•
COB-ID 0 1
R_PDO1 200h+Node-ID X X
Controlword (6040h)
COB-ID 0 1 2 3 4 5
R_PDO2 300h+Node-ID X X X X X X
Target position (607Ah)
Controlword (6040h)
COB-ID 0 1 2 3 4 5
R_PDO3 400h+Node-ID X X X X X X
Target velocity (60FFh)
Controlword (6040h)
COB-ID 0 1 2 3 4 5 6 7
R_PDO4 500h+Node-ID X X X X X X X X
controlword (6040 )
target position (607A )
Target velocity (60FF )
COB-ID 0 1
T_PDO1
180h+Node-ID X X
Statusword (6041h)
COB-ID 0 1 2 3 4 5
T_PDO2
280h+Node-ID X X X X X X
Position actual value (6064h)
Statusword (6041h)
COB-ID 0 1 2 3 4 5
T_PDO3
380h+Node-ID X X X X X X
Velocity actual value (606Ch)
Statusword (6041h)
COB-ID 0 1 2 3 4 5 6 7
T_PDO4
480h+Node-ID X X X X X X X X
statusword (6041 )
Position actual value (6064 )
Velocity actual value (606C )
P3-18 P3-21
P3-18
P3-18
P3-19
P3-20
P3-21
Status word (6041h)
Status word (6041h) Position actual value
(6064h)
T_PDO4 T_PDO4
COB ID 0 1 COB ID 0 1 2 3 4 5
T_PDOs
481h 10 0A 481h 10 0A 03 11 0E 00
... ... ... ...
6040h 00h Control word 00 1F
6041h 00h Status word 0A 10
... ... ... ...
6064h 00h Position actual value 00 0E 11 03
... ... ... ...
607Ah 00h Target position 00 00 0A 00
... ... ... ...
R_PDO4 R_PDO4
COB ID 0 1 COB ID 0 1 2 3 4 5
R_PDOs
501h 1F 00 501h 1F 00 00 0A 00 00
Target position (607Ah)
Control word (6040h)
Control word (6040h)
PDO mapping object LSB
00h 2 31 15 7 0 Bit
01h 6041h 00h 10h
02h 606Ch 00h 20h
xx xxh xxh xxh
... ... ... ...
Index Subindex Object length
SYNC Consumer SYNC Consumer
COB ID
CAN
SYNC Producer SYNC Consumer
•
Communication cycle
period(1006 )
•
Synchronous
window length (1007 )
SYNC
T_PDO (status)
CAN bus
R_PDO (controller)
SYNC
Synchronous Process
time window R_PDO data
Cycle time
T_PDO1: acyclical
T_PDO2: cyclical
SYNC
transmission type (02 )
1st receive PDO parameter (1400 :
02 )
COB-ID SYNC Message (1005 )
EMCY-Consumer EMCY-Consumer
COB-ID data
CAN
EMCY-Producer EMCY-Consumer
0 1 2 3 4 5 6 7
81
12 22 00 00 00 00 00 00
Manufacturer specific error field
Error register
Error code Error code 0 1
COB-ID (80h+ Node-ID) 12 22
22 12h
Error code
(603F )
Error
register (1001 )
COB-ID emergency(1014 )
Error register
(1001 ) Error code
(603F ) P4-00
(2400 ) P4-04 (2404 )
NMT NMT NMT NMT
slave master slave slave
COB ID Data
CAN
NMT NMT
slave slave
Power on
Reset Reset
Initialization
Application Communication
E SDO, EMCY
Pre-Operational
D NMT
B
Stopped C NMT
A
PDO, SDO, SYNC
Operational
EMCY, NMT
Byte 0 1 NMT
NMT Slave
Master 0 01 00
NMT
Node ID Slave
COB ID Command specifier
NMT
Slave
•
•
•
NMT error control (700 +node-Id)
NMTerror control (700 ) + node-Id
COB ID
704h
Master Slave
Guard 704h 05h
time
704h
704h 85h
704h
704h 05h
Bit 7 6 ... 0 Bit 7 6 0
05h = 0 0 00 0 1 0 1 85h = 1 0 0 0 0 1 0 1
•
•
•
•
•
•
•
Request
Master Response Slave
Guard Life
time time
Request
Response
Request
No
response
Message
Producer heartbeat time
(1017 )
Producer heartbeat time (1016 ) = 0
Consumer heartbeat time (1016 )
Consumer heartbeat time
(1016 ) = 0
COB ID
704h xxh
Producer Consumer
Heartbeat
producer
time Heartbeat
consumer
COB ID
time
704h xxh
Node ID=04h
•
•
•
•
•
•
•
•
•
•
•
•
•
▶
P3-01
▶ P3-01
▶
P3-05
P3-01
P3-05
•
•
•
•
•
•
StatusWord
Motor stromlos
Einschalten
1
Start
T0
2
Not Ready To Switch On
T1
3
Switch On Disabled T15
T9 T2 T7
T12
4
T10
Ready To Switch On
T8 T3 T6
5
Switched On 9
Fault
T14
8
T4 T5
Fault Reaction Active
T16
Operation Enabled 6 7
Quick Stop Active T13
RUN
T11
Motor bestromt
Betriebszustand Zustandsübergang Fehler
StausWord
StausWord
_WarnActive
_WarnActive
ControlWord
ControlWord
ControlWord
Mode of operation
Mode of
operation
▶ Mode of operation
Display
Mode of operation Display
Mode of
operation
Display
Pulse 6093h : Sub1 (P1 - 44) Position command
6093h : Sub2 (P1 - 45)
6093h : Sub1 (P1 - 44) = 1 ^ 1280000 Pulse = 1 Revolution
Default: =
6093h : Sub2 (P1 - 45) = 1
▶ Mode of operation:
▶ Target Position:
▶ Profile velocity:
▶ Profile acceleration:
▶ Profile decceleration:
▶ ControlWord:
▶ Position actual value:
▶ StatusWord:
▶ Position demand value:
▶ Position actual value:
▶ Following error window:
▶ Following error actual value:
▶ Position window:
Position window time:
▶ Position window time:
Position window time:
Mode of
operation
ControlWord
•
•
•
StatusWord:
▶
601 / 23 01 14 01 01 03 00 04
◁ 581 / 60 01 14 01 00 00 00 00
▶
601 / 23 01 18 01 81 02 00 04
◁ 581 / 60 01 18 01 00 00 00 00
▶
601 / 23 83 60 00 D0 07 00 00
◁ 581 / 60 83 60 00 00 00 00 00
▶
601 / 23 84 60 00 A0 0F 00 00
◁ 581 / 60 84 60 00 00 00 00 00
▶
601 / 23 81 60 00 A0 0F 00 00
◁ 581 / 60 81 60 00 00 00 00 00
▶
0 / 01 00
◁
281 / 31 66 00 00 00 00
▶
301 / 00 00 00 00 00 00
301 / 06 00 00 00 00 00
301 / 0F 00 00 00 00 00
◁
281 / 37 42 00 00 00 00
▶
601 / 2F 60 60 00 01 00 00 00
◁ 581 / 60 60 60 00 00 00 00 00
▶
601 / 40 61 60 00 00 00 00 00
◁
581 / 4F 61 60 00 01 61 01 00
▶
301 / 5F 00 30 75 00 00
◁
281 / 37 12 00 00 00 00
◁
281 / 37 56 30 75 00 00
▶
301 / 4F 00 30 75 00 00
