TR-Electronic MP-200 - Page 5

Printed in the Federal Republic of Germany  TR-Electronic GmbH 2016, All Rights Reserved
09/29/2020 TR-EMO-BA-GB-0022 v03 Page 5 of 153
9 Object directory ............................................................................................................................... 68
9.1 Object types, data types ......................................................................................................... 68
9.2 Communication-Specific Standard Objects CiA DS-301 ........................................................ 69
9.2.1 Object 0x1000: Device Type ................................................................................... 70
9.2.2 Object 0x1001: Error Register ................................................................................ 70
9.2.3 Object 0x1003: Pre-defined Error Field .................................................................. 71
9.2.4 Object 0x1008: Manufacturer's Device Name ........................................................ 72
9.2.5 Object 0x1009: Manufacturer's Hardware Version ................................................. 72
9.2.6 Object 0x100A: Manufacturer's Software Version .................................................. 72
9.2.7 Object 0x1010: Save Backup Parameters .............................................................. 73
9.2.8 Object 0x1011: Reset Backup Parameters ............................................................. 74
9.2.9 Object 0x1018: Identity ........................................................................................... 75
9.2.10 Structure of the mapping parameter ..................................................................... 76
9.2.10.1 Objects 0x1600-0x1601: Receive PDO mapping .................................... 77
9.2.10.2 Objects 0x1A00-0x1A01: Transmit PDO mapping .................................. 78
9.2.11 Object 0x1C00: Sync Manager Communication Type .......................................... 79
9.2.12 Object 0x1C12: SM2 PDO assignment ................................................................ 81
9.2.13 Object 0x1C13: SM3 PDO assignment ................................................................ 82
9.3 Manufacturer-specific objects ................................................................................................. 83
9.3.1 Object 0x2EF3: TrAbeData.MVI16 ......................................................................... 83
9.3.2 Object 0x2F04: DS402M.MPU32 ........................................................................... 85
9.3.3 Object 0x2F0E: DS402M.MPX ............................................................................... 89
9.4 Objects of the DSP 402 device profile .................................................................................... 91
9.4.1 Object 0x6007: Abort Connection Code ................................................................. 93
9.4.2 Object 0x603F: Error Code ..................................................................................... 93
9.4.3 Object 0x6040: Control word .................................................................................. 93
9.4.4 Object 0x6041: Status word .................................................................................... 94
9.4.5 Object 0x605A: Quick Stop Option Code ............................................................... 94
9.4.6 Object 0x605B: Shutdown Option Code ................................................................. 95
9.4.7 Object 0x605C: Disable Operation Option Code .................................................... 95
9.4.8 Object 0x605D: Stop Option Code ......................................................................... 96
9.4.9 Object 0x605E: Fault Reaction Option Code .......................................................... 96
9.4.10 Object 0x6060: Operation Mode ........................................................................... 97
9.4.11 Object 0x6061: Operation Mode Display .............................................................. 97
9.4.12 Object 0x6062: Required Position ........................................................................ 97
9.4.13 Object 0x6064: Actual Position ............................................................................. 98
9.4.14 Object 0x6065: Following Error Window ............................................................... 98
9.4.15 Object 0x6066: Following Error Timeout .............................................................. 98
9.4.16 Object 0x6067: In-Position Window ...................................................................... 99
9.4.17 Object 0x6068: In-Position Timeout ...................................................................... 99
9.4.18 Object 0x6069: Sensor Velocity ............................................................................ 99
9.4.19 Object 0x606B: Required Velocity ........................................................................ 100
9.4.20 Object 0x606C: Actual Velocity ............................................................................ 100
9.4.21 Object 0x606D: Velocity Window .......................................................................... 100
9.4.22 Object 0x606E: Velocity Window Timeout ............................................................ 101
9.4.23 Object 0x606F: Velocity Threshold ....................................................................... 101
9.4.24 Object 0x6070: Velocity Threshold Timeout ......................................................... 101
9.4.25 Object 0x6071: Target Torque .............................................................................. 102
9.4.26 Object 0x6072: Torque Limit ................................................................................. 102
9.4.27 Object 0x6073: Limit for Torque generating Current ............................................ 102
9.4.28 Object 0x6074: Required Torque .......................................................................... 103
9.4.29 Object 0x6075: Motor rated Current/mA ............................................................... 103