Object list

4096

0

0x1000

0

Device type

CiA402: 0x00020192

4097

0

0x1001

0x2001

0

Error register

0: Generic error

7: Manufacturer specific

8300

26

Software version

24639

0

0x603F

0x703F

0

Error code

0x0: No error

0x1000: Collective fault

• See 

Min: 0

Max: 65535

Step: 1

Default: 0

24640

0

0x6040

0x7040

0

Control word

0: Switch on

1: Enable voltage

2: Quick stop

3: Enable operation

4. Operation mode specific

• hm: Homing operation start
• pp: accept new setpoint

5: Operation mode specific

• See 

6: Operation mode specific

• See 

7: Fault reset

8: Stop

9: Operation mode specific

10: Reserved

11: Manufacturer specific

12: Manufacturer specific

13: Manufacturer specific

14: Manufacturer specific

• release brake without enableWhen the function is released under drive function FCB 01.

15: Manufacturer specific

Min: 0

Max: 65536

24641

0

0x6041

0x7041

0

Status word

0: Ready to switch on

1: Switched on

2: Operation enabled

3: Fault reset

4: Voltage enabled

5: Quick stop

6: Switch on disabled

7: Warning

8: Manufacturer specific

9: Remote

10. Operation mode specific

• pp: target reached
• csp, csv, cst: status toggle

11: Internal limit active

12: Operation mode specific

• csp, csv, cst: drive follows command value
• hm: homing attained

13: hm: error

14: Manufacturer specific

15: Manufacturer specific

Min: 0

Max: 65536

24666

0

0x605A

0x705A

0

Quick stop operation mode

2: Slow down on quick stop ramp and transit into switch on disabled

6: Slow down on quick stop ramp and stay in quick stop active

Min: -32767

Max: 32767

24669

0

0x605D

0x705D

0

Halt option code

1: Slow down ramp

Default: 0

24670

0

0x605E

0x705E

0

Fault reaction option code

-1: Slow down with 2147483647 inc/s

2: Slow down on quick stop ramp

Min: -32767

Max: 32767

Default: -1

24672

0

0x6060

0x7060

0

Mode of operation

0: No mode assigned

1: pp

3: pv

6: hm

8: csp

9: csv

10: cst

-13: Stop at application limitation

-14: Emergency stop

-18: Rotor position identification

-19: Position hold control

-21: Brake test

-25: Motor parameter measurement

Min: -128

Max: 127

Default: 0

24673

0

0x6061

0x7061

0

Mode of operation display

0: No mode assigned

1: pp

3: pv

6: hm

8: csp

9: csv

10: cst

-18: Rotor position identification

-19: Position hold control

-21: Brake test

-23: Brake test safety card

-25: Motor parameter measurement

Min: -128

Max: 127

Default: 0

24676

0

0x6064

0x7064

0

Position actual value

Min: -2147483648

Max: 2147483647

Step: 1

Default: 0

24677

0

0x6065

0x7065

0

Following error window

Min: -1

Max: 2147483647

Step: 1

Default: -1

24678

0

0x6066

0x7066

0

Following error timeout

Min: 0

Max: 65535

Step: 1

Default: 0

24684

0

0x606C

0x706C

0

Velocity actual value

Min: -2147483648

Max: 2147483647

Step: 1

Default: 0

24689

0

0x6071

0x7071

0

Target torque

 Scaling: 0.1% Nominal motor torque

Min: -32768

Max: 32768

Step: 1

Default: 0

24690

0

0x6072

0x7072

0

Max torque

Scaling: 0.1% Nominal motor torque

Min: 0

Max: 32767

Default: 5000

24695

0

0x6077

0x7077

0

Torque actual value

 Scaling: 0.1% Nominal motor torque

Min: -32768

Max: 32768

Step: 1

Default: 0

24698

0

0x607A

0x707A

0

Target position

Min: -32768

Max: 32768

Step: 1

Default: 0

24699

0

0x607B

0x707B

0

Position range limit: high subindex support

Min: 0

Max: 2

Step: 1

Default: 2

24699

1

0x607B

0x707B

1

Position range limit: min range limit

Min: -1073741824

Max: 1073741823

Step: 1

Default: 0

24699

2

0x607B

0x707B

2

Position range limit: min range limit

Min: -1073741824

Max: 1073741823

Step: 1

Default: 0

24700

0

0x607B

0x707B

0

Home offset

Min: -2147483648

Max: 2147483647

Step: 1

Default: 0

24701

0

0x607D

0x707D

0

Software pos limit: high subindex support

Min: 0

Max: 2

Step: 1

Default: 2

24701

1

0x607D

0x707D

1

Software pos limit: min pos limit

Min: -2147483648

Max: 2147483647

Step: 1

Default: 0

24701

2

0x607D

0x707D

2

Software pos limit: max pos limit

Min: -2147483648

Max: 2147483647

Step: 1

Default: 0

24705

0

0x6081

0x7081

0

Profile velocity

Min: -2147483648

Max: 2147483647

Step: 1

Default: 0

24707

0

0x6083

0x7083

0

Profile acceleration

Min: -2147483648

Max: 2147483647

Step: 1

Default: 0

24708

0

0x6084

0x7084

0

Profile deceleration

Min: -2147483648

Max: 2147483647

Step: 1

Default: 300000

24709

0

0x6085

0x7085

0

Quick stop deceleration

Min: 0

Max: 2147483647

Step: 1

24728

0

0x6098

0x7098

0

Homing method

1: Negative limit switch and index pulse

2: Positive limit switch and index pulse

10: Positive cam end and index pulse

14: Negative cam end and index pulse

17: Negative limit switch w/o index pulse

18: Positive limit switch w/o index pulse

26: Positive cam end w/o index pulse

30: Negative cam end w/o index pulse

33: Negative index pulse

37: Current position

Min: -128

Max: 127

Default: 37

24729

0

0x6099

0x7099

0

Homing speeds: high subindex support

Min: 0

Max: 2

Step: 1

Default: 2

24729

1

0x6099

0x7099

1

Homing speeds: during search for switch

Min: 0

Max: 2147483647

Step: 1

Default: 2000000

24729

2

0x6099

0x7099

2

Homing speeds: during search for zero

Min: 0

Max: 2147483647

Step: 1

Default: 500000

24730

0

0x609A

0x709A

0

Homing accelerations

Min: 0

Max: 2147483647

Step: 1

Default: 300000

24752

0

0x60B0

0x70B0

0

Position offset

Min: -2147483647

Max: 2147483647

Step: 1

Default: 0

24753

0

0x60B1

0x70B1

0

Velocity offset

Min: 0

Max: 2147483647

Step: 1

Default: 0

24754

0

0x60B2

0x70B2

0

Torque offset

Scaling: 0.1% Nominal motor torque

Min: -32768

Max: 32768

Step: 1

Default: 0

24760

0

0x60B8

0x70B8

0

Touch probe function

0: Touch probe 1: enable

1: Touch probe 1: continuous

2: Touch probe 1: trigger source:

• 0 = Touch probe input
• 1 = Zero encoder

3: Touch probe 1: trigger source from object 0x60D0.01

4: Touch probe 1: enable positive edge

5: Touch probe 1: enable negative edge

6: Touch probe 1: user defined 0

7: Touch probe 1: user defined 1

8: Touch probe 2: enable

9: Touch probe 2: continuous

10: Touch probe 2: trigger source:

• 0 = Touch probe input
• 1 = Zero encoder

11: Touch probe 2: trigger source from 0x60D0.01

12: Touch probe 2: enable positive edge

13: Touch probe 2: enable negative edge

14: Touch probe 1: user defined 0

15: Touch probe 1: user defined 1

Min: 0

Max: 65536

Default: 0

24761

0

0x60B9

0x70B9

0

Touch probe status

0: Touch probe 1: enabled

1: Touch probe 1: positive edge position stored

2: Touch probe 1: negative edge position stored

8: Touch probe 2: enabled

9: Touch probe 2: positive edge position stored

10: Touch probe 10: negative edge position stored

Min: 0

Max: 65536

Default: 0

24762

0

0x60BA

0x70BA

0

Touch probe 1: positive edge

Min: -2147483648

Max: 2147483647

Step: 1

Default: 0

24763

0

0x60BB

0x70BB

0

Touch probe 1: negative edge

Min: -2147483648

Max: 2147483647

Step: 1

Default: 0

24764

0x60BC

0x70BC

0

Touch probe 2: positive edge

Min: -2147483648

Max: 2147483647

Step: 1

Default: 0

24765

0x60BD

0x70BD

0

Touch probe 2: negative edge

Min: -2147483648

Max: 2147483647

Step: 1

Default: 0

24770

0

0x60C2

0x70C2

0

Interpolation time: high subindex support

Min: 0

Max: 2

Step: 1

Default: 2

24770

1

0x60C2

0x70C2

1

Interpolation time: interpolation time period value

Min: 0

Max: 2

Step: 1

Default: 1

24770

2

0x60C2

0x70C2

2

Interpolation time: Interpolation time index

Min: 0

Max: 2

Step: 1

Default: -3

24784

0

0x60D0

0x70D0

0

Touch probe source: high subindex support

Min: 0

Max: 2

Step: 1

Default: 2

24784

1

0x60D0

0x70D0

1

Touch probe source

0: Reserved

1: Digital input 1

2: Digital input 2

3: Digital input 3

4: Digital input 4

5: Hardware zero impulse

Min: -32767

Max: 32767

Default: 0

24789

0

0x60D5

0x70D5

0

Touch probe 1: positive edge counter

Min: 0

Max: 65535

Step: 1

Default: 0

24790

0

0x60D6

0x70D6

0

Touch probe 1: negative edge counter

Min: 0

Max: 65535

Step: 1

Default: 0

24791

0

0x60D7

0x70D7

0

Touch probe 2: positive edge counter

Min: 0

Max: 65535

Step: 1

Default: 0

24792

0

0x60D8

0x70D8

0

Touch probe 2: negative edge counter

Min: 0

Max: 65535

Step: 1

Default: 0

24800

0

0x60E0

0x70E0

0

Positive torque limit value

Scaling: 0.1% Nominal motor torque

Min: 0

Max: 32767

Step: 1

Default: 5000

24801

0

0x60E1

0x70E1

0

Negative torque limit value

Scaling: 0.1% Nominal motor torque

Min: 0

Max: 32767

Step: 1

Default: 5000

24803

0

0x60E3

0x70E3

0

Supported homing methods: high index support

Min: 0

Max: 10

Step: 1

Default: 10

24803

1

0x60E3

0x70E3

1

Supported homing methods

0: Current position (37)

1: Negative limit switch and index pulse (1)

2: Positive limit switch and index pulse (2)

3: Positive cam end and index pulse (10)

4: Negative cam end and index pulse (14)

5: Negative limit switch w/o index pulse (17)

6: Positive limit switch w/o index pulse (18)

7: Positive cam end w/o index pulse (26)

8: Negative cam end w/o index pulse (30)

9: Negative index pulse (33)

1: Negative limit switch and index pulse

2: Positive limit switch and index pulse

10: Positive cam end and index pulse

14: Negative cam end and index pulse

17: Negative limit switch w/o index pulse

18: Positive limit switch w/o index pulse

26: Positive cam end w/o index pulse

30: Negative cam end w/o index pulse

33: Negative index pulse

37: Current position

Min: -128

Max: 127

24818

0

0x60F2

0x70F2

0

Positioning option code

0: Normal positioning

64: Only negative direction

128: Only positive direction

192: Shortest way

Min: 0

Max: 10

Step: 1

Default: 0

24820

0

0x60F4

0x70F4

0

Following error actual value

Min: -2147483648

Max: 2147483647

Step: 1

Default: 0

24829

0

0x60FD

0x70FD

0

Digital inputs; logical value

0: Negative limit switch

1: Positive limit switch

2: Home switch

3: Interlock

Min: 0

Max: 4294967295

Default: 0

24831

0

0x60FF

0x70FF

0

Target velocity

Min: -2147483648

Max: 2147483647

Step: 1

Default: 0

25858

0

0x6502

0x7502

0

Supported drive modes

0: Profile position mode (pp)

2: Profile velocity mode (pv)

5: Homing mode (hm)

7: Cyclic synchronous position mode (csp)

8: Cyclic synchronous velocity mode (csv)

9: Cyclic synchronous torque mode (cst)

Min: 0

Max: 2147483647

Default: 933

61520

0XF050

0

Module detected list

4: Number of pluggable modules

Default: 4

61520

0XF050

1

<>0: Module 1 (slot 1) process data present

61520

0XF050

1

<>0: Module 2 (slot 2) FSoE present

61520

0XF050

1

<>0: Module 3 (slot 3) process data present

61520

61520

1

<>0: Module 4 (slot 4) FSoE present