对象表

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：无故障

0x1000：集中故障

• 另见 

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

• 另见 

6：Operation mode specific

• 另见 

7：Fault reset

8：Halt

9：Operation mode specific

10：Reserved

11：Manufacturer specific

12：Manufacturer specific

13：Manufacturer specific

14：Manufacturer specific

• release brake without enable如果该功能在驱动功能FCB 01下启用。

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： Stopp an Applikationsgrenzen

-14： Notstopp

-18：转子位置辨识

-19：保持控制

-21：制动器测试

-25：电机参数测量

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：转子位置辨识

-19：保持控制

-21：制动器测试

-23：安全卡制动测试

-25：电机参数测量

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 acutal 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: continous

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: continous

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 troque mode (cst)

Min: 0

Max: 2147483647

Default: 933

61520

0XF050

0

Module detected list

4：可插拔模块数量

Default: 4

61520

0XF050

1

<>0：模块1（插槽1）过程数据可用

61520

0XF050

1

<>0：模块2（插槽2）FSoE可用

61520

0XF050

1

<>0：模块3（插槽3）过程数据可用

61520

61520

1

<>0：模块4（插槽4）FSoE可用