Object directory description 1000h Device Type 1001h Error Register 1003h Pre-defined Error Field 1005h COB-ID Sync 1007h Synchronous Window Length 1008h Manufacturer Device Name 1009h Manufacturer Hardware Version 100Ah Manufacturer Software Version 100Ch Guard Time 100Dh Live Time Factor 1010h Store Parameters 1011h Restore Default Parameters 1014h COB-ID EMCY 1017h Producer Heartbeat Time 1018h Identity Object 1020h Verify Configuration 1400h Receive PDO 1 Communication Parameter 1401h Receive PDO 2 Communication Parameter 1402h Receive PDO 3 Communication Parameter 1403h Receive PDO 4 Communication Parameter 1404h Receive PDO 5 Communication Parameter 1405h Receive PDO 6 Communication Parameter 1406h Receive PDO 7 Communication Parameter 1407h Receive PDO 8 Communication Parameter 1600h Receive PDO 1 Mapping Parameter 1601h Receive PDO 2 Mapping Parameter 1602h Receive PDO 3 Mapping Parameter 1603h Receive PDO 4 Mapping Parameter 1604h Receive PDO 5 Mapping Parameter 1605h Receive PDO 6 Mapping Parameter 1606h Receive PDO 7 Mapping Parameter 1607h Receive PDO 8 Mapping Parameter 1800h Transmit PDO 1 Communication Parameter 1801h Transmit PDO 2 Communication Parameter 1802h Transmit PDO 3 Communication Parameter 1803h Transmit PDO 4 Communication Parameter 1804h Transmit PDO 5 Communication Parameter 1805h Transmit PDO 6 Communication Parameter 1806h Transmit PDO 7 Communication Parameter 1807h Transmit PDO 8 Communication Parameter 1A00h Transmit PDO 1 Mapping Parameter 1A01h Transmit PDO 2 Mapping Parameter 1A02h Transmit PDO 3 Mapping Parameter 1A03h Transmit PDO 4 Mapping Parameter 1A04h Transmit PDO 5 Mapping Parameter 1A05h Transmit PDO 6 Mapping Parameter 1A06h Transmit PDO 7 Mapping Parameter 1A07h Transmit PDO 8 Mapping Parameter 2005h CANopen Baudrate 2007h CANopen Config 2009h CANopen NodeID 2028h MODBUS Slave Address 202Ah MODBUS RTU Baudrate 202Ch MODBUS RTU Stop Bits 202Dh MODBUS RTU Parity 2030h Pole Pair Count 2031h Maximum Current 2032h Maximum Speed 2033h Plunger Block 2034h Upper Voltage Warning Level 2035h Lower Voltage Warning Level 2036h Open Loop Current Reduction Idle Time 2037h Open Loop Current Reduction Value/factor 2038h Brake Controller Timing 2039h Motor Currents 203Ah Homing On Block Configuration 203Bh I2t Parameters 203Dh Torque Window 203Eh Torque Window Time 2050h Encoder Alignment 2051h Encoder Optimization 2052h Encoder Resolution 2056h Limit Switch Tolerance Band 2057h Clock Direction Multiplier 2058h Clock Direction Divider 2059h Encoder Configuration 205Ah Encoder Boot Value 205Bh Clock Direction Or Clockwise/Counter Clockwise Mode 2060h Compensate Polepair Count 2061h Velocity Numerator 2062h Velocity Denominator 2063h Acceleration Numerator 2064h Acceleration Denominator 2065h Jerk Numerator 2066h Jerk Denominator 2067h Jerk Limit (internal) 2084h Bootup Delay 2101h Fieldbus Module Availability 2102h Fieldbus Module Control 2103h Fieldbus Module Status 2200h Sampler Control 2201h Sampler Status 2202h Sample Data Selection 2203h Sampler Buffer Information 2204h Sample Time In Ms 2300h NanoJ Control 2301h NanoJ Status 2302h NanoJ Error Code 230Fh Uptime Seconds 2310h NanoJ Input Data Selection 2320h NanoJ Output Data Selection 2330h NanoJ In/output Data Selection 2400h NanoJ Inputs 2410h NanoJ Init Parameters 2500h NanoJ Outputs 2600h NanoJ Debug Output 3202h Motor Drive Submode Select 320Ah Motor Drive Sensor Display Open Loop 320Bh Motor Drive Sensor Display Closed Loop 3210h Motor Drive Parameter Set 3212h Motor Drive Flags 3220h Analog Inputs 3221h Analogue Inputs Control 3240h Digital Inputs Control 3242h Digital Input Routing 3250h Digital Outputs Control 3252h Digital Output Routing 3320h Read Analogue Input 3321h Analogue Input Offset 3322h Analogue Input Pre-scaling 3502h MODBUS Rx PDO Mapping 3602h MODBUS Tx PDO Mapping 3700h Following Error Option Code 4012h HW Information 4040h Drive Serial Number 603Fh Error Code 6040h Controlword 6041h Statusword 6042h Vl Target Velocity 6043h Vl Velocity Demand 6044h Vl Velocity Actual Value 6046h Vl Velocity Min Max Amount 6048h Vl Velocity Acceleration 6049h Vl Velocity Deceleration 604Ah Vl Velocity Quick Stop 604Ch Vl Dimension Factor 605Ah Quick Stop Option Code 605Bh Shutdown Option Code 605Ch Disable Option Code 605Dh Halt Option Code 605Eh Fault Option Code 6060h Modes Of Operation 6061h Modes Of Operation Display 6062h Position Demand Value 6063h Position Actual Internal Value 6064h Position Actual Value 6065h Following Error Window 6066h Following Error Time Out 6067h Position Window 6068h Position Window Time 606Bh Velocity Demand Value 606Ch Velocity Actual Value 606Dh Velocity Window 606Eh Velocity Window Time 6071h Target Torque 6072h Max Torque 6074h Torque Demand 6077h Torque Actual Value 607Ah Target Position 607Bh Position Range Limit 607Ch Home Offset 607Dh Software Position Limit 607Eh Polarity 6081h Profile Velocity 6082h End Velocity 6083h Profile Acceleration 6084h Profile Deceleration 6085h Quick Stop Deceleration 6086h Motion Profile Type 6087h Torque Slope 608Fh Position Encoder Resolution 6091h Gear Ratio 6092h Feed Constant 6098h Homing Method 6099h Homing Speed 609Ah Homing Acceleration 60A4h Profile Jerk 60C1h Interpolation Data Record 60C2h Interpolation Time Period 60C4h Interpolation Data Configuration 60C5h Max Acceleration 60C6h Max Deceleration 60F2h Positioning Option Code 60F4h Following Error Actual Value 60FDh Digital Inputs 60FEh Digital Outputs 60FFh Target Velocity 6502h Supported Drive Modes 6505h Http Drive Catalogue Address Overview You can find a description of objects in this section of the manual. Here you will find information on the following: Functions Object descriptions ("Index") Value descriptions ("Subindices") Descriptions of bits Description of the object Structure of the object description The description of object entries is always structured the same and normally consists of the following sections: Function This section briefly describes the function of the object directory. Object description This table gives detailed information on the data type, specified values, and suchlike. A detailed description can be found in the "Object description" section. Value description This table is only available for the "Array" or "Record" data type and gives detailed information on the subentries. A more detailed description of entries can be found in the "Value description" section. Description More precise information on the single bits in an entry is given here or any compositions are explained. A detailed description can be found in the "Description" section. Object description The object description consists of a table that contains the following entries: Index Designates the index of the object in hexadecimal notation. Object Name The name of the object. Object Code The type of object. This can be one of the following entries: VARIABLE: In this case the object consists of only one variable that is indexed with sub-index 0. ARRAY: This objects always consist of one sub-index 0 – which specifies the quantity of valid subentries – and the subentries themselves from index 1. The data type in an array never changes, which means that subentry 1 and all following entries always have the same data type. RECORD: These objects always consist of one subentry with sub-index 0 – which specifies the quantity of valid subentries – and the subentries themselves from index 1. As opposed to an ARRAY, the data type of subentries may vary, meaning, for example, that subentry 1 may have a different data type than subentry 2. VISIBLE_STRING: The object specifies a character string encoded in ASCII. The length of the string appears in sub-index 0 of this object. The individual characters are contained as of sub-index 1. These character strings are not terminated by a zero string. Data type The size and interpretation of the object are specified here. The following notation applies for the "VARIABLE" object code: Distinction is drawn between entries that are signed; this is designated with the prefix "SIGNED". The prefix "UNSIGNED" is used for unsigned entries. The size of the variable in bits is added to the prefix and can be either 8, 16 or 32. Saveable Designates if a object can be saved and - if so - in which category Firmware Version The firmware version of the first occurence of the object is entered here. Change history (ChangeLog) Any changes to the object are noted here. Additionally, there are the following table entries for the "VARIABLE" data type: Access The access restriction is entered here. The following restrictions are available: "Read/write": The object can be read and written "Read only": The object can only be read from the object directory. It is not possible to set a value. PDO Mapping Some bus systems, such as CANopen or EtherCAT, support PDO mapping. This table entry specifies whether the object may be inserted in a mapping, and in which. The following designations are possible: "no": The object may not be entered in any mapping. "TX-PDO": The object may in be entered in a RX mapping. "RX-PDO": The object may in be entered in a TX mapping. Admissible Values In some cases, it is only permitted to write specific values into the object. When this is the case, these values are listed here. The field remains empty when there is no restriction. Specified Value Some objects must be preassigned with values to bring the motor controller into a safe state at switch on. The value written into the object for the motor controller start is noted in this table entry. Value description Note For reasons of clarity, some subentries have been summarized here when all the entries have the same name. All data for subentries with sub-index 1 or higher are listed in the table with the heading "Value description". The table contains the following entries: Sub-index Number of the currently specified subentry. Name The name of the subentry. Data type The size and interpretation of the subentry are specified here. The following notation always applies: Distinction is drawn between entries that are signed; this is designated with the prefix "SIGNED". The prefix "UNSIGNED" is used for unsigned entries. The size of the variable in bits is added to the prefix and can be either 8, 16 or 32. Access The access restriction for the subentry is entered here. The following restrictions are available: "Read/write": The object can be read and written "Read only": The object can only be read from the object directory. It is not possible to set a value. PDO Mapping Some bus systems, such as CANopen or EtherCAT, support PDO mapping. This table entry specifies whether the subentry may be inserted in a mapping, and in which. The following designations are possible: "no": The object may not be entered in any mapping. "TX-PDO": The object may in be entered in a RX mapping. "RX-PDO": The object may in be entered in a TX mapping. Admissible Values In some cases, it is only permitted to write specific values into the subentry. When this is the case, these values are listed here. The field remains empty when there is no restriction. Specified Value Some objects must be preassigned with subentries to bring the motor controller into a safe state at switch on. The value written into the subentry for the motor controller start is noted in this table entry. Description This section can be available when use requires additional information. When single bits of an object or subentry have a different meaning, diagrams are used as shown in the following example. Example: The object is 8-bits large, bit 0 and 1 separately have one function. Bits 2 and 3 have been combined into one function, the same apples for bits 4 to 7. Example [4] Description of bits 4 to including 7, these bits logically belong together. The 4 in square brackets specifies the number of associated bits. A list of possible values and their description is frequently attached at this position. Example [2] Description of bits 3 and 2, these bits logically belong together. The 2 in square brackets specifies the number of associated bits. Value 00b: The description at this position applies when bit 2 and bit 3 are at "0". Value 01b: The description at this position applies when bit 2 is at "0" and bit 3 at "1". Value 10b: The description at this position applies when bit 2 is at "1" and bit 3 at "0". Value 11b: The description at this position applies when bit 2 and bit 3 are at "1". B Description of bit B, there is no length information for a single bit. A Description of bit A, bits with a gray background remain unused.
Object directory description 1000h Device Type 1001h Error Register 1003h Pre-defined Error Field 1005h COB-ID Sync 1007h Synchronous Window Length 1008h Manufacturer Device Name 1009h Manufacturer Hardware Version 100Ah Manufacturer Software Version 100Ch Guard Time 100Dh Live Time Factor 1010h Store Parameters 1011h Restore Default Parameters 1014h COB-ID EMCY 1017h Producer Heartbeat Time 1018h Identity Object 1020h Verify Configuration 1400h Receive PDO 1 Communication Parameter 1401h Receive PDO 2 Communication Parameter 1402h Receive PDO 3 Communication Parameter 1403h Receive PDO 4 Communication Parameter 1404h Receive PDO 5 Communication Parameter 1405h Receive PDO 6 Communication Parameter 1406h Receive PDO 7 Communication Parameter 1407h Receive PDO 8 Communication Parameter 1600h Receive PDO 1 Mapping Parameter 1601h Receive PDO 2 Mapping Parameter 1602h Receive PDO 3 Mapping Parameter 1603h Receive PDO 4 Mapping Parameter 1604h Receive PDO 5 Mapping Parameter 1605h Receive PDO 6 Mapping Parameter 1606h Receive PDO 7 Mapping Parameter 1607h Receive PDO 8 Mapping Parameter 1800h Transmit PDO 1 Communication Parameter 1801h Transmit PDO 2 Communication Parameter 1802h Transmit PDO 3 Communication Parameter 1803h Transmit PDO 4 Communication Parameter 1804h Transmit PDO 5 Communication Parameter 1805h Transmit PDO 6 Communication Parameter 1806h Transmit PDO 7 Communication Parameter 1807h Transmit PDO 8 Communication Parameter 1A00h Transmit PDO 1 Mapping Parameter 1A01h Transmit PDO 2 Mapping Parameter 1A02h Transmit PDO 3 Mapping Parameter 1A03h Transmit PDO 4 Mapping Parameter 1A04h Transmit PDO 5 Mapping Parameter 1A05h Transmit PDO 6 Mapping Parameter 1A06h Transmit PDO 7 Mapping Parameter 1A07h Transmit PDO 8 Mapping Parameter 2005h CANopen Baudrate 2007h CANopen Config 2009h CANopen NodeID 2028h MODBUS Slave Address 202Ah MODBUS RTU Baudrate 202Ch MODBUS RTU Stop Bits 202Dh MODBUS RTU Parity 2030h Pole Pair Count 2031h Maximum Current 2032h Maximum Speed 2033h Plunger Block 2034h Upper Voltage Warning Level 2035h Lower Voltage Warning Level 2036h Open Loop Current Reduction Idle Time 2037h Open Loop Current Reduction Value/factor 2038h Brake Controller Timing 2039h Motor Currents 203Ah Homing On Block Configuration 203Bh I2t Parameters 203Dh Torque Window 203Eh Torque Window Time 2050h Encoder Alignment 2051h Encoder Optimization 2052h Encoder Resolution 2056h Limit Switch Tolerance Band 2057h Clock Direction Multiplier 2058h Clock Direction Divider 2059h Encoder Configuration 205Ah Encoder Boot Value 205Bh Clock Direction Or Clockwise/Counter Clockwise Mode 2060h Compensate Polepair Count 2061h Velocity Numerator 2062h Velocity Denominator 2063h Acceleration Numerator 2064h Acceleration Denominator 2065h Jerk Numerator 2066h Jerk Denominator 2067h Jerk Limit (internal) 2084h Bootup Delay 2101h Fieldbus Module Availability 2102h Fieldbus Module Control 2103h Fieldbus Module Status 2200h Sampler Control 2201h Sampler Status 2202h Sample Data Selection 2203h Sampler Buffer Information 2204h Sample Time In Ms 2300h NanoJ Control 2301h NanoJ Status 2302h NanoJ Error Code 230Fh Uptime Seconds 2310h NanoJ Input Data Selection 2320h NanoJ Output Data Selection 2330h NanoJ In/output Data Selection 2400h NanoJ Inputs 2410h NanoJ Init Parameters 2500h NanoJ Outputs 2600h NanoJ Debug Output 3202h Motor Drive Submode Select 320Ah Motor Drive Sensor Display Open Loop 320Bh Motor Drive Sensor Display Closed Loop 3210h Motor Drive Parameter Set 3212h Motor Drive Flags 3220h Analog Inputs 3221h Analogue Inputs Control 3240h Digital Inputs Control 3242h Digital Input Routing 3250h Digital Outputs Control 3252h Digital Output Routing 3320h Read Analogue Input 3321h Analogue Input Offset 3322h Analogue Input Pre-scaling 3502h MODBUS Rx PDO Mapping 3602h MODBUS Tx PDO Mapping 3700h Following Error Option Code 4012h HW Information 4040h Drive Serial Number 603Fh Error Code 6040h Controlword 6041h Statusword 6042h Vl Target Velocity 6043h Vl Velocity Demand 6044h Vl Velocity Actual Value 6046h Vl Velocity Min Max Amount 6048h Vl Velocity Acceleration 6049h Vl Velocity Deceleration 604Ah Vl Velocity Quick Stop 604Ch Vl Dimension Factor 605Ah Quick Stop Option Code 605Bh Shutdown Option Code 605Ch Disable Option Code 605Dh Halt Option Code 605Eh Fault Option Code 6060h Modes Of Operation 6061h Modes Of Operation Display 6062h Position Demand Value 6063h Position Actual Internal Value 6064h Position Actual Value 6065h Following Error Window 6066h Following Error Time Out 6067h Position Window 6068h Position Window Time 606Bh Velocity Demand Value 606Ch Velocity Actual Value 606Dh Velocity Window 606Eh Velocity Window Time 6071h Target Torque 6072h Max Torque 6074h Torque Demand 6077h Torque Actual Value 607Ah Target Position 607Bh Position Range Limit 607Ch Home Offset 607Dh Software Position Limit 607Eh Polarity 6081h Profile Velocity 6082h End Velocity 6083h Profile Acceleration 6084h Profile Deceleration 6085h Quick Stop Deceleration 6086h Motion Profile Type 6087h Torque Slope 608Fh Position Encoder Resolution 6091h Gear Ratio 6092h Feed Constant 6098h Homing Method 6099h Homing Speed 609Ah Homing Acceleration 60A4h Profile Jerk 60C1h Interpolation Data Record 60C2h Interpolation Time Period 60C4h Interpolation Data Configuration 60C5h Max Acceleration 60C6h Max Deceleration 60F2h Positioning Option Code 60F4h Following Error Actual Value 60FDh Digital Inputs 60FEh Digital Outputs 60FFh Target Velocity 6502h Supported Drive Modes 6505h Http Drive Catalogue Address Overview You can find a description of objects in this section of the manual. Here you will find information on the following: Functions Object descriptions ("Index") Value descriptions ("Subindices") Descriptions of bits Description of the object Structure of the object description The description of object entries is always structured the same and normally consists of the following sections: Function This section briefly describes the function of the object directory. Object description This table gives detailed information on the data type, specified values, and suchlike. A detailed description can be found in the "Object description" section. Value description This table is only available for the "Array" or "Record" data type and gives detailed information on the subentries. A more detailed description of entries can be found in the "Value description" section. Description More precise information on the single bits in an entry is given here or any compositions are explained. A detailed description can be found in the "Description" section. Object description The object description consists of a table that contains the following entries: Index Designates the index of the object in hexadecimal notation. Object Name The name of the object. Object Code The type of object. This can be one of the following entries: VARIABLE: In this case the object consists of only one variable that is indexed with sub-index 0. ARRAY: This objects always consist of one sub-index 0 – which specifies the quantity of valid subentries – and the subentries themselves from index 1. The data type in an array never changes, which means that subentry 1 and all following entries always have the same data type. RECORD: These objects always consist of one subentry with sub-index 0 – which specifies the quantity of valid subentries – and the subentries themselves from index 1. As opposed to an ARRAY, the data type of subentries may vary, meaning, for example, that subentry 1 may have a different data type than subentry 2. VISIBLE_STRING: The object specifies a character string encoded in ASCII. The length of the string appears in sub-index 0 of this object. The individual characters are contained as of sub-index 1. These character strings are not terminated by a zero string. Data type The size and interpretation of the object are specified here. The following notation applies for the "VARIABLE" object code: Distinction is drawn between entries that are signed; this is designated with the prefix "SIGNED". The prefix "UNSIGNED" is used for unsigned entries. The size of the variable in bits is added to the prefix and can be either 8, 16 or 32. Saveable Designates if a object can be saved and - if so - in which category Firmware Version The firmware version of the first occurence of the object is entered here. Change history (ChangeLog) Any changes to the object are noted here. Additionally, there are the following table entries for the "VARIABLE" data type: Access The access restriction is entered here. The following restrictions are available: "Read/write": The object can be read and written "Read only": The object can only be read from the object directory. It is not possible to set a value. PDO Mapping Some bus systems, such as CANopen or EtherCAT, support PDO mapping. This table entry specifies whether the object may be inserted in a mapping, and in which. The following designations are possible: "no": The object may not be entered in any mapping. "TX-PDO": The object may in be entered in a RX mapping. "RX-PDO": The object may in be entered in a TX mapping. Admissible Values In some cases, it is only permitted to write specific values into the object. When this is the case, these values are listed here. The field remains empty when there is no restriction. Specified Value Some objects must be preassigned with values to bring the motor controller into a safe state at switch on. The value written into the object for the motor controller start is noted in this table entry. Value description Note For reasons of clarity, some subentries have been summarized here when all the entries have the same name. All data for subentries with sub-index 1 or higher are listed in the table with the heading "Value description". The table contains the following entries: Sub-index Number of the currently specified subentry. Name The name of the subentry. Data type The size and interpretation of the subentry are specified here. The following notation always applies: Distinction is drawn between entries that are signed; this is designated with the prefix "SIGNED". The prefix "UNSIGNED" is used for unsigned entries. The size of the variable in bits is added to the prefix and can be either 8, 16 or 32. Access The access restriction for the subentry is entered here. The following restrictions are available: "Read/write": The object can be read and written "Read only": The object can only be read from the object directory. It is not possible to set a value. PDO Mapping Some bus systems, such as CANopen or EtherCAT, support PDO mapping. This table entry specifies whether the subentry may be inserted in a mapping, and in which. The following designations are possible: "no": The object may not be entered in any mapping. "TX-PDO": The object may in be entered in a RX mapping. "RX-PDO": The object may in be entered in a TX mapping. Admissible Values In some cases, it is only permitted to write specific values into the subentry. When this is the case, these values are listed here. The field remains empty when there is no restriction. Specified Value Some objects must be preassigned with subentries to bring the motor controller into a safe state at switch on. The value written into the subentry for the motor controller start is noted in this table entry. Description This section can be available when use requires additional information. When single bits of an object or subentry have a different meaning, diagrams are used as shown in the following example. Example: The object is 8-bits large, bit 0 and 1 separately have one function. Bits 2 and 3 have been combined into one function, the same apples for bits 4 to 7. Example [4] Description of bits 4 to including 7, these bits logically belong together. The 4 in square brackets specifies the number of associated bits. A list of possible values and their description is frequently attached at this position. Example [2] Description of bits 3 and 2, these bits logically belong together. The 2 in square brackets specifies the number of associated bits. Value 00b: The description at this position applies when bit 2 and bit 3 are at "0". Value 01b: The description at this position applies when bit 2 is at "0" and bit 3 at "1". Value 10b: The description at this position applies when bit 2 is at "1" and bit 3 at "0". Value 11b: The description at this position applies when bit 2 and bit 3 are at "1". B Description of bit B, there is no length information for a single bit. A Description of bit A, bits with a gray background remain unused.
Overview You can find a description of objects in this section of the manual. Here you will find information on the following: Functions Object descriptions ("Index") Value descriptions ("Subindices") Descriptions of bits Description of the object
Structure of the object description The description of object entries is always structured the same and normally consists of the following sections: Function This section briefly describes the function of the object directory. Object description This table gives detailed information on the data type, specified values, and suchlike. A detailed description can be found in the "Object description" section. Value description This table is only available for the "Array" or "Record" data type and gives detailed information on the subentries. A more detailed description of entries can be found in the "Value description" section. Description More precise information on the single bits in an entry is given here or any compositions are explained. A detailed description can be found in the "Description" section.
Object description The object description consists of a table that contains the following entries: Index Designates the index of the object in hexadecimal notation. Object Name The name of the object. Object Code The type of object. This can be one of the following entries: VARIABLE: In this case the object consists of only one variable that is indexed with sub-index 0. ARRAY: This objects always consist of one sub-index 0 – which specifies the quantity of valid subentries – and the subentries themselves from index 1. The data type in an array never changes, which means that subentry 1 and all following entries always have the same data type. RECORD: These objects always consist of one subentry with sub-index 0 – which specifies the quantity of valid subentries – and the subentries themselves from index 1. As opposed to an ARRAY, the data type of subentries may vary, meaning, for example, that subentry 1 may have a different data type than subentry 2. VISIBLE_STRING: The object specifies a character string encoded in ASCII. The length of the string appears in sub-index 0 of this object. The individual characters are contained as of sub-index 1. These character strings are not terminated by a zero string. Data type The size and interpretation of the object are specified here. The following notation applies for the "VARIABLE" object code: Distinction is drawn between entries that are signed; this is designated with the prefix "SIGNED". The prefix "UNSIGNED" is used for unsigned entries. The size of the variable in bits is added to the prefix and can be either 8, 16 or 32. Saveable Designates if a object can be saved and - if so - in which category Firmware Version The firmware version of the first occurence of the object is entered here. Change history (ChangeLog) Any changes to the object are noted here. Additionally, there are the following table entries for the "VARIABLE" data type: Access The access restriction is entered here. The following restrictions are available: "Read/write": The object can be read and written "Read only": The object can only be read from the object directory. It is not possible to set a value. PDO Mapping Some bus systems, such as CANopen or EtherCAT, support PDO mapping. This table entry specifies whether the object may be inserted in a mapping, and in which. The following designations are possible: "no": The object may not be entered in any mapping. "TX-PDO": The object may in be entered in a RX mapping. "RX-PDO": The object may in be entered in a TX mapping. Admissible Values In some cases, it is only permitted to write specific values into the object. When this is the case, these values are listed here. The field remains empty when there is no restriction. Specified Value Some objects must be preassigned with values to bring the motor controller into a safe state at switch on. The value written into the object for the motor controller start is noted in this table entry.
Value description Note For reasons of clarity, some subentries have been summarized here when all the entries have the same name. All data for subentries with sub-index 1 or higher are listed in the table with the heading "Value description". The table contains the following entries: Sub-index Number of the currently specified subentry. Name The name of the subentry. Data type The size and interpretation of the subentry are specified here. The following notation always applies: Distinction is drawn between entries that are signed; this is designated with the prefix "SIGNED". The prefix "UNSIGNED" is used for unsigned entries. The size of the variable in bits is added to the prefix and can be either 8, 16 or 32. Access The access restriction for the subentry is entered here. The following restrictions are available: "Read/write": The object can be read and written "Read only": The object can only be read from the object directory. It is not possible to set a value. PDO Mapping Some bus systems, such as CANopen or EtherCAT, support PDO mapping. This table entry specifies whether the subentry may be inserted in a mapping, and in which. The following designations are possible: "no": The object may not be entered in any mapping. "TX-PDO": The object may in be entered in a RX mapping. "RX-PDO": The object may in be entered in a TX mapping. Admissible Values In some cases, it is only permitted to write specific values into the subentry. When this is the case, these values are listed here. The field remains empty when there is no restriction. Specified Value Some objects must be preassigned with subentries to bring the motor controller into a safe state at switch on. The value written into the subentry for the motor controller start is noted in this table entry.
Description This section can be available when use requires additional information. When single bits of an object or subentry have a different meaning, diagrams are used as shown in the following example. Example: The object is 8-bits large, bit 0 and 1 separately have one function. Bits 2 and 3 have been combined into one function, the same apples for bits 4 to 7. Example [4] Description of bits 4 to including 7, these bits logically belong together. The 4 in square brackets specifies the number of associated bits. A list of possible values and their description is frequently attached at this position. Example [2] Description of bits 3 and 2, these bits logically belong together. The 2 in square brackets specifies the number of associated bits. Value 00b: The description at this position applies when bit 2 and bit 3 are at "0". Value 01b: The description at this position applies when bit 2 is at "0" and bit 3 at "1". Value 10b: The description at this position applies when bit 2 is at "1" and bit 3 at "0". Value 11b: The description at this position applies when bit 2 and bit 3 are at "1". B Description of bit B, there is no length information for a single bit. A Description of bit A, bits with a gray background remain unused.