User guide

Name Index Description Access Mapped
PDO1 Rx Comm. 0x1800
PDO1: transmit communication
parameter.
R/W N
PDO2 Tx Comm. 0x1801 PDO2: transmit communication
parameter.
R/W N
PDO3 Tx Comm. 0x1802 PDO3: transmit communication
parameter.
R/W N
PDO4 Tx Comm. 0x1803 PDO4: transmit communication
parameter.
R/W N
PDO1 Tx Map. 0x1A00 PDO1: transmit mapping parameter. R/W N
PDO2 Tx Map. 0x1A01 PDO2: transmit mapping parameter. R/W N
PDO3 Tx Map. 0x1A02 PDO3: transmit mapping parameter. R/W N
PDO4 Tx Map 0x1A03 PDO4: transmit mapping parameter. R/W N
PVT data 0x2001 Bytes describing PVT command. W Y
PT data 0x2002 Bytes describing PT command. W Y
Fast position 0x2003 Reserved for future real-time positioning
modes.
ECAM data 0x2004 Fast, auto-increment entry to ECAM
table.
W Y
Binar
y
interpreter
input
0x2012
Set binary interpreter command. W Y
Binar
y
interpreter
output
0x2013
Get binary interpreter command. R Y
Recorded data
output
0x2030 Contains recorded data according to
request in RC binary command.
R N
Group ID 0x2040 Identifier used to address a group of
drives for coordinated commands.
R/W N
Amplifier free
running timer
0x2041 Transmits accurate 32-bit timer of drive. R Y
CAN controller
status
0x2082 CAN controller status register. R Y
Begin on time 0x208A Used to start a synchronized motion
according to internal free running timer.
R/W N
Firmware
download
0x2090 Similar to DF command. W N
Auxiliary
position actual
value
0x20A0 Actual position as taken from auxiliary
sensor input (PY).
R Y
Position error 0x20A1 Position error as calculated from
command and actual position value. (PE).
R Y
CANopen DS 301 Implementation Guide The Object Dictionary
MAN-CAN301IG (Ver. 2.1)
3-3