Inovance EtherCAT MD800 - Cia402 Object Dictionary

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INOVANCE TECHNOLOGY EUROPE GmbH
MD800 EtherCAT Starting Guide_EN_v1.1_20211109.docx
6.4.3 CIA402 OBJECT DICTIONARY
This section describes de CiA402 objects implemented in the inverter firmware.
6.4.3.1 MONITORING PARAMETERS
The following section describes the U4 menu parameters that show the values of some of the CiA402 standard
objects.
Function
code
CiA402
Object Dictionary
Setting Range
Meaning
U4-00
0x6502 (high byte)
Supported drive modes
U4-01
0x6502 (low byte)
U4-02
0x603F
0~65535
Fault code
U4-03
0x6040
0~65535
Control Word
U4-04
0x6041
0~65535
Status Word
U4-05
0x6042
-32768 ~ 32767 rpm
vl target velocity
U4-06
0x6043
-32768 ~ 32767 rpm
vl velocity demand
U4-07
0x6044
-32768 ~ 32767 rpm
vl velocity actual value
U4-08
0x6046-01 (high byte)
0~65535
vl velocity min amount
U4-09
0x6046-01 (low byte)
0~65535
U4-10
0x6046-02 (high byte)
0~65535
vl velocity max amount
U4-11
0x6046-02 (low byte)
0~65535
U4-12
0x6048-01 (high byte)
1~65535 (unit: RPM)
vl velocity acceleration. Delta speed
U4-13
0x6048-01 (low byte)
U4-14
0x6048-02
0~65536 (unit: s)
vl velocity acceleration. Delta time
U4-15
0x6049-01 (high byte)
1~65535 (unit: RPM)
vl velocity deceleration. Delta speed
U4-16
0x6049-01 (low byte)
U4-17
0x6049-02
0~65536 (unit: s)
vl velocity deceleration. Delta time
U4-18
0x605A
0~2
Quick stop option code
U4-19
0x605B
0~1
Shutdown option code
U4-20
0x605C
0~1
Disable operation option code
U4-22
0x605E
0~65535
Fault reaction option code
U4-23
0x6060
0~65535
Mode of operation
U4-24
0x6061
0~65535
Mode of operation display
U4-36
606C (high byte)
-2
31
~ (2
31
-1) RPM
Velocity actual value
U4-37
606C (low byte)
U4-43
6077
Unit: 0.1%
Torque actual value
U4-52
607E
0~255
Polarity:
Bit6 sets the target speed limit to 0, and
the target speed is (60ff + 60b1);Set to 1,
target speed is - (60ff + 60b1)
U4-79
60B1 (high byte)
-2
31
~ (2
31
-1) RPM
Velocity offset
U4-80
60B1 (low byte)
U4-95
60FF (high byte)
-2
31
~ (2
31
-1) RPM
Target velocity
U4-96
60FF (low byte)