122 Appendix A – CANopen Object Dictionary
CiA 402 profile objects
The CiA 402 profile objects describe objects for monitoring and
controlling frequency controllers. The objects are described in the
following table.
Index SI Name Ty pe Acc. Def. Information
603F 0 Error code U16 R 0 CiA 402 error code of the last
error which occurred in the
drive. Values according to IEC
61800-7-201. Manufacturer-
specific error codes
0xFF00...0xFFFF: In general,
all drive fault codes from
0xFF00 and above pass
straight through into this
object. Two error codes are
generated by the adapter
module:
• 0xFFE1: Failed to read
fault code from the drive.
• 0xFFFF: Unhandled drive
fault code - corresponding
CiA 402 error code does
not exist.
See object 2201 and the drive
manual.
6040 0 Control word U16 RW - CiA 402 control word
6041 0 Status word U16 R - CiA 402 status word
6042 0 vl target
velocity
I16 RW - Effective in the velocity
operation mode (vl)
6043 0 vl velocity
demand
I16 R - Operational if the ramp
function generator output
(CI 61) is available from the
drive. Cyclic low priority
communication.
Note:
Not available with
ACS355.
6044 0 vl velocity
actual value
I16 R - Operational when velocity
feedback is available from the
drive
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