46 Reference
Object dictionary
The object dictionary contains 4 different types of objects:
Constant objects
Constant object contain the same value during their entire life time, for example the
manufacturer device name object (1008h). The value is set once during firmware
boot-up and does not change.
Live objects
Live objects allow direct access to the control loops and internal application
processes. This object data can be mapped into PDOs and is usually cyclically
updated (for example axis position or a digital output value).
Configuration objects
Configuration objects allow the device configuration to be changed via SDOs during
drive operation.
Configuration objects valid on reset
Most of the objects are configuration objects that are valid on reset. This means they
are applied during the NMT_GS_RESET_CONFIGURATION state.
See also EtherCAT protocol objects: 1000h - 2000h on page 49, and Manufacturer
specific objects on page 52.
Error codes and detection
The following application layer (AL) status codes are supported:
AL Status
Code
Description
0x002D SYNC0 or SYNC1 generation is enabled but never received after time-out (Cycle time + Cycle
time / 16)
0x002C SYNC0 or SYNC1 generation is enabled, received and lost after time-out (Cycle time + Cycle
time / 16)
0x001E SYNC0 or SYNC1 generation is enabled; Input SM was not written during 2 SYNC pulses
threshold*
0x001D SYNC0 or SYNC1 generation is enabled; Output SM was written once but was not written during
2 SYNC pulses threshold*
0x001A SYNC0 or SYNC1 generation is enabled; Output SM was not written once but drive is asked to
go OPERATIONAL
0x0032 SYNC0 or SYNC1 generation is enabled; Internal SYNC and external SYNC PLL lost
synchronisation
0x001B SM synchronisation mode; SM was not written in configured watchdog time
0x0016 Boot-up error; Mailbox SM configuration illegal; check log for further information
0x001E Boot-up error; Input SM configuration illegal; check log for further information
0x001D Boot-up error; Output SM configuration illegal; check log for further information
0x0030 Boot-up error; Invalid DC configuration
0x0035 Boot-up error; Not support DC cycle time configured
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