CANopen Interface
38 CANBus Networking Manual V2.0 July 8, 2019
Index Sub (hex) Entry Name Type Access PDO Command
0x6861 00 Modes of Operation Display CH2 S8 RO No AOM
0x6864 00 Position Actual Value CH2 S32 RO Ye s F
0x686C 00 Velocity Actual Value CH2 S32 RO Ye s F
0x6871 00 Target Torque CH2 S16 RW Ye s TC
0x6877 00 Torque Actual Value CH2 S16 RO Ye s TRQ
0x687A 00 Target Position CH2 S32 RW Ye s POS
0x6881 00 Profile Velocity CH2 U32 RW Ye s PSP
0x6883 00 Profile Acceleration CH2 U32 RW Ye s PAC
0x6884 00 Profile Deceleration CH2 U32 RW Ye s PDC
0x6887 00 Torque Slope CH2 U32 RW Ye s TSL
0x68FF 00 Target Profile Velocity CH2 U32 RW Ye s S
0x6D02 00 Supported Drive Modes CH2 U32 CONST No SDM
0x6FFE 00 Version Number CH2 U32 CONST No VNM
0x7040 00 Control Word CH3 U16 RW Ye s CW
0x7041 00 Status Word CH3 U16 RO Ye s SW
0x7042 00 Target Velocity CH3 S16 RW Ye s S
0x7043 00 VL Velocity Demand CH3 S16 RO Ye s RMP
0x7044 00 VL Velocity Actual Value CH3 S16 RO Yes F
0x6046 01 VL Velocity Min Amount CH3 U32 RW Ye s SPL
02 VL Velocity Max Amount CH3 U32 RW Ye s SPL
0x6048 01 Velocity Acceleration Delta Speed CH3 U32 RW Ye s SAC
02 Velocity Acceleration Delta Time CH3 U16 RW Ye s SAC
0x6049 01 Velocity Deceleration Delta Speed CH3 U32 RW Ye s SDC
02 Velocity Acceleration Delta Time CH3 U16 RW Ye s SDC
0x7060 00 Modes of Operation CH3 S8 RW Ye s ROM
0x7061 00 Modes of Operation Display CH3 S8 RO No AOM
0x7064 00 Position Actual Value CH3 S32 RO Ye s F
0x706C 00 Velocity Actual Value CH3 S32 RO Ye s F
0x7071 00 Target Torque CH3 S16 RW Ye s TC
0x7077 00 Torque Actual Value CH3 S16 RO Ye s TRQ
0x707A 00 Target Position CH3 S32 RW Ye s POS
0x7081 00 Profile Velocity CH3 U32 RW Ye s PSP
0x7083 00 Profile Acceleration CH3 U32 RW Ye s PAC
0x7084 00 Profile Deceleration CH3 U32 RW Ye s PDC
0x7087 00 Torque Slope CH3 U32 RW Ye s TSL
0x70FF 00 Target Profile Velocity CH3 U32 RW Ye s S
0x7502 00 Supported Drive Modes CH3 U32 CONST No SDM
0x77FE 00 Version Number CH3 U32 CONST No VNM
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