Leadshine CS3E-E Series - EtherCAT Object Dictionary Overview; Communication Objects

CS3E-E Series EtherCAT Closed Loop stepper drive User Manual
19
4 EtherCAT Object Dictionary
4.1 Communication Object
The CS3E-E Series drives follows the EtherCAT standard protocol, can communicate with the master stations
which also supports the EtherCAT standard protocol.
The parameters can be configured by master station’s PC software or Leadshine Motion Studio.
Index
Sub-
index
Name
Access
Type
Range
Default
Value
Unit
Remark
1000
0
Device type
R
UINT
0-32767
0x40912
-
Refer to CIA 402 profile
1001
0
Error register
R
USINT
0-255
0
--
Refer to Chapter 5.1
1008
0
Device name
R
UINT
0-32767
CL3C-X
-
-
1010
00
Number of
sub-index
R
UINT
0-32767
4
-
-
01
Save all parameters
R/W
UDINT
0-0xFFFFFFFF
0
-
Need to write 0x65766173 or
1702257011 (decimal) into
sub-index.
It will return 1 if save successfully
02
Save
communication
parameters
R/W
UDINT
0-0xFFFFFFFF
0
-
03
Save motion
parameters
R/W
UDINT
0-0xFFFFFFFF
0
-
04
Save factory
parameters
R/W
UDINT
0-0xFFFFFFFF
0
-
1011
00
Number of
sub-index
R
UINT
0-32767
4
-
-
01
Restore all
parameters to
default setting
R/W
UDINT
0-0xFFFFFFFF
0
-
Need to write 0x64616f6c or
1684107116 (decimal) into
sub-index. It will return 1 if save
successfully
02
Reset
communication
parameters to
factory setting
R/W
UDINT
0-0xFFFFFFFF
0
-
03
Reset motion
parameters to
factory setting
R/W
UDINT
0-0xFFFFFFFF
0
-
04
Reset user
parameters to
factory setting
R/W
UDINT
0-0xFFFFFFFF
0
-
1018
00
Number of
sub-index
R
UINT
0-32767
4
-
-
01
Vendor ID
R
UINT
0-32767
4321
-
Leadshine code
02
Product code
R
UINT
0-32767
8X00
-
-
03
Revision number
R
UINT
0-32767
1
-
-
04
Series number
R
UINT
0-32767
1
-
-
1600
0
Number of
sub-index
R/W
UINT
0-32767
3
-
Default number of 1
st
mapping
object
01-08
1
st
RXPDO-Map
object
R/W
UDINT
0-0xFFFFFFFF
-
-
Default number of 1
st
RXPDO-Map
object
1601
0
Number of
sub-index
R/W
UINT
0-32767
6
-
Default number of 2
nd
mapping
object
01-08
2
nd
RXPDO-Map
object
R/W
UDINT
0-0xFFFFFFFF
-
-
Default number of 2
nd
RXPDO-Map
object
1602
0
Number of
R/W
UINT
0-32767
5
-
Default number of 3
rd
mapping