Stober EtherCAT SD6 Series - Cia 402 Drives and Motion Control: 6000 Hex - 65 FF Hex; Tab. 10 Cia 402-2 Communication Objects: 6000 Hex - 65 FF Hex

11 | Appendix STOBER
78
02/2020 | ID 442516.07
11.1.3 CiA 402 Drives and motion control: 6000 hex – 65FF hex
The following table includes the supported communication objects of the standardized profile CiA 402 Drives and motion
control device profile – Part 2: Operation modes and application data for motion control, as well as how they are mapped
to the corresponding parameters of STOBER.
The communication objects are used in the applications CiA 402 and CiA 402 HiRes Motion.
Index Subindex TxPDO RxPDO Name Comment
603F hex 0 hex ✓ — Error code A514
6040 hex 0 hex ✓ ✓ Control word A515
6041 hex 0 hex ✓ — Statusword A516
605A hex 0 hex — ✓ Quick stop option code A536
605E hex 0 hex — ✓ Fault reaction option code A540
6060 hex 0 hex ✓ ✓ Modes of operation A541
6061 hex 0 hex ✓ — Modes of operation display A542
6064 hex 0 hex ✓ — Position actual value A545
6065 hex 0 hex ✓ ✓ Following error window A546
6066 hex 0 hex ✓ ✓ Following error time out A547
606C hex 0 hex ✓ — Velocity actual value A553
6071 hex 0 hex ✓ ✓ Target torque A558
6072 hex 0 hex ✓ ✓ Max torque A559
6076 hex 0 hex ✓ — Rated torque A563
6077 hex 0 hex ✓ — Torque actual value A564
6078 hex 0 hex ✓ — Current actual value A565
6079 hex 0 hex ✓ — DC link circuit voltage A566
607A hex 0 hex ✓ ✓ Target position A567
607B hex Position range limit
607B hex 0 hex — — Highest subindex supported Constant value of 2
607B hex 1 hex ✓ ✓ Min. position range limit A568[0]; no function
607B hex 2 hex ✓ ✓ Max. position range limit A568[1]; used as revolution
length
607C hex 0 hex ✓ ✓ Home offset A569
607D hex Software position limit
607D hex 0 hex — — Highest subindex supported Constant value of 2
607D hex 1 hex ✓ ✓ Min. position range limit A570[0]
607D hex 2 hex ✓ ✓ Max. position range limit A570[1]
607E hex 0 hex — ✓ Polarity A571; only bit 7 has function
607F hex 0 hex ✓ ✓ Max profile velocity A572
6081 hex 0 hex ✓ ✓ Profile velocity A574
6083 hex 0 hex ✓ ✓ Profile acceleration A576
6084 hex 0 hex ✓ ✓ Profile deceleration A577
6085 hex 0 hex ✓ ✓ Quick stop deceleration A578
6091 hex Gear ratio
6091 hex 0 hex — — Highest subindex supported Constant value of 2