on.

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Example: Single Cam Table

The following example shows a single Cam Table (identified at run time as Cam Table 0) stored in
the trace buffer RAM area. The first pair of words contains the Cam Table’s metadata. Word 1
contains the address (offset) to the beginning of Cam Table 0. The second word contains the
length of the table.
The remaining words begin at address 2 and contain Cam Table data in the form of master/slave
increment value pairs.
Address Data Data Description
0 2 Address of the start of Cam Table 0.
1 30 Length of Cam Table 0.
2 100 A master/slave increment value pair. For each 100 master increments, the slave
3 50 axis is incremented 50 encoder counts.
4--31 xxxx Additional master/slave increment value pairs.

Example: Multiple Cam Tables

The following example shows three Cam Tables stored in the trace buffer RAM area. The first pair
of words contains the metadata for Cam Table 0. The second and third word pairs contain the
metadata for Cam Tables 1 and 2, respectively.
The remaining words begin at address 6 and contain Cam Table data, in the form of master/slave
increment value pairs, for the three Cam Tables.
Address Data Data Description
0 2 Address of the start of the Cam Table 0.
1 30 Length of Cam Table 0.
2 36 Address of the start of Cam Table 1.
3 24 Length of Cam Table 1.
4 60 Address of the start of Cam Table 2.
5 64 Length of Cam Table 2.
6—35 xxxx Cam Table 0 data in the form of master/slave increment value pairs.
36—59 xxxx Cam Table 1 data in the form of master/slave increment value pairs.
60—123 xxxx Cam Table 2 data in the form of master/slave increment value pairs.

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Compressed Format for Uniform Master Increments

When the Cam Master increments at a constant rate, a compressed format may be used to save
RAM space.
In standard format, each master/slave increment value pair is expressed using two words, one for
the master and one for the slave.
In the compressed format, the constant master increment is stored in the table’s first data word
and the slave increments are stored in the subsequent data words.
To indicate that the compressed format is used, set bit 14 of the first data word (which contains
the master increment value). Clear bit 15.
Example: A Table in Compressed Format
Address Data Data Description
0 2 Address of the start of Cam Table 0.
1 30 Length of Cam Table 0.
2 50 The constant master increment. To indicate that this is a constant master
increment for a compressed table, bit 14 is set and bit 15 is clear.
3—31 xxxx A series of slave increment values.

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Procedures for Running Cam Tables from RAM

Process overview:
1. Allocate RAM for Cam Tables
Write to
Trace Buffer Reserved Size (index 0x250A, p. 230) the number of memory words to reserve for
Cam Tables.
2. Load a Cam Table into RAM
Write to Trace Buffer Address (index 0x250B, p. 230) the Cam Table’s initial offset value.
Write a series of values to Trace Buffer Data (index 0x250C, p. 230).
For standard table format, the series starts with a master increment value followed by the
corresponding slave increment, and the master/slave pairing sequence is repeated for each row of
Cam Table data.
For compressed table format, the first value is the constant master increment value. Bit 14 of this
first word is set, and bit 15 is clear. Subsequent values written to Trace Buffer Data represent the
series of slave increments.
Each time a value is written to or read from Trace Buffer Data, the amplifier increments the offset
pointer in Trace Buffer Address.
3. Configure the Camming Parameters
To configure the amplifier to run Cam Tables from RAM, set bit 7 in the Camming Configuration
object (index 0x2360, p. 229). Set other parameters as needed.
4. Run a Cam Table from RAM
Set the Desired State object (index 0x2300, p. 65) to 25 (camming mode).
The Cam Table selected in bits 0-3 of the Camming Configuration object will be run in response to
the trigger events specified in bits 12-13 of the Camming Configuration object.

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APPENDIX
B: TRACE TOOL
This chapter describes the CANopen interface to the Copley Controls Trace Tool.
Contents include:
B.1: Trace Tool Overview .......................................................................................................................... 237
B.2: Trace Tool Objects ............................................................................................................................. 238

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B.1: Trace Tool Overview

Overview
The Copley Controls trace tool allows the programmer to configure and monitor up to 6 motion
trace channels. Each channel can be configured to monitor any of a number of trace variables.
Other configuration choices include the trace period and trace trigger.

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B.2: Trace Tool Objects

Contents of this Section
This section describes objects related to the Trace Tool. They include:
Trace Channels Index 0x2500 ................................................................................................................ 239
Trace Channels Index 0x2500, Sub-Index 1-6........................................................................ 239
Trace Status Index 0x2501 .................................................................................................................... 239
Trace Reference Period Index 0x2502 ................................................................................................... 239
Trace Period Index 0x2505 .................................................................................................................... 239
Trace Sample Count Index 0x2503 ......................................................................................................... 240
Trace Max Samples Index 0x2504 .......................................................................................................... 240
Trace Trigger Configuration Index 0x2506 .............................................................................................. 240
Trace Delay Index 0x2507 .................................................................................................................... 241
Trace Start/Stop Index 0x2508................................................................................................................ 241
Trace Data Index 0x2509 ........................................................................................................................ 241

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TRACE CHANNELS INDEX 0X2500

Type Access Units Range Map PDO Memory
Array RW - See description, below. NO -
Description
This object uses 6 sub-indices configure up to 6 trace channels.

TRACE CHANNELS INDEX 0X2500, SUB-INDEX 1-6

Type Access Units Range Map PDO Memory
Unsigned 16 RW - - NO R
Sub-object x configures trace channel x. Each channel can be configured to monitor one of the
trace variables described below by programming the sub-object with the code.
Code Trace Variable
0 No data. Setting a channel to this value disables it. Disabling unused channels saves space in the
trace buffer.
3 Current reading winding A (0.01 amps)
4 Current reading winding B (0.01 amps)
5 Reference A/D reading (millivolts)
6 High voltage reference (0.1 volts)
7 Commanded torque
8 Limited torque
9 Commanded current (D rotor axis) (0.01 amps)
10 Commanded current (Q rotor axis) (0.01 amps)
11 Actual current (X stator axis) (0.01 amps)
12 Actual current (Y stator axis) (0.01 amps)
13 Actual current (D rotor axis) (0.01 amps)
14 Actual current (Q rotor axis) (0.01 amps)
15 Current Error (D rotor axis) (0.01 amps)
16 Current Error (Q rotor axis) (0.01 amps)
17 Current Integral (D rotor axis)
18 Current Integral (Q rotor axis)
19 Current loop output (D rotor axis)
20 Current loop output (Q rotor axis)
21 Current loop output (X stator axis)
22 Current loop output (Y stator axis)
23 Actual motor velocity (0.1 counts/sec or 0.01 RPM if using back EMF velocity estimate).
24 Commanded motor velocity.
25 Limited motor velocity command.
26 Velocity loop error.
27 Velocity loop integral.
28 Actual load position (counts).
29 Commanded position.
30 Position loop error
31 Motor encoder position (counts)
32 Position loop output velocity
33 Raw input pin readings (no debounce)
34 reserved
35 reserved
Continued…

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…continued:
Code Trace Variable
36 Motor phase angle (1 degree units)
37 Amplifier temperature (degrees C)
38 Amplifier Manufacturer Status Register (index 0x1002, p. 60)
39 Amplifier event latch word
40 Hall sensor state
41 Position Capture Status Register (index 0x2401, p. 187)
42 Index capture register
43 Load encoder velocity (0.1 counts / second).
44 Velocity command from trajectory generator (0.1 counts/sec)
45 Acceleration command from trajectory generator (10 counts/sec2)
46 The analog encoder sine input. Only valid for amplifiers with analog encoder support.
47 The analog encoder cosine input. Only valid for amplifiers with analog encoder support.
48 The value of the digital inputs (after debounce)
49 The destination position input to the trajectory generator.
50 Actual motor velocity as seen by velocity loop. This is an unfiltered version of trace variable.
51 Load encoder position (counts).
52 Gain scheduling key parameter value.
53 Position loop P gain
54 Velocity loop P gain
55 Velocity loop I gain

TRACE STATUS INDEX 0X2501

Type Access Units Range Map PDO Memory
Unsigned 16 R0 - - YES R
Description
Get trace status:
Bits Description
0 Set if trace data is currently being collected.
1 Set if trigger has occurred.
2-15 Reserved for future use.

TRACE REFERENCE PERIOD INDEX 0X2502

Type Access Units Range Map PDO Memory
Unsigned 32 RO nanoseconds - NO R
Description
Get fundamental period. Returns a 32-bit value containing the fundamental trace period in units of
nanoseconds. The fundamental period is the maximum frequency at which the trace system can
sample data. The actual trace period is set in integer multiples of this value using the Trace Period
object (0x2505).

TRACE PERIOD INDEX 0X2505

Type Access Units Range Map PDO Memory
Unsigned 16 RW See description. - NO R
Description
The trace period, in integer multiples of the Trace Reference Period (0x2502).

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TRACE SAMPLE COUNT INDEX 0X2503

Type Access Units Range Map PDO Memory
Unsigned 16 RO - - YES R
Description
Returns the number of samples collected so far.

TRACE MAX SAMPLES INDEX 0X2504

Type Access Units Range Map PDO Memory
Unsigned 16 RO - - NO R
Description
Get maximum samples. The maximum number of samples that the internal trace memory buffer
can hold is calculated and returned as a 16-bit value. Note that the maximum number of samples
is dependent on the number and type of active trace variables. For an accurate value, the trace
variables should be set first; then the maximum number of samples available may be requested.

TRACE TRIGGER CONFIGURATION INDEX 0X2506

Type Access Units Range Map PDO Memory
Unsigned 48 RW - - NO R
Description
Set/get the trace trigger configuration.
Bits Description
0-3 Channel number to trigger on (if applicable).
4-7 Reserved.
8-11 Trigger type (may be interpreted differently for some trigger types):
Type Description
0 No trigger in use.
1 Trigger as soon as the selected channel's input is greater than or equal to the trigger level.
2 Trigger as soon as the selected channel's input is less than or equal to the trigger level.
3 Trigger when the selected channel's input changes from below to above the trigger level.
4 Trigger when the selected channel's input changes from above to below the trigger level.
5 Trigger when any selected bits in the channel value are set. The bits are selected using the
trigger level value as a mask.
6 Trigger when any selected bits in the channel value are clear. The bits are selected using the
trigger level value as a mask.
7 Trigger any time the selected channel value changes.
8 The trigger level mask selects one or more bits in the Manufacturer Status Register (index
0x1002, p. 60). The trigger occurs when any of these bits change from to 1. In this mode, the
channel number selected by the trigger is not used.
9 Like type 8, but the trigger occurs when the bit(s) change from 1 to 0.
10 Trigger on the start of the next function generator cycle. This trigger type is only useful when
running in function generator mode. The trigger channel number isn't used.
12-14 Reserved.
15 If set, take one sample per trigger event.

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TRACE DELAY INDEX 0X2507

Type Access Units Range Map PDO Memory
Integer 16 RW - - NO R
Description
Set/get the delay between the trigger occurring and the start of captured data. The delay is given
in units of trace periods (0x2505).
Note that the delay may be either positive or negative. A negative delay means that the data
captured will precede the trigger event by the specified number of cycles. Although any input value
is accepted, the number of samples preceding the trigger is limited to the length of the trace buffer
and the number (and size) of channels being captured.

TRACE START/STOP INDEX 0X2508

Type Access Units Range Map PDO Memory
Unsigned 16 RW - - YES R
Description
Write 0 to stop trace collection or a non-zero value to restart it.

TRACE DATA INDEX 0X2509

Type Access Units Range Map PDO Memory
Octet RO - - NO R
Description
After a trace has been collected, the trace data can be downloaded by reading from this object.
The downloaded data should be viewed as an array of 32-bit samples.

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APPENDIX
C: OBJECTS BY FUNCTION
This chapter lists the objects in functional groups. (The groupings match the titles of the sections
of this manual that describe the objects.)
They include:
Objects that Define SDOs and PDOs ........................................................................................................ 245
Network Management Objects................................................................................................................... 245
Device Control And Status Objects ............................................................................................................ 244
Error Management Objects ........................................................................................................................ 245
Basic Amplifier Configuration Objects........................................................................................................ 245
Basic Motor Configuration Objects ............................................................................................................ 247
Real-time Amplifier and Motor Status Objects ........................................................................................... 248
Digital I/O Configuration Objects ................................................................................................................ 249
Position Loop Configuration Objects .......................................................................................................... 249
Velocity Loop Configuration Objects .......................................................................................................... 250
Current Loop Configuration Objects .......................................................................................................... 250
Stepper Mode Objects ............................................................................................................................... 251
Homing Mode Operation Objects............................................................................................................... 251
Profile Mode Objects .................................................................................................................................. 251
Interpolated Position Mode Objects ........................................................................................................... 252
Alternative Control Source Objects ............................................................................................................ 252

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Objects that Define SDOs and PDOs

Server SDO Parameters Index 0x1200 ..................................................................................................... 31
SDO Receive COB-ID Index 0x1200, Sub-Index 1 ............................................................................. 31
SDO Transmit COB-ID Index 0x1200, Sub-Index 2 ............................................................................. 31
Receive PDO Communication Parameters Index 0x1400 – 0x1407 ........................................................ 31
PDO COB-ID Index 0x1400 – 7, Sub-Index 1 ....................................................................... 31
PDO Type Index 0x1400 – 7, Sub-Index 2 ....................................................................... 32
Receive PDO Mapping Parameters Index 0x1600 – 0x1607 .................................................................... 32
Number Of Mapped Objects Index 0x1600 – 7, Sub-index 0................................................................ 32
PDO Mapping Index 0x1600 – 7, Sub-Index 1 – 8 ................................................................. 32
Receive PDO Mapping Parameters Index 0x1700.................................................................................... 33
Number Of Mapped Objects Index 0x1700, Sub-index 0...................................................................... 33
PDO Mapping Index 0x1700, Sub-Index 1 – 4 ....................................................................... 33
Receive PDO Mapping Parameters Index 0x1701.................................................................................... 34
Number Of Mapped Objects Index 0x1701, Sub-index 0...................................................................... 34
PDO Mapping Index 0x1701, Sub-Index 1 – 3 ....................................................................... 34
Receive PDO Mapping Parameters Index 0x1702.................................................................................... 34
Number Of Mapped Objects Index 0x1702, Sub-index 0...................................................................... 34
PDO Mapping Index 0x1702, Sub-Index 1 – 2 ....................................................................... 35
Transmit PDO Communication Parameters Index 0x1800 – 0x1807 ....................................................... 35
PDO COB-ID Index 0x1800 – 7, Sub-index 1 ....................................................................... 35
PDO type Index 0x1800 – 7, Sub-index 2 ....................................................................... 36
Transmit PDO Mapping Parameters Index 0x1A00 – 0x1A07 ................................................................. 37
Number Of Mapped Objects Index 0x1A00 – 7, Sub-index 0 ............................................................... 37
PDO Mapping Index 0x1A00 – 7, Sub-Index 1 – 8 ................................................................ 37
Network Management Objects
COB-ID Sync Message Index 0x1005 ...................................................................................................... 46
Communication Cycle Period Index 0x1006 ............................................................................................. 46
Guard Time Index 0x100C...................................................................................................................... 46
Life Time Factor Index 0x100D ................................................................................................................. 47
High-resolution Time Stamp Index 0x1013 ............................................................................................... 47
Producer Heartbeat Time Index 0x1017 ................................................................................................... 47
Emergency Object ID Index 0x1014 ......................................................................................................... 47
Emergency Object ID Inhibit Time Index 0x1015...................................................................................... 47
Network Options Index 0x21B .................................................................................................................. 48
Abort Option Code Index 0x6007 .............................................................................................................. 48
Serial Port Command Send Index 0x2000................................................................................................ 48
Device Control And Status Objects
Control Word Index: 0x6040 ..................................................................................................................... 58
Status Word Index 0x6041 ...................................................................................................................... 58
Manufacturer Status Register Index 0x1002............................................................................................. 60
Network Status Word Index 0x21B4 ......................................................................................................... 61
'Sticky' Event Status Register Index 0x2180 ............................................................................................. 62
Latched Event Status Register Index 0x2181 ........................................................................................... 62
Limit Status Mask Index 0x2184 ............................................................................................................... 62
Quick Stop Option Code Index 0x605A .................................................................................................... 63
Shutdown Option Code Index 0x605B ...................................................................................................... 63
Disable Operation Option Code Index 0x605C ......................................................................................... 63
Halt Option Code Index 0x605D ............................................................................................................... 64
Mode Of Operation Index 0x6060 ............................................................................................................. 64
Mode Of Operation Display Index 0x6061 ................................................................................................ 64
Position Offset in CST Mode Index 0x60B0.............................................................................................. 64
Velocity Offset in CSV Mode Index 0x60B1 .............................................................................................. 65
Velocity Offset in CSV Mode Index 0x60B2 .............................................................................................. 65
Desired State Index 0x2300 ...................................................................................................................... 65

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Error Management Objects

Pre-Defined Error Object Index 0x1003 .................................................................................................... 67
Number of Errors Index 0x1003, Sub-Index 0 ............................................................................. 67
Standard Error Field Index 0x1003, Sub-Index 1-8.......................................................................... 67
Error Register Index 0x1001 ..................................................................................................................... 67
Tracking Error Window Index 0x2120 ....................................................................................................... 67
Fault Mask Index 0x2182 .......................................................................................................................... 68
Latching Fault Status Register Index 0x2183............................................................................................ 69
Status of Safety Circuit Index 0x219D ....................................................................................................... 69
Basic Amplifier Configuration Objects
Device Type Index 0x1000 ...................................................................................................................... 72
Device Name Index 0x1008 ...................................................................................................................... 72
Hardware Version String Index 0x1009 ..................................................................................................... 72
Store Parameters Index 0x1010................................................................................................................ 72
Store All Objects Index 0x1010, Sub-index 1 or string ............................................................... 72
Store Communication Parameters Index 0x1010, Sub-index 2 ............................................................ 73
Store Device Profile Parameters Index 0x1010, Sub-index 3 ............................................................... 73
Store Manufacturer Specific Parameters Index 0x1010, Sub-Index 4 .................................................. 73
Software Version Number Index 0x100A .................................................................................................. 73
Identity Object Index 0x1018 ..................................................................................................................... 73
Vendor ID Index 0x1018, Sub-index 1 ............................................................................. 74
Product Code Index 0x1018, Sub-index 2 ............................................................................. 74
Revision Number Index 0x1018, Sub-Index 3 ............................................................................. 75
Serial Number Index 0x1018, Sub-Index 4 ............................................................................. 75
Amplifier Scaling Configuration Index 0x2080........................................................................................... 75
Amplifier Name Index 0x21A0 ................................................................................................................... 76
Misc Amplifier Options Register Index 0x2420 ......................................................................................... 76
CANopen Network Configuration Index 0x21B0 ....................................................................................... 77
Input Mapping for CAN Node ID Index 0x21B1......................................................................................... 78
CAN ID Selection Switch Value Index 0x2197 .......................................................................................... 78
Multi-Mode Port Configuration Index 0x2241 ............................................................................................ 78
Supported Drive Modes Index 0x6502 ...................................................................................................... 79
Amplifier Model Number Index 0x6503 ..................................................................................................... 79
Amplifier Manufacturer Index 0x6504 ....................................................................................................... 79
Manufacturer's Web Address Index 0x6505 ............................................................................................. 79
Servo Loop Config Index 0x2301 .............................................................................................................. 80
Amplifier Data Index 0x2384 ..................................................................................................................... 80
Amplifier Serial Number Index 0x2384, Sub-Index 1 ............................................................................. 80
Amplifier Date Code Index 0x2384, Sub-Index 2 ............................................................................. 80
Amplifier Peak Current Index 0x2384, Sub-Index 3 ............................................................................. 80
Amplifier Continuous Current Index 0x2384, Sub-Index 4 .................................................................... 80
Amplifier Peak Current Time Index 0x2384, Sub-Index 5 ..................................................................... 80
Amplifier Maximum Voltage Index 0x2384, Sub-Index 6 ...................................................................... 81
Amplifier Minimum Voltage Index 0x2384, Sub-Index 7 ....................................................................... 81
Amplifier Voltage Hysteresis Index 0x2384, Sub-Index 8 ..................................................................... 81
Amplifier Maximum Temperature Index 0x2384, Sub-Index 9 .............................................................. 81
Amplifier Temperature Hysteresis Index 0x2384, Sub-Index 10 ........................................................... 81
Amplifier Current Loop Period Index 0x2384, Sub-Index 11 ................................................................. 81
Amplifier Servo Loop Period Index 0x2384, Sub-Index 12.................................................................... 81
Amplifier Type Code Index 0x2384, Sub-Index 13 ........................................................................... 81
Current Corresponding to Max A/D Reading Index 0x2384, Sub-Index 14........................................... 82
Voltage Corresponding to Max A/D Reading Index 0x2384, Sub-Index 15 .......................................... 82
Analog Input Scaling Factor Index 0x2384, Sub-Index 16 .................................................................... 82
Amplifier Minimum PWM Off Time Index 0x2384, Sub-Index 17.......................................................... 82
PWM Dead Time At Continuous Current Limit Index 0x2384, Sub-Index 18 ....................................... 82
PWM Dead Time At Zero Current Index 0x2384, Sub-Index 19 ........................................................... 82
Peak Current Internal Regen Resistor Index 0x2384, Sub-Index 20 .................................................... 82
Continuous Current Internal Regen Resistor Index 0x2384, Sub-Index 21 .......................................... 82

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Time at Peak Current Internal Regen Resistor Index 0x2384, Sub-Index 22 ....................................... 82
Analog Encoder Scaling Factor Index 0x2384, Sub-Index 23 ............................................................... 83
Firmware Version Number Index 0x2384, Sub-Index 24 ...................................................................... 83
Axis Count Index 0x2384, Sub-Index 25 ........................................................................... 83
Internal Regen Current Index 0x2384, Sub-Index 26 ........................................................................... 83
FPGA Image Version Index 0x2384, Sub-Index 27 ........................................................................... 83
Secondary Firmware Version Index 0x2384, Sub-Index 28 .................................................................. 83
Amplifier Data Index 0x6510 ..................................................................................................................... 83
Amplifier Serial Number Index 0x6510, Sub-Index 1 ............................................................................. 83
Amplifier Date Code Index 0x6510, Sub-Index 2 ............................................................................. 84
Amplifier Peak Current Index 0x6510, Sub-Index 3 ............................................................................. 84
Amplifier Continuous Current Index 0x6510, Sub-Index 4 .................................................................... 84
Amplifier Peak Current Time Index 0x6510, Sub-Index 5 ..................................................................... 84
Amplifier Maximum Voltage Index 0x6510, Sub-Index 6 ...................................................................... 84
Amplifier Minimum Voltage Index 0x6510, Sub-Index 7 ....................................................................... 84
Amplifier Voltage Hysteresis Index 0x6510, Sub-Index 8 ..................................................................... 84
Amplifier Maximum Temperature Index 0x6510, Sub-Index 9 .............................................................. 84
Amplifier Temperature Hysteresis Index 0x6510, Sub-Index 10 ........................................................... 85
Amplifier Current Loop Period Index 0x6510, Sub-Index 11 ................................................................. 85
Amplifier Servo Loop Period Index 0x6510, Sub-Index 12.................................................................... 85
Amplifier Type Code Index 0x6510, Sub-Index 13 ........................................................................... 85
Current Corresponding to Max A/D Reading Index 0x6510, Sub-Index 14........................................... 85
Voltage Corresponding to Max A/D Reading Index 0x6510, Sub-Index 15 .......................................... 85
Analog Input Scaling Factor Index 0x6510, Sub-Index 16 .................................................................... 85
Amplifier Minimum PWM Off Time Index 0x6510, Sub-Index 17.......................................................... 85
PWM Dead Time At Continuous Current Limit Index 0x6510, Sub-Index 18 ....................................... 86
PWM Dead Time At Zero Current Index 0x6510, Sub-Index 19 ........................................................... 86
Peak Current Internal Regen Resistor Index 0x6510, Sub-Index 20 .................................................... 86
Continuous Current Internal Regen Resistor Index 0x6510, Sub-Index 21 .......................................... 86
Time at Peak Current Internal Regen Resistor Index 0x6510, Sub-Index 22 ....................................... 86
Analog Encoder Scaling Factor Index 0x6510, Sub-Index 23 ............................................................... 86
Firmware Version Number Index 0x6510, Sub-Index 24 ...................................................................... 86
Axis Count Index 0x6510, Sub-Index 25 ........................................................................... 86
Internal Regen Current Index 0x6510, Sub-Index 26 ........................................................................... 86
FPGA Image Version Index 0x6510, Sub-Index 27 ........................................................................... 87
Secondary Firmware Version Index 0x6510, Sub-Index 28 .................................................................. 87
Firmware Version Number (Extended) Index 0x2422 ............................................................................... 87
Device Type Index 0x67FF ...................................................................................................................... 87
PWM MODE Index 0x2140 ...................................................................................................................... 87
Running Sum of User Current Limit Index 0x2116.................................................................................... 87
Running Sum of Amp Current Limit Index 0x2117 .................................................................................... 88
D/A Converter Configuration. Index 0x21E0 ............................................................................................. 88
D/A Converter Output Value Index 0x21E1 ............................................................................................... 88

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Basic Motor Configuration Objects

Motor Model Number Index 0x6403 .......................................................................................................... 91
Motor Manufacturer Index 0x6404 ............................................................................................................ 91
Motor Data Index 0x2383 .......................................................................................................................... 91
Motor Type Index 0x2383, Sub-Index 1 ............................................................................. 91
Motor Pole Pairs Index 0x2383, Sub-Index 2 ............................................................................. 91
Motor Wiring Configuration Index 0x2383, Sub-Index 3 ....................................................................... 92
Hall Sensor Type Index 0x2383, Sub-Index 4 ............................................................................. 92
Hall Sensor Wiring Index 0x2383, Sub-Index 5 ............................................................................. 92
Hall Offset Index 0x2383, Sub-Index 6 ............................................................................. 93
Motor Resistance Index 0x2383, Sub-Index 7 ............................................................................. 93
Motor Inductance Index 0x2383, Sub-Index 8 ............................................................................. 93
Motor Inertia Index 0x2383, Sub-Index 9 ............................................................................. 93
Motor Back EMF Index 0x2383, Sub-index 10 ........................................................................... 93
Motor Maximum Velocity Index 0x2383, Sub-Index 11 ........................................................................... 93
Motor Torque Constant Index 0x2383, Sub-Index 12 ........................................................................... 93
Motor Peak Torque Index 0x2383, Sub-Index 13 ........................................................................... 94
Motor Continuous Torque Index 0x2383, Sub-Index 14 ........................................................................... 94
Motor Temperature Sensor Index 0x2383, Sub-Index 15 ..................................................................... 94
Motor Has A Brake Index 0x2383, Sub-Index 16 ........................................................................... 94
Motor Stopping Time Index 0x2383, Sub-Index 17 ........................................................................... 94
Motor Brake Delay Index 0x2383, Sub-Index 18 ........................................................................... 94
Motor Brake Velocity Index 0x2383, Sub-Index 19 ........................................................................... 95
Encoder Type Code Index 0x2383, Sub-Index 20 ........................................................................... 95
Encoder Units Index 0x2383, Sub-Index 21 ........................................................................... 95
Motor Encoder Direction Index 0x2383, Sub-Index 22 ........................................................................... 95
Motor Counts/Rev Index 0x2383, Sub-Index 23 ........................................................................... 96
Motor Encoder Resolution Index 0x2383, Sub-Index 24 ...................................................................... 96
Motor Electrical Distance Index 0x2383, Sub-Index 25 ........................................................................... 96
Reserved Index 0x2383, Sub-Index 26-27...................................................................... 96
Analog Encoder Shift Index 0x2383, Sub-Index 28 ........................................................................... 96
Microsteps/Rev Index 0x2383, Sub-Index 29 ........................................................................... 96
Load Encoder Type Index 0x2383, Sub-Index 30 ........................................................................... 97
Load Encoder Direction Index 0x2383, Sub-Index 31 ........................................................................... 97
Load Encoder Resolution Index 0x2383, Sub-Index 32 ........................................................................... 97
Bi-Quad Filter Coefficients Index 0x2383, Sub-Index 33 ...................................................................... 97
Number of Resolver Cycles/Motor Rev Index 0x2383, Sub-Index 34 ................................................... 97
Motor Data Index 0x6410 .......................................................................................................................... 98
Motor Type Index 0x6410, Sub-Index 1 ............................................................................. 98
Motor Pole Pairs Index 0x6410, Sub-Index 2 ............................................................................. 98
Motor Wiring Configuration Index 0x6410, Sub-Index 3 ....................................................................... 98
Hall Sensor Type Index 0x6410, Sub-Index 4 ............................................................................. 98
Hall Sensor Wiring Index 0x6410, Sub-Index 5 ............................................................................. 99
Hall Offset Index 0x6410, Sub-Index 6 ............................................................................. 99
Motor Resistance Index 0x6410, Sub-Index 7 ............................................................................. 99
Motor Inductance Index 0x6410, Sub-Index 8 ............................................................................. 99
Motor Inertia Index 0x6410, Sub-Index 9 ........................................................................... 100
Motor Back EMF Index 0x6410, Sub-index 10 ......................................................................... 100
Motor Maximum Velocity Index 0x6410, Sub-Index 11 ......................................................................... 100
Motor Torque Constant Index 0x6410, Sub-Index 12 ......................................................................... 100
Motor Peak Torque Index 0x6410, Sub-Index 13 ......................................................................... 100
Motor Continuous Torque Index 0x6410, Sub-Index 14 ......................................................................... 100
Motor Temperature Sensor Index 0x6410, Sub-Index 15 ................................................................... 100
Motor Has A Brake Index 0x6410, Sub-Index 16 ......................................................................... 101
Motor Stopping Time Index 0x6410, Sub-Index 17 ......................................................................... 101
Motor Brake Delay Index 0x6410, Sub-Index 18 ......................................................................... 101
Motor Brake Velocity Index 0x6410, Sub-Index 19 ......................................................................... 101
Encoder Type Code Index 0x6410, Sub-Index 20 ......................................................................... 102

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Encoder Units Index 0x6410, Sub-Index 21 ......................................................................... 102

Motor Encoder Direction Index 0x6410, Sub-Index 22 ......................................................................... 102
Motor Counts/Rev Index 0x6410, Sub-Index 23 ......................................................................... 102
Motor Encoder Resolution Index 0x6410, Sub-Index 24 .................................................................... 103
Motor Electrical Distance Index 0x6410, Sub-Index 25 ......................................................................... 103
Encoder Index Pulse Distance Index 0x6410, Sub-Index 26 .............................................................. 103
Motor Units Index 0x6410, Sub-Index 27 ......................................................................... 103
Analog Encoder Shift Index 0x6410, Sub-Index 28 ......................................................................... 103
Microsteps/Rev Index 0x6410, Sub-Index 29 ......................................................................... 103
Load Encoder Type Index 0x6410, Sub-Index 30 ......................................................................... 104
Load Encoder Direction Index 0x6410, Sub-Index 31 ......................................................................... 104
Load Encoder Resolution Index 0x6410, Sub-Index 32 ......................................................................... 104
Motor Gear Ratio Index 0x6410, Sub-Index 33 ......................................................................... 104
Number of Resolver Cycles/Motor Rev Index 0x6410, Sub-Index 34 ................................................. 104
Motor Brake Enable Delay Time Index 0x2199 ....................................................................................... 105
Motor Encoder Wrap Index 0x2220 ........................................................................................................ 105
Load Encoder Wrap Index 0x2221.......................................................................................................... 105
Motor Encoder Options Index 0x2222 ..................................................................................................... 105
Load Encoder Options Index 0x2223 ...................................................................................................... 106
Motor Encoder Status Index 0x2224 ....................................................................................................... 107
Load Encoder Status Index 0x2225 ........................................................................................................ 108
Phasing Mode Index 0x21C0 .................................................................................................................. 108
Real-time Amplifier and Motor Status Objects
Analog/Digital Reference Input Value Index 0x2200............................................................................... 111
High Voltage Reference Index 0x2201 ................................................................................................... 111
Amplifier Temperature Index 0x2202 ...................................................................................................... 111
System Time Index 0x2141 .................................................................................................................... 111
Winding A Current Index 0x2203 ............................................................................................................ 111
Winding B Current Index 0x2204 ............................................................................................................ 111
Sine Feedback Voltage Index 0x2205 .................................................................................................... 111
Cosine Feedback Voltage Index 0x2206 ................................................................................................ 112
A/D Offset Value Index 0x2207............................................................................................................... 112
Current Offset A Index 0x2210 ............................................................................................................... 112
Current Offset B Index 0x2211 ............................................................................................................... 112
Stator Current X Index 0x2212 .............................................................................................................. 112
Stator Voltage- X Axis Index 0x221A ...................................................................................................... 112
Stator Voltage- Y Axis Index 0x221B ...................................................................................................... 112
RMS Current Calculation Period Index 0x2114 ...................................................................................... 113
RMS current over set period Index 0x2115 ............................................................................................ 113
Motor Phase Angle Index 0x2260 ........................................................................................................... 113
Motor Phase Angle Index 0x2262 ........................................................................................................... 113
Encoder Phase Angle Index 0x2263 ....................................................................................................... 113
Hall State Index 0x2261 ........................................................................................................................ 113
Digital Command Input Scaling Factor Index 0x2321 ............................................................................. 114

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Digital I/O Configuration Objects

Input Pin States Index 0x2190 ................................................................................................................ 116
Input Pin State Index 0x219A .................................................................................................................. 116
Input Pin Config register (16 Bit) Index 0x2191....................................................................................... 117
Input Pin Config Register (32 bit) Index 0x219C ..................................................................................... 117
Input Pin Configuration Index 0x2192 ..................................................................................................... 118
Input Pin Configuration Index 0x2192, Sub-Index 1-N ....................................................................... 118
Input Pin Debounce Values Index 0x2195 .............................................................................................. 119
Input Pin Debounce Values Index 0x2195, Sub-Index 1-N ................................................................. 119
Raw Input Pin Value (16 bit) Index 0x2196 ............................................................................................. 119
Raw Input Pin Value (32 bit) Index 0x219B ............................................................................................. 119
Output pin configuration Index 0x2193.................................................................................................... 120
Output Pin Configuration Index 0x2193, Sub-Index 1-N ....................................................................... 120
Output States and Program Control Index 0x2194 ................................................................................. 121
Digital Control Input Configuration Index 0x2320 .................................................................................... 121
Digital Control Input Scaling Index 0x2321.............................................................................................. 122
Digital Inputs Index 0x60FD ................................................................................................................... 122
Configure I/O Options Index 0x2198 ....................................................................................................... 122
Position Loop Configuration Objects
Instantaneous Commanded Velocity Index 0x2250 ................................................................................ 137
Instantaneous Commanded Acceleration Index 0x2251......................................................................... 137
Position Command Value Index 0x6062 ................................................................................................. 136
Position Actual Value Index 0x6063 ........................................................................................................ 136
Position Actual Value Index 0x6064 ........................................................................................................ 136
Tracking Warning Window Index 0x6065 ............................................................................................... 137
Maximum Slippage-Profile Velocity Mode Index 0x60F8 ........................................................................ 137
Position Tracking Window Index 0x6067 ................................................................................................ 137
Position Tracking Window Time Index 0x6068 ....................................................................................... 137
Position Error Index 0x60F4 .................................................................................................................... 138
Position Loop Control Effort Index 0x60FA ............................................................................................. 138
Position Loop Gains Index 0x2382 .......................................................................................................... 138
Position Loop Proportional Gain Index 0x2382, Sub-Index 1 .............................................................. 138
Position Loop Velocity Feed Forward Index 0x2382, Sub-Index 2 ...................................................... 138
Position Loop Acceleration Feed Forward Index 0x2382, Sub-Index 3 .............................................. 139
Position Loop Output Gain Multiplier Index 0x2382, Sub-Index 4 ....................................................... 139
Position Loop Gains Index 0x60FB ......................................................................................................... 139
Position Loop Proportional Gain Index 0x60FB, Sub-Index 1 ............................................................. 139
Position Loop Velocity Feed Forward Index 0x60FB, Sub-Index 2 ..................................................... 139
Position Loop Acceleration Feed Forward Index 0x60FB, Sub-Index 3 .............................................. 140
Position Loop Output Gain Multiplier Index 0x60FB, Sub-Index 4 ...................................................... 140
Position Command Value Index 0x60FC ................................................................................................ 140
Software Position Limits Index 0x607D ................................................................................................... 140
Negative Software Limit Position Index 0x607D, Sub-Index 1 ............................................................ 140
Positive Software Limit Position Index 0x607D, Sub-Index 2.............................................................. 140
Software Limit Deceleration Index 0x2253 .............................................................................................. 141
Motor Encoder Position Index 0x2240 .................................................................................................... 141
Load Encoder Position Index 0x2242 ...................................................................................................... 141
Minimum PWM Pulse Width Index 0x2323 ............................................................................................. 141
Maximum PWM Pulse Width Index 0x2324 ............................................................................................ 141

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Velocity Loop Configuration Objects

Velocity Command Value Index 0x606B ................................................................................................. 144
Actual Velocity Index 0x6069 .................................................................................................................. 144
Actual Velocity Index 0x606C .................................................................................................................. 143
Unfiltered Motor Encoder Velocity Index 0x2232 .................................................................................... 143
Load Encoder Velocity Index 0x2231 ...................................................................................................... 143
Velocity Loop Maximum Acceleration Index 0x2100 ............................................................................... 143
Velocity Loop Maximum Deceleration Index 0x2101 .............................................................................. 144
Velocity Loop Emergency Stop Deceleration Index 0x2102.................................................................... 144
Velocity Loop – Maximum Velocity Index 0x2103 ................................................................................... 144
Velocity Error Window – Profile Position Index 0x2104 .......................................................................... 144
Velocity Error Window – Profile Velocity Index 0x606D .......................................................................... 144
Velocity Error Window Time Index 0x2105 ............................................................................................. 145
Velocity Error Window Time Index 0x606E ............................................................................................. 145
Limited Velocity Index 0x2230 ................................................................................................................. 145
Programmed Velocity Command Index 0x2341...................................................................................... 145
Velocity Loop Gains Index 0x2381 .......................................................................................................... 145
Velocity Loop Proportional Gain Index 0x2381, Sub-Index 1 .............................................................. 145
Velocity Loop Integral Gain Index 0x2381, Sub-Index 2 ..................................................................... 146
Velocity Loop Acceleration Feed Forward Index 0x2381, Sub-Index 3 ............................................... 146
Velocity Loop Gain Scaler Index 0x2381, Sub-Index 4 ........................................................................... 146
Velocity Loop Vi Drain (Integral Bleed) Index 0x2381, Sub-Index 5.................................................... 146
Velocity Loop Command Feed Index 0x2381, Sub-Index 6 ................................................................ 146
Velocity Loop Gains Index 0x60F9 .......................................................................................................... 146
Velocity Loop Proportional Gain Index 0x60F9, Sub-Index 1 .............................................................. 146
Velocity Loop Integral Gain Index 0x60F9, Sub-Index 2 ..................................................................... 147
Velocity Loop Acceleration Feed Forward Index 0x60F9, Sub-Index 3 .............................................. 147
Velocity Loop Gain Scaler Index 0x60F9, Sub-Index 4........................................................................... 147
Velocity Loop Vi Drain (Integral Bleed) Index 0x60F9, Sub-Index 5 ................................................... 147
Velocity Loop Command Feed Index 0x60F9, Sub-Index 6 ................................................................ 147
Hall Velocity Mode Shift Value Index 0x2107 .......................................................................................... 147
Velocity Loop Output Filter Coefficients Index 0x2106 ............................................................................ 148
Velocity Loop Command Filter Coefficients Index 0x2108 ...................................................................... 148
Analog Input Filter Coefficients Index 0x2109 ......................................................................................... 148
Current Loop Configuration Objects
User Peak Current Limit Index 0x2110 ................................................................................................... 151
User Continuous Current Limit Index 0x2111 ......................................................................................... 151
User Peak Current Limit Time Index 0x2112 .......................................................................................... 150
Actual Current, D Axis Index 0x2214 ...................................................................................................... 150
Actual Current, Q Axis Index 0x2215 ...................................................................................................... 150
Current Command, D Axis Index 0x2216................................................................................................ 150
Current Command, Q Axis Index 0x2217 ............................................................................................... 150
Current Loop Output, D Axis Index 0x2218............................................................................................. 151
Current Loop Output, Q Axis Index 0x2219 ............................................................................................ 151
Actual Motor Current Index 0x221C ........................................................................................................ 151
Commanded Current Index 0x221D ....................................................................................................... 151
Limited Current Index 0x221E ................................................................................................................. 151
Programmed Current Command Index 0x2340 ..................................................................................... 151
Commanded Current Ramp Rate Index 0x2113 ..................................................................................... 151
Current Loop Gains Index 0x2380 .......................................................................................................... 152
Current Loop Proportional Gain Index 0x2380, Sub-Index 1 .............................................................. 152
Current Loop Integral Gain Index 0x2380, Sub-Index 2 ...................................................................... 152
Current Offset Index 0x2380, Sub-Index 3 ........................................................................... 152
Current Loop Gains Index 0x60F6 .......................................................................................................... 152
Current Loop Proportional Gain Index 0x60F6, Sub-Index 1 .............................................................. 152
Current Loop Integral Gain Index 0x60F6, Sub-Index 2...................................................................... 152
Current Offset Index 0x60F6, Sub-Index 3........................................................................... 153

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Stepper Mode Objects

Boost Current Index 0x2110 ................................................................................................................... 162
Run Current Index 0x2111 .................................................................................................................... 162
Time at Boost Current Index 0x2112 ...................................................................................................... 161
Hold Current Index 0x21D0.................................................................................................................... 161
Run to Hold Time Index 0x21D1 ............................................................................................................. 161
Detent Correction Gain Factor For Microstepping Mode Index 0x21D2 ................................................. 161
Voltage Control Mode Time Delay Index 0x21D5 ................................................................................... 162
Stepper Configuration and Status Index 0x21D6 .................................................................................... 162
Maximum Velocity Adjustment Index 0x21D8......................................................................................... 162
Proportional Gain For Stepper Outer Loop Index 0x21D7 ...................................................................... 162
Homing Mode Operation Objects
Homing Method Index 0x6098 ................................................................................................................ 184
Homing Speeds Index 0x6099 ................................................................................................................ 185
Home Velocity – Fast Index 0x6099, Sub-Index 1 ........................................................................... 184
Home Velocity – Slow Index 0x6099, Sub-Index 2 ........................................................................... 184
Homing Acceleration Index 0x609A ........................................................................................................ 184
Home Offset Index 0x607C.................................................................................................................... 184
Hard Stop Mode Home Delay Index 0x2351 ........................................................................................... 185
Hard Stop Mode Home Current Index 0x2350 ........................................................................................ 185
Home Config Index 0x2352 .................................................................................................................... 185
Position Capture Control Register Index 0x2400 .................................................................................... 186
Position Capture Status Register Index 0x2401...................................................................................... 186
Captured Index Position Index 0x2402 ................................................................................................... 187
Home Capture Position Index 0x2403..................................................................................................... 187
Time Stamp of Last High Speed Position Capture Index 0x2404 ........................................................... 187
Captured Position for High Speed Position Capture Index 0x2405......................................................... 187
Homing Adjustment Index 0x2353 .......................................................................................................... 187
Profile Mode Objects
Trajectory Jerk Limit Index 0x2121 ......................................................................................................... 202
Trajectory Generator Status Index 0x2252 ............................................................................................. 202
Trajectory Generator Destination Position Index 0x2122 ....................................................................... 201
Target Position Index 0x607A ................................................................................................................. 201
Profile Velocity Index 0x6081 .................................................................................................................. 202
Target Velocity Index 0x60FF ................................................................................................................. 202
Target Torque Index 0x6071................................................................................................................... 202
Torque Command Index 0x6074 ............................................................................................................ 202
Motor Rated Torque Index 0x6076 ......................................................................................................... 202
Torque Actual Value Index 0x6077 ......................................................................................................... 202
Torque Slope Index 0x6087 .................................................................................................................... 203
Torque Profile Type Index 0x6088 .......................................................................................................... 203
Profile Acceleration Index 0x6083 .......................................................................................................... 203
Profile Deceleration Index 0x6084 .......................................................................................................... 203
Quick Stop Deceleration Index 0x6085................................................................................................... 204
Motion Profile Type Index 0x6086........................................................................................................... 204
Velocity Sensor Selection Index 0x606A ................................................................................................ 204

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Interpolated Position Mode Objects

IP move segment command Index 0x2010 ............................................................................................. 214
Trajectory Buffer Free Count Index 0x2011 ............................................................................................ 215
Trajectory Buffer Status Index 0x2012 .................................................................................................... 215
Next Trajectory Segment ID Index 0x2013 ............................................................................................. 215
Interpolation Submode Select Index 0x60C0 .......................................................................................... 215
Interpolation Data Record Index 0x60C1 ................................................................................................ 216
Interpolation Position Target Index 0x60C1, Sub-Index 1 ................................................................... 216
Interpolation Time Index 0x60C1, Sub-Index 2 .......................................................................... 216
Interpolation Velocity Index 0x60C1, Sub-Index 3 .......................................................................... 216
Interpolation Constant Time Index 0x60C2 ............................................................................................. 217
Interpolation Constant Time Index Index 0x60C2, Sub-Index 1 .......................................................... 217
Interpolation Constant Time Units Index 0x60C2, Sub-Index 2 ......................................................... 217
Alternative Control Source Objects
Micro-Stepping Rate Index 0x21C1 ........................................................................................................ 227
Analog Reference Scaling Factor Index 0x2310 ..................................................................................... 227
Analog Reference Offset Index 0x2311 .................................................................................................. 226
Analog Reference Calibration Offset Index 0x2312 ................................................................................ 226
Analog Reference Deadband Index 0x2313 ........................................................................................... 226
Secondary Analog Reference Value Index 0x2208 ................................................................................. 226
Motor Temp Sensor Voltage Index 0x2209 ............................................................................................. 227
Motor Temp Sensor Limit Index 0x220A ................................................................................................. 227
PWM Input Frequency Index 0x2322 ...................................................................................................... 227
Function Generator Configuration Index 0x2330 .................................................................................... 227
Function Generator Frequency Index 0x2331 ......................................................................................... 228
Function Generator Amplitude Index 0x2332 .......................................................................................... 228
Function Generator Duty Cycle Index 0x2333......................................................................................... 228
Camming Configuration Index 0x2360 .................................................................................................... 228
Cam Delay Forward Index 0x2361 .......................................................................................................... 229
Cam Delay Reverse Index 0x2362 .......................................................................................................... 229
Cam Master Velocity Index 0x2363 ......................................................................................................... 229
Trace Buffer Reserved Size Index 0x250A ............................................................................................. 229
Trace Buffer Address Index 0x250B ...................................................................................................... 229
Trace Buffer Data Index 0x250C ............................................................................................................. 229
Indexer Register Values Index 0x2600 ................................................................................................... 230
Indexer Register Values Index 0x2600, Sub-Index 1-32...................................................................... 230
Trace Tool Objects
Trace Channels Index 0x2500 ................................................................................................................ 239
Trace Channels Index 0x2500, Sub-Index 1-6........................................................................ 239
Trace Status Index 0x2501 .................................................................................................................... 239
Trace Reference Period Index 0x2502 ................................................................................................... 239
Trace Period Index 0x2505 .................................................................................................................... 239
Trace Sample Count Index 0x2503 ......................................................................................................... 240
Trace Max Samples Index 0x2504 .......................................................................................................... 240
Trace Trigger Configuration Index 0x2506 .............................................................................................. 240
Trace Delay Index 0x2507 .................................................................................................................... 241
Trace Start/Stop Index 0x2508................................................................................................................ 241
Trace Data Index 0x2509 ........................................................................................................................ 241

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APPENDIX
D: OBJECTS BY INDEX ID
This chapter lists the objects in order of index ID. Bold page numbers indicate that the top-level object’s
general description appears on that page. Regular page numbers indicate that a reference to the object (or
one of its sub-objects) appears on that page.

0x1000, 72, 73, 87 0x2100, 132, 143 0x2193, 120, 121

0x1001, 67 0x2101, 132, 144 0x2194, 121
0x1002, 26, 58, 60, 62, 67, 69, 0x2102, 132, 144 0x2195, 119
108, 120, 131, 137, 144, 0x2103, 132, 144 0x2196, 119
145, 239, 240 0x2104, 144, 145 0x2197, 78
0x1003, 67 0x2105, 145 0x2198, 122
0x1005, 46 0x2106, 133, 148 0x2199, 105
0x1006, 46 0x2107, 147 0x219A, 116
0x1008, 72 0x2108, 133, 148 0x219B, 119
0x1009, 72 0x2109, 148 0x219C, 117
0x100A, 73 0x210A, 155 0x219D, 69
0x100C, 46 0x210B, 155 0x21A0, 76
0x100D, 46, 47 0x210C, 155 0x21B, 48
0x1010, 72, 73 0x210D, 155 0x21B0, 77, 78
0x1013, 26, 47 0x2110, 134, 150, 161 0x21B1, 77, 78
0x1014, 47 0x2111, 134, 150, 161 0x21B4, 61
0x1015, 47 0x2112, 134, 150, 161 0x21C0, 108
0x1017, 47 0x2113, 151 0x21C1, 226
0x1018, 73, 74, 75, 81, 85 0x2114, 113 0x21C2, 109
0x1200, 31 0x2115, 113 0x21C3, 109
0x1400, 31, 32 0x2116, 87 0x21C4, 109
0x1401, 28, 29, 31 0x2117, 88 0x21D0, 161
0x1402, 31 0x2120, 67, 137, 138, 144 0x21D1, 161
0x1403, 32 0x2121, 130, 192, 197, 201 0x21D2, 161
0x1404, 32 0x2122, 201 0x21D5, 162
0x1405, 32 0x2140, 87 0x21D6, 162
0x1406, 32 0x2141, 111 0x21D7, 162
0x1407, 31, 32 0x2150, 124 0x21D8, 162
0x1600, 32 0x2151, 124 0x21E0, 88
0x1601, 28, 29 0x2152, 124 0x21E1, 88
0x1607, 32 0x2153, 124 0x2200, 111
0x1700, 33 0x2154, 124 0x2201, 111
0x1701, 34 0x2155, 124 0x2202, 111
0x1702, 34, 35 0x2156, 124 0x2203, 111
0x1800, 35, 36 0x2157, 125 0x2204, 111
0x1A00, 37 0x2180, 62 0x2205, 111
0x1A07, 37 0x2181, 62, 120 0x2206, 112
0x1B00, 38 0x2182, 67, 68, 69 0x2207, 112
0x2000, 48, 73 0x2183, 68, 69 0x2208, 226
0x2010, 26, 130, 208, 210, 0x2184, 58, 62 0x2209, 227
211, 213 0x2190, 26, 116, 119, 122, 0x220A, 227
0x2011, 209, 214 228 0x2210, 112
0x2012, 26, 211, 214, 215 0x2191, 117 0x2211, 112
0x2013, 215 0x2192, 118 0x2212, 112
0x2080, 75

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0x2214, 150 0x2353, 185, 187 0x606C, 25, 143

0x2215, 150 0x2360, 224, 228, 234 0x606D, 144
0x2216, 150 0x2361, 229 0x606E, 145
0x2217, 150 0x2362, 229 0x6071, 25, 199, 202
0x2218, 151 0x2363, 228, 229 0x6074, 202
0x2219, 151 0x2370, 154 0x6076, 202
0x221A, 112 0x2371, 154 0x6077, 25, 202
0x221B, 112 0x2383, 94, 95, 97, 101, 104, 0x607A, 25, 130, 192, 198,
0x221C, 151 109, 158, 199 201
0x221D, 133, 151 0x2383, 91, 92, 93, 94, 95, 96, 0x607C, 130, 184
0x221E, 134, 151 97 0x607D, 140
0x2220, 105 0x2384, 74, 75, 82, 86, 87 0x6081, 130, 192, 198, 202
0x2221, 105 0x2384, 80, 81, 82, 83 0x6083, 130, 192, 203
0x2222, 105 0x2400, 186, 187 0x6084, 63, 130, 192, 203
0x2223, 106 0x2401, 186, 187, 239 0x6085, 56, 63, 192, 204
0x2224, 107 0x2402, 186, 187 0x6086, 130, 190, 192, 193,
0x2225, 108 0x2403, 186, 187 201, 204
0x2230, 132, 145 0x2404, 187 0x6087, 199, 203
0x2231, 141, 143, 154 0x2405, 186, 187 0x6088, 203
0x2232, 143 0x2420, 76, 118 0x6098, 130, 167, 168, 169,
0x2240, 136, 141 0x2422, 87 170, 171, 172, 173, 174,
0x2241, 78 0x2500, 238 175, 176, 177, 178, 179,
0x2242, 136, 141 0x2501, 239 180, 183
0x2250, 131, 136, 138, 139, 0x2502, 239 0x6099, 130, 165, 184
154 0x2503, 240 0x609A, 130, 165, 184
0x2251, 131, 136, 139, 140, 0x2504, 240 0x60B0, 64
146, 147 0x2505, 239, 241 0x60B1, 65
0x2252, 120, 201 0x2506, 240 0x60B2, 65
0x2253, 141 0x2507, 241 0x60C0, 207, 208, 215
0x2260, 113 0x2508, 241 0x60C1, 207, 208, 210, 216
0x2261, 113 0x2509, 241 0x60C2, 207, 208, 210, 217
0x2262, 113 0x250A, 229, 234 0x60F4, 58, 60, 67, 131, 138,
0x2263, 113 0x250B, 229, 234 162
0x2300, 58, 65, 122, 151, 224, 0x250C, 229, 234 0x60F6, 134, 152, 153, 199
226, 227, 234 0x2600, 224, 230 0x60F8, 137
0x2301, 80 0x6007, 48 0x60F9, 132, 145, 146, 147
0x2310, 226 0x6040, 25, 29, 53, 58, 165, 0x60FA, 131, 138
0x2311, 226 193, 198, 202, 210, 211 0x60FB, 131, 136, 138, 139,
0x2312, 226 0x6041, 25, 26, 36, 53, 58, 62, 140
0x2313, 226 137, 165, 193, 210 0x60FC, 138, 139, 140, 154
0x2314, 109 0x605A, 63 0x60FD, 25, 122
0x2315, 109 0x605B, 63 0x60FF, 25, 198, 202
0x2320, 121 0x605C, 63 0x6403, 91
0x2321, 114, 122 0x605D, 64 0x6404, 91
0x2322, 227 0x6060, 16, 25, 29, 53, 58, 59, 0x6410, 19, 98, 99, 100, 101,
0x2323, 141 64, 165, 190, 198, 199 102, 103, 104
0x2324, 141 0x6061, 64 0x2383, 91
0x2330, 227 0x6062, 131, 136, 140 0x6502, 79
0x2331, 228 0x6063, 131, 136, 138, 141, 0x6503, 79
0x2332, 228 154 0x6504, 79
0x2333, 228 0x6064, 25, 136, 138, 139 0x6505, 79
0x2340, 151 0x6065, 137 0x6510, 83, 84, 85, 86, 87
0x2341, 145 0x6067, 58, 60, 137, 138 0x67FF, 87
0x2350, 185 0x6068, 137 2383, 92
0x2351, 185 0x6069, 143 Error Register, 67
0x2352, 185 0x606A, 204
0x606B, 131, 143

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CANopen Programmer’s Manual
P/N 95-00271-000
Revision 7
November 2012

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Copley Controls
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