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CANopen device documentation

HexFellow Motor
Project File hexfellow-motor.xdd
File Version 1
Created 2026/1/28 11:56:48
Created By KisonHe
Modified 2026/1/28 21:20:09
Modified By

This file was automatically generated by CANopenEditor v4.2.3-0-gc1071ab+c1071ab3197f9bbf718123ec5bbabf449b2f7bab

Device Information
Vendor Name HexFellow
Vendor ID
Product Name HexFellow Motor
Product ID
Granularity 8
RPDO count 4
TPDO count 4
LSS Slave False
LSS Master False
NG Slave False
NG Master False

Supported Baud rates

  • [ ] 10 kBit/s
  • [ ] 20 kBit/s
  • [ ] 50 kBit/s
  • [ ] 125 kBit/s
  • [ ] 250 kBit/s
  • [ ] 500 kBit/s
  • [ ] 800 kBit/s
  • [x] 1000 kBit/s
  • [ ] auto

PDO Mapping

TPDO 0x1800
COB_ID $NODEID+0xC0000180
Transmission type=254; inhibit-time=0; event-timer=0
0x603F0010 Error Code 错误码
0x60410010 Status Word 状态字
0x60610008 Modes Of Operation Display 运行模式显示

TPDO 0x1801
COB_ID $NODEID+0xC0000280
Transmission type=254; inhibit-time=0; event-timer=0
0x60640020 Position Actual Value 实际位置值
0x606C0020 Velocity Actual Value 速度实际值

TPDO 0x1802
COB_ID $NODEID+0xC0000380
Transmission type=254; inhibit-time=0; event-timer=0
0x60770010 Torque Actual Value 力矩实际值
0x22040110 Temperature Actual Value 温度实际值 (驱动器温度实际值)
0x22040210 Temperature Actual Value 温度实际值 (电机温度实际值)

Communication Specific Parameters

0x1000 - Device type

Object Type Count Label Storage Group
VAR NMT PERSIST_COMM
Data Type SDO PDO SRDO Default Value
UNSIGNED32 ro no no 0x00000000
  • bit 16-31: Additional information
  • bit 0-15: Device profile number

0x1001 - Error register

Object Type Count Label Storage Group
VAR EM RAM
Data Type SDO PDO SRDO Default Value
UNSIGNED8 ro t no 0x00
  • bit 7: manufacturer specific
  • bit 6: Reserved (always 0)
  • bit 5: device profile specific
  • bit 4: communication error (overrun, error state)
  • bit 3: temperature
  • bit 2: voltage
  • bit 1: current
  • bit 0: generic error

0x1003 - Pre-defined error field

Object Type Count Label Storage Group
ARRAY RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Number of errors UNSIGNED8 rw no no
0x01 Standard error field UNSIGNED32 ro no no
0x02 Standard error field UNSIGNED32 ro no no
0x03 Standard error field UNSIGNED32 ro no no
0x04 Standard error field UNSIGNED32 ro no no
0x05 Standard error field UNSIGNED32 ro no no
0x06 Standard error field UNSIGNED32 ro no no
0x07 Standard error field UNSIGNED32 ro no no
0x08 Standard error field UNSIGNED32 ro no no
0x09 Standard error field UNSIGNED32 ro no no
0x0A Standard error field UNSIGNED32 ro no no
0x0B Standard error field UNSIGNED32 ro no no
0x0C Standard error field UNSIGNED32 ro no no
0x0D Standard error field UNSIGNED32 ro no no
0x0E Standard error field UNSIGNED32 ro no no
0x0F Standard error field UNSIGNED32 ro no no
0x10 Standard error field UNSIGNED32 ro no no
  • Sub Index 0: Contains number of actual errors. 0 can be written to clear error history.
  • sub-index 1 and above:
  • bit 16-31: Manufacturer specific additional information
  • bit 0-15: Error code as transmited in the Emergency object

0x1005 - COB-ID SYNC message

Object Type Count Label Storage Group
VAR SYNC PERSIST_COMM
Data Type SDO PDO SRDO Default Value
UNSIGNED32 rw no no 0x00000080
  • bit 31: set to 0
  • bit 30: If set, CANopen device generates SYNC object
  • bit 11-29: set to 0
  • bit 0-10: 11-bit CAN-ID

0x1006 - Communication cycle period

Object Type Count Label Storage Group
VAR SYNC_PROD PERSIST_COMM
Data Type SDO PDO SRDO Default Value
UNSIGNED32 rw no no 0

Period of SYNC transmission in µs (0 = transmission disabled).

0x1010 - Store parameters

Object Type Count Label Storage Group
ARRAY STORAGE RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x04
0x01 Save all parameters UNSIGNED32 rw no no 0x00000001
0x02 Save communication parameters UNSIGNED32 rw no no 0x00000001
0x03 Save application parameters UNSIGNED32 rw no no 0x00000001
0x04 Save manufacturer defined parameters UNSIGNED32 rw no no 0x00000001

Sub-indexes 1 and above: * Reading provides information about its storage functionality: * bit 1: If set, CANopen device saves parameters autonomously * bit 0: If set, CANopen device saves parameters on command * Writing value 0x65766173 ('s','a','v','e' from LSB to MSB) stores corresponding data.

0x1011 - Restore default parameters

Object Type Count Label Storage Group
ARRAY RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x04
0x01 Restore all default parameters UNSIGNED32 rw no no 0x00000001
0x02 Restore communication default parameters UNSIGNED32 rw no no 0x00000001
0x03 Restore application default parameters UNSIGNED32 rw no no 0x00000001
0x04 Restore manufacturer defined default parameters UNSIGNED32 rw no no 0x00000001

Sub-indexes 1 and above: * Reading provides information about its restoring capability: * bit 0: If set, CANopen device restores parameters * Writing value 0x64616F6C ('l','o','a','d' from LSB to MSB) restores corresponding data.

0x1013 - High resolution time stamp

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
UNSIGNED32 rw tr no 0

0x1014 - COB-ID EMCY

Object Type Count Label Storage Group
VAR EM_PROD PERSIST_COMM
Data Type SDO PDO SRDO Default Value
UNSIGNED32 rw no no $NODEID+0x80
  • bit 31: If set, EMCY does NOT exist / is NOT valid
  • bit 11-30: set to 0
  • bit 0-10: 11-bit CAN-ID

0x1016 - Consumer heartbeat time

Object Type Count Label Storage Group
ARRAY HB_CONS PERSIST_COMM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x08
0x01 Consumer heartbeat time UNSIGNED32 rw no no 0x00000000
0x02 Consumer heartbeat time UNSIGNED32 rw no no 0x00000000
0x03 Consumer heartbeat time UNSIGNED32 rw no no 0x00000000
0x04 Consumer heartbeat time UNSIGNED32 rw no no 0x00000000
0x05 Consumer heartbeat time UNSIGNED32 rw no no 0x00000000
0x06 Consumer heartbeat time UNSIGNED32 rw no no 0x00000000
0x07 Consumer heartbeat time UNSIGNED32 rw no no 0x00000000
0x08 Consumer heartbeat time UNSIGNED32 rw no no 0x00000000

Consumer Heartbeat Time: * bit 24-31: set to 0 * bit 16-23: Node ID of the monitored node. If 0 or greater than 127, sub-entry is not used. * bit 0-15: Heartbeat time in ms (if 0, sub-intry is not used). Value should be higher than the corresponding producer heartbeat time.

0x1017 - Producer heartbeat time

Object Type Count Label Storage Group
VAR HB_PROD PERSIST_COMM
Data Type SDO PDO SRDO Default Value
UNSIGNED16 rw no no 0

Heartbeat producer time in ms (0 = disable transmission).

0x1018 - Identity

Object Type Count Label Storage Group
RECORD PERSIST_COMM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x04
0x01 Vendor-ID UNSIGNED32 ro no no 0x00000000
0x02 Product code UNSIGNED32 ro no no 0x00000000
0x03 Revision number UNSIGNED32 ro no no 0x00000000
0x04 Serial number UNSIGNED32 ro no no 0x00000000
  • Vendor-ID, assigned by CiA
  • Product code, manufacturer specific
  • Revision number:
  • bit 16-31: Major revision number (CANopen behavior has changed)
  • bit 0-15: Minor revision num. (CANopen behavior has not changed)
  • Serial number, manufacturer specific

0x1200 - SDO server parameter

Object Type Count Label Storage Group
RECORD SDO_SRV RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 2
0x01 COB-ID client to server (rx) UNSIGNED32 ro t no $NODEID+0x600
0x02 COB-ID server to client (tx) UNSIGNED32 ro t no $NODEID+0x580

Sub-indexes 1 and 2: * bit 11-31: set to 0 * bit 0-10: 11-bit CAN-ID

0x1400 - RPDO communication parameter

Object Type Count Label Storage Group
RECORD RPDO PERSIST_COMM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x05
0x01 COB-ID used by RPDO UNSIGNED32 rw no no $NODEID+0x80000200
0x02 Transmission type UNSIGNED8 rw no no 254
0x05 Event timer UNSIGNED16 rw no no 0
  • COB-ID used by RPDO:
  • bit 31: If set, PDO does not exist / is not valid
  • bit 11-30: set to 0
  • bit 0-10: 11-bit CAN-ID
  • Transmission type:
  • Value 0-240: synchronous, processed after next reception of SYNC object
  • Value 241-253: not used
  • Value 254: event-driven (manufacturer-specific)
  • Value 255: event-driven (device profile and application profile specific)
  • Event timer in ms (0 = disabled) for deadline monitoring.

0x1401 - RPDO communication parameter

Object Type Count Label Storage Group
RECORD RPDO PERSIST_COMM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x05
0x01 COB-ID used by RPDO UNSIGNED32 rw no no $NODEID+0x80000300
0x02 Transmission type UNSIGNED8 rw no no 254
0x05 Event timer UNSIGNED16 rw no no 0
  • COB-ID used by RPDO:
  • bit 31: If set, PDO does not exist / is not valid
  • bit 11-30: set to 0
  • bit 0-10: 11-bit CAN-ID
  • Transmission type:
  • Value 0-240: synchronous, processed after next reception of SYNC object
  • Value 241-253: not used
  • Value 254: event-driven (manufacturer-specific)
  • Value 255: event-driven (device profile and application profile specific)
  • Event timer in ms (0 = disabled) for deadline monitoring.

0x1402 - RPDO communication parameter

Object Type Count Label Storage Group
RECORD RPDO PERSIST_COMM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x05
0x01 COB-ID used by RPDO UNSIGNED32 rw no no $NODEID+0x80000400
0x02 Transmission type UNSIGNED8 rw no no 254
0x05 Event timer UNSIGNED16 rw no no 0
  • COB-ID used by RPDO:
  • bit 31: If set, PDO does not exist / is not valid
  • bit 11-30: set to 0
  • bit 0-10: 11-bit CAN-ID
  • Transmission type:
  • Value 0-240: synchronous, processed after next reception of SYNC object
  • Value 241-253: not used
  • Value 254: event-driven (manufacturer-specific)
  • Value 255: event-driven (device profile and application profile specific)
  • Event timer in ms (0 = disabled) for deadline monitoring.

0x1403 - RPDO communication parameter

Object Type Count Label Storage Group
RECORD RPDO PERSIST_COMM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x05
0x01 COB-ID used by RPDO UNSIGNED32 rw no no $NODEID+0x80000500
0x02 Transmission type UNSIGNED8 rw no no 254
0x05 Event timer UNSIGNED16 rw no no 0
  • COB-ID used by RPDO:
  • bit 31: If set, PDO does not exist / is not valid
  • bit 11-30: set to 0
  • bit 0-10: 11-bit CAN-ID
  • Transmission type:
  • Value 0-240: synchronous, processed after next reception of SYNC object
  • Value 241-253: not used
  • Value 254: event-driven (manufacturer-specific)
  • Value 255: event-driven (device profile and application profile specific)
  • Event timer in ms (0 = disabled) for deadline monitoring.

0x1600 - RPDO mapping parameter

Object Type Count Label Storage Group
RECORD PERSIST_COMM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Number of mapped application objects in PDO UNSIGNED8 rw no no 0
0x01 Application object 1 UNSIGNED32 rw no no 0x00000000
0x02 Application object 2 UNSIGNED32 rw no no 0x00000000
0x03 Application object 3 UNSIGNED32 rw no no 0x00000000
0x04 Application object 4 UNSIGNED32 rw no no 0x00000000
0x05 Application object 5 UNSIGNED32 rw no no 0x00000000
0x06 Application object 6 UNSIGNED32 rw no no 0x00000000
0x07 Application object 7 UNSIGNED32 rw no no 0x00000000
0x08 Application object 8 UNSIGNED32 rw no no 0x00000000
  • Number of mapped application objects in PDO:
  • Value 0: mapping is disabled.
  • Value 1: sub-index 0x01 is valid.
  • Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
  • Application object 1-8:
  • bit 16-31: index
  • bit 8-15: sub-index
  • bit 0-7: data length in bits

0x1601 - RPDO mapping parameter

Object Type Count Label Storage Group
RECORD PERSIST_COMM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Number of mapped application objects in PDO UNSIGNED8 rw no no 0
0x01 Application object 1 UNSIGNED32 rw no no 0x00000000
0x02 Application object 2 UNSIGNED32 rw no no 0x00000000
0x03 Application object 3 UNSIGNED32 rw no no 0x00000000
0x04 Application object 4 UNSIGNED32 rw no no 0x00000000
0x05 Application object 5 UNSIGNED32 rw no no 0x00000000
0x06 Application object 6 UNSIGNED32 rw no no 0x00000000
0x07 Application object 7 UNSIGNED32 rw no no 0x00000000
0x08 Application object 8 UNSIGNED32 rw no no 0x00000000
  • Number of mapped application objects in PDO:
  • Value 0: mapping is disabled.
  • Value 1: sub-index 0x01 is valid.
  • Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
  • Application object 1-8:
  • bit 16-31: index
  • bit 8-15: sub-index
  • bit 0-7: data length in bits

0x1602 - RPDO mapping parameter

Object Type Count Label Storage Group
RECORD PERSIST_COMM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Number of mapped application objects in PDO UNSIGNED8 rw no no 0
0x01 Application object 1 UNSIGNED32 rw no no 0x00000000
0x02 Application object 2 UNSIGNED32 rw no no 0x00000000
0x03 Application object 3 UNSIGNED32 rw no no 0x00000000
0x04 Application object 4 UNSIGNED32 rw no no 0x00000000
0x05 Application object 5 UNSIGNED32 rw no no 0x00000000
0x06 Application object 6 UNSIGNED32 rw no no 0x00000000
0x07 Application object 7 UNSIGNED32 rw no no 0x00000000
0x08 Application object 8 UNSIGNED32 rw no no 0x00000000
  • Number of mapped application objects in PDO:
  • Value 0: mapping is disabled.
  • Value 1: sub-index 0x01 is valid.
  • Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
  • Application object 1-8:
  • bit 16-31: index
  • bit 8-15: sub-index
  • bit 0-7: data length in bits

0x1603 - RPDO mapping parameter

Object Type Count Label Storage Group
RECORD PERSIST_COMM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Number of mapped application objects in PDO UNSIGNED8 rw no no 0
0x01 Application object 1 UNSIGNED32 rw no no 0x00000000
0x02 Application object 2 UNSIGNED32 rw no no 0x00000000
0x03 Application object 3 UNSIGNED32 rw no no 0x00000000
0x04 Application object 4 UNSIGNED32 rw no no 0x00000000
0x05 Application object 5 UNSIGNED32 rw no no 0x00000000
0x06 Application object 6 UNSIGNED32 rw no no 0x00000000
0x07 Application object 7 UNSIGNED32 rw no no 0x00000000
0x08 Application object 8 UNSIGNED32 rw no no 0x00000000
  • Number of mapped application objects in PDO:
  • Value 0: mapping is disabled.
  • Value 1: sub-index 0x01 is valid.
  • Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
  • Application object 1-8:
  • bit 16-31: index
  • bit 8-15: sub-index
  • bit 0-7: data length in bits

0x1800 - TPDO communication parameter

Object Type Count Label Storage Group
RECORD TPDO PERSIST_COMM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x06
0x01 COB-ID used by TPDO UNSIGNED32 rw no no $NODEID+0xC0000180
0x02 Transmission type UNSIGNED8 rw no no 254
0x03 Inhibit time UNSIGNED16 rw no no 0
0x05 Event timer UNSIGNED16 rw no no 0
0x06 SYNC start value UNSIGNED8 rw no no 0
  • COB-ID used by RPDO:
  • bit 31: If set, PDO does not exist / is not valid
  • bit 30: If set, NO RTR is allowed on this PDO
  • bit 11-29: set to 0
  • bit 0-10: 11-bit CAN-ID
  • Transmission type:
  • Value 0: synchronous (acyclic)
  • Value 1-240: synchronous (cyclic every (1-240)-th sync)
  • Value 241-253: not used
  • Value 254: event-driven (manufacturer-specific)
  • Value 255: event-driven (device profile and application profile specific)
  • Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled).
  • Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled).
  • SYNC start value
  • Value 0: Counter of the SYNC message shall not be processed.
  • Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.

0x1801 - TPDO communication parameter

Object Type Count Label Storage Group
RECORD TPDO PERSIST_COMM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x06
0x01 COB-ID used by TPDO UNSIGNED32 rw no no $NODEID+0xC0000280
0x02 Transmission type UNSIGNED8 rw no no 254
0x03 Inhibit time UNSIGNED16 rw no no 0
0x05 Event timer UNSIGNED16 rw no no 0
0x06 SYNC start value UNSIGNED8 rw no no 0
  • COB-ID used by RPDO:
  • bit 31: If set, PDO does not exist / is not valid
  • bit 30: If set, NO RTR is allowed on this PDO
  • bit 11-29: set to 0
  • bit 0-10: 11-bit CAN-ID
  • Transmission type:
  • Value 0: synchronous (acyclic)
  • Value 1-240: synchronous (cyclic every (1-240)-th sync)
  • Value 241-253: not used
  • Value 254: event-driven (manufacturer-specific)
  • Value 255: event-driven (device profile and application profile specific)
  • Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled).
  • Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled).
  • SYNC start value
  • Value 0: Counter of the SYNC message shall not be processed.
  • Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.

0x1802 - TPDO communication parameter

Object Type Count Label Storage Group
RECORD TPDO PERSIST_COMM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x06
0x01 COB-ID used by TPDO UNSIGNED32 rw no no $NODEID+0xC0000380
0x02 Transmission type UNSIGNED8 rw no no 254
0x03 Inhibit time UNSIGNED16 rw no no 0
0x05 Event timer UNSIGNED16 rw no no 0
0x06 SYNC start value UNSIGNED8 rw no no 0
  • COB-ID used by RPDO:
  • bit 31: If set, PDO does not exist / is not valid
  • bit 30: If set, NO RTR is allowed on this PDO
  • bit 11-29: set to 0
  • bit 0-10: 11-bit CAN-ID
  • Transmission type:
  • Value 0: synchronous (acyclic)
  • Value 1-240: synchronous (cyclic every (1-240)-th sync)
  • Value 241-253: not used
  • Value 254: event-driven (manufacturer-specific)
  • Value 255: event-driven (device profile and application profile specific)
  • Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled).
  • Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled).
  • SYNC start value
  • Value 0: Counter of the SYNC message shall not be processed.
  • Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.

0x1803 - TPDO communication parameter

Object Type Count Label Storage Group
RECORD TPDO PERSIST_COMM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x06
0x01 COB-ID used by TPDO UNSIGNED32 rw no no $NODEID+0xC0000480
0x02 Transmission type UNSIGNED8 rw no no 254
0x03 Inhibit time UNSIGNED16 rw no no 0
0x05 Event timer UNSIGNED16 rw no no 0
0x06 SYNC start value UNSIGNED8 rw no no 0
  • COB-ID used by RPDO:
  • bit 31: If set, PDO does not exist / is not valid
  • bit 30: If set, NO RTR is allowed on this PDO
  • bit 11-29: set to 0
  • bit 0-10: 11-bit CAN-ID
  • Transmission type:
  • Value 0: synchronous (acyclic)
  • Value 1-240: synchronous (cyclic every (1-240)-th sync)
  • Value 241-253: not used
  • Value 254: event-driven (manufacturer-specific)
  • Value 255: event-driven (device profile and application profile specific)
  • Inhibit time in multiple of 100µs, if the transmission type is set to 254 or 255 (0 = disabled).
  • Event timer interval in ms, if the transmission type is set to 254 or 255 (0 = disabled).
  • SYNC start value
  • Value 0: Counter of the SYNC message shall not be processed.
  • Value 1-240: The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message.

0x1A00 - TPDO mapping parameter

Object Type Count Label Storage Group
RECORD PERSIST_COMM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Number of mapped application objects in PDO UNSIGNED8 rw no no 3
0x01 Application object 1 UNSIGNED32 rw no no 0x603F0010
0x02 Application object 2 UNSIGNED32 rw no no 0x60410010
0x03 Application object 3 UNSIGNED32 rw no no 0x60610008
0x04 Application object 4 UNSIGNED32 rw no no 0x00000000
0x05 Application object 5 UNSIGNED32 rw no no 0x00000000
0x06 Application object 6 UNSIGNED32 rw no no 0x00000000
0x07 Application object 7 UNSIGNED32 rw no no 0x00000000
0x08 Application object 8 UNSIGNED32 rw no no 0x00000000
  • Number of mapped application objects in PDO:
  • Value 0: mapping is disabled.
  • Value 1: sub-index 0x01 is valid.
  • Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
  • Application object 1-8:
  • bit 16-31: index
  • bit 8-15: sub-index
  • bit 0-7: data length in bits

0x1A01 - TPDO mapping parameter

Object Type Count Label Storage Group
RECORD PERSIST_COMM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Number of mapped application objects in PDO UNSIGNED8 rw no no 2
0x01 Application object 1 UNSIGNED32 rw no no 0x60640020
0x02 Application object 2 UNSIGNED32 rw no no 0x606C0020
0x03 Application object 3 UNSIGNED32 rw no no 0x00000000
0x04 Application object 4 UNSIGNED32 rw no no 0x00000000
0x05 Application object 5 UNSIGNED32 rw no no 0x00000000
0x06 Application object 6 UNSIGNED32 rw no no 0x00000000
0x07 Application object 7 UNSIGNED32 rw no no 0x00000000
0x08 Application object 8 UNSIGNED32 rw no no 0x00000000
  • Number of mapped application objects in PDO:
  • Value 0: mapping is disabled.
  • Value 1: sub-index 0x01 is valid.
  • Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
  • Application object 1-8:
  • bit 16-31: index
  • bit 8-15: sub-index
  • bit 0-7: data length in bits

0x1A02 - TPDO mapping parameter

Object Type Count Label Storage Group
RECORD PERSIST_COMM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Number of mapped application objects in PDO UNSIGNED8 rw no no 3
0x01 Application object 1 UNSIGNED32 rw no no 0x60770010
0x02 Application object 2 UNSIGNED32 rw no no 0x22040110
0x03 Application object 3 UNSIGNED32 rw no no 0x22040210
0x04 Application object 4 UNSIGNED32 rw no no 0x00000000
0x05 Application object 5 UNSIGNED32 rw no no 0x00000000
0x06 Application object 6 UNSIGNED32 rw no no 0x00000000
0x07 Application object 7 UNSIGNED32 rw no no 0x00000000
0x08 Application object 8 UNSIGNED32 rw no no 0x00000000
  • Number of mapped application objects in PDO:
  • Value 0: mapping is disabled.
  • Value 1: sub-index 0x01 is valid.
  • Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
  • Application object 1-8:
  • bit 16-31: index
  • bit 8-15: sub-index
  • bit 0-7: data length in bits

0x1A03 - TPDO mapping parameter

Object Type Count Label Storage Group
RECORD PERSIST_COMM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Number of mapped application objects in PDO UNSIGNED8 rw no no 0
0x01 Application object 1 UNSIGNED32 rw no no 0x00000000
0x02 Application object 2 UNSIGNED32 rw no no 0x00000000
0x03 Application object 3 UNSIGNED32 rw no no 0x00000000
0x04 Application object 4 UNSIGNED32 rw no no 0x00000000
0x05 Application object 5 UNSIGNED32 rw no no 0x00000000
0x06 Application object 6 UNSIGNED32 rw no no 0x00000000
0x07 Application object 7 UNSIGNED32 rw no no 0x00000000
0x08 Application object 8 UNSIGNED32 rw no no 0x00000000
  • Number of mapped application objects in PDO:
  • Value 0: mapping is disabled.
  • Value 1: sub-index 0x01 is valid.
  • Value 2-8: sub-indexes 0x01 to (0x02 to 0x08) are valid.
  • Application object 1-8:
  • bit 16-31: index
  • bit 8-15: sub-index
  • bit 0-7: data length in bits

Manufacturer Specific Parameters

0x2001 - Communication Setting 设备通信参数

Object Type Count Label Storage Group
RECORD PERSIST_COMM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x01
0x01 Node_Id UNSIGNED8 rw no no 0

设置Node_Id，范围1～127。设置更新后需先保存参数（详见对象1010h），然后重新上电才会生效。

0x2003 - MIT Control Parameter MIT控制参数

Object Type Count Label Storage Group
RECORD RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x07
0x01 MIT目标位置 INTEGER32 rw no no 0
0x02 MIT目标速度 INTEGER32 rw no no 0
0x03 MIT目标力矩 INTEGER32 rw no no 0
0x04 MIT KP UNSIGNED16 rw no no 0
0x05 MIT KD UNSIGNED16 rw no no 0
0x06 MIT KP/KD Limit UNSIGNED16 rw no no 0
0x07 MIT KP/KD Factor UNSIGNED16 ro no no 0

MIT目标位置，单位Rev，Q21格式。 MIT目标速度，单位Rev/s，Q21格式。 MIT目标力矩，单位N/m，Q21格式。 MIT KP增益，无量纲，范围0～10000。（到国际单位的转换详见07h子对象） MIT KD增益，无量纲，范围0～10000。（到国际单位的转换详见07h子对象） MIT 比例\微分项输出力矩限制值，单位为峰值力矩的千分之一，范围0～1000。 MIT KP\KD增益尺度因子， Q21格式。尺度因子的作用是方便系统内部对上述KP\KD增益进行一个缩放，实际比例\微分项的计算公式分别如下所示：

  • KP增益 × 尺度因子 × 位置误差（Rev）≡ 比例项输出力矩（Nm）
  • KD增益 × 尺度因子 × 速度误差（Rev/s）≡ 微分项输出力矩（Nm）

0x2040 - Short-Circuit Braking Enable 短路制动使能

Object Type Count Label Storage Group
VAR PERSIST_COMM
Data Type SDO PDO SRDO Default Value
UNSIGNED8 rw no no 0

设置电机失能或发生故障后是否短接绕组以维持制动状态。

  • 0：不短接绕组，电机靠外部摩擦而实现自然停止。
  • 1：短接绕组实现紧急停止，并维持电机处于制动状态。

0x2204 - Temperature Actual Value 温度实际值

Object Type Count Label Storage Group
RECORD RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x02
0x01 驱动器温度实际值 UNSIGNED16 ro t no 0
0x02 电机温度实际值 UNSIGNED16 ro t no 0

驱动器温度实际值，单位0.1℃。 电机温度实际值，单位0.1℃。

0x3000 - Padding Byte 填充字节

Object Type Count Label Storage Group
RECORD RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x03
0x01 Byte UNSIGNED8 rw no no 0
0x02 HalfWord UNSIGNED16 rw no no 0
0x03 Word UNSIGNED32 rw no no 0

单字节填充符，可用于PDO映射占位。 2字节填充符，可用于PDO映射占位。 4字节填充符，可用于PDO映射占位。

0x3001 - Position Preset 位置预设

Object Type Count Label Storage Group
RECORD RAM
Sub Name Data Type SDO PDO SRDO Default Value
0x00 Highest sub-index supported UNSIGNED8 ro no no 0x02
0x01 Position Preset Value INTEGER32 rw no no 0
0x02 Option Code UNSIGNED32 rw no no 0

位置预设值，范围0.0～1.0，单位Rev，Q21格式。 位置预设选项码：

  • 仅能在“Switch On Disabled”状态下写入有效，其他状态下写入无效。
  • 在“Switch On Disabled”状态下写入0x73657270可将当前位置设置为3001h_01h的设定值并自动保存，设置成功后自动清零。

Device Profile Specific Parameters

0x603F - Error Code 错误码

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
UNSIGNED16 ro t no 0

当驱动器出现故障时，603Fh显示相应的错误码，错误码与CiA402子协议规定的错误码一致

0x6040 - Control Word 控制字

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
UNSIGNED16 rw r no 0
  • bit 0: Switch On
  • bit 1: Enable Voltage
  • bit 2: Quick Stop
  • bit 3: Enable Operation
  • bit 4～6: Operation Mode Specific
  • bit 7: Fault Reset
  • bit 8: Halt(暂不支持)
  • bit 9～10: Reserved
  • bit 11～15: Manufacturer Specific

0x6041 - Status Word 状态字

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
UNSIGNED16 rw t no 0
  • bit 0: Ready To Switch On
  • bit 1: Switch On
  • bit 2: Operation Enabled
  • bit 3: Fault
  • bit 4: Voltage Enable
  • bit 5: Quick Stop
  • bit 6: Switch On Disable
  • bit 7: Warning
  • bit 8: Homing Completed
  • bit 9: Remote
  • bit 10: Target Reached
  • bit 11: Internal Limit Active
  • bit 12～13: Operation Mode Specific
  • bit 14～15: Manufacturer Specific

注意：

  • 状态字的每一个bit位单独读取无意义，必须与其他位共同组合，反映驱动器当前的状态。
  • bit0～bit9 在各运行模式下意义相同，控制字6040h按顺序发送命令后，驱动器切换到一确定的状态。
  • bit12～bit13与各运行模式相关(请查看不同模式下的控制命令)。

0x6060 - Modes Of Operation 运行模式

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
INTEGER8 rw r no 0

选择运行模式：

  • 设定值 0: 保留。
  • 设定值 1: 轮廓位置模式。
  • 设定值 2: 保留。
  • 设定值 3: 轮廓速度模式。
  • 设定值 4: 力矩模式。
  • 设定值 5: MIT模式。
  • 设定值 6: 保留。
  • 设定值 7: 位置插补模式。
  • 设定值 8: 直接Vs控制模式
  • 其他值: 保留。

0x6061 - Modes Of Operation Display 运行模式显示

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
INTEGER8 ro t no 0

显示当前运行模式：

  • 设定值 0: 保留。
  • 设定值 1: 轮廓位置模式。
  • 设定值 2: 保留。
  • 设定值 3: 轮廓速度模式。
  • 设定值 4: 力矩模式。
  • 设定值 5: MIT模式。
  • 设定值 6: 保留。
  • 设定值 7: 位置插补模式。
  • 设定值 8: 直接Vs控制模式
  • 其他值: 保留。

0x6064 - Position Actual Value 实际位置值

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
INTEGER32 ro t no 0

反馈当前电机的实际位置，单位Rev，Q21格式。

0x606C - Velocity Actual Value 速度实际值

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
INTEGER32 ro t no 0

反馈当前电机的实际速度，单位Rev/s，Q21格式。电机会进行滤波，如果需要自行调整滤波，请结合 6064h 和 1013h 在上位机计算

0x6071 - Target Torque 目标力矩

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
INTEGER16 rw tr no 0

设置力矩模式下的目标力矩值，单位为峰值力矩 6076h 的千分之一，范围-1000～+1000。

0x6072 - Max Torque 最大力矩

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
UNSIGNED16 rw tr no 0

设置各个运行模式下允许输出的最大力矩值，单位为峰值力矩的千分之一，范围0～1000。

0x6076 - Motor Peak Torque 峰值力矩

Object Type Count Label Storage Group
VAR CONSTANTS
Data Type SDO PDO SRDO Default Value
UNSIGNED32 ro no no 0

峰值力矩值，单位为mNm。该值由厂商出厂标定，不可更改。

0x6077 - Torque Actual Value 力矩实际值

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
INTEGER16 ro t no 0

反馈当前的实际力矩，单位为峰值力矩的千分之一。

0x60FF - Target Velocity 目标速度

Object Type Count Label Storage Group
VAR RAM
Data Type SDO PDO SRDO Default Value
INTEGER32 rw tr no 0

设置轮廓速度模式下的目标速度，单位Rev/s，Q21格式。