CANOpen Implementation

Guide V1.0
 CANOpen Implementation Guide Manual Pag. 2

1 Index
1 Index................................................................................................................. 2
2 Introduction ........................................................................................................ 7
2.1 Scope ........................................................................................................... 7
2.2 CANopen....................................................................................................... 7
2.3 Cabling and pin assignment ............................................................................. 8
2.4 Cabling Hints ................................................................................................. 8
3 CANopen Basics................................................................................................... 9
3.1 Physical Layer ................................................................................................ 9
3.2 Client - Server relations ................................................................................ 10
3.3 Object Dictionary ......................................................................................... 11
3.4 Communication Objects ................................................................................. 11
3.5 Object Dictionary data types .......................................................................... 12
3.6 The Object Dictionary ................................................................................... 13
3.7 Service data Objects SDO .............................................................................. 15
3.8 Initiate SDO Download Protocol ...................................................................... 15
3.9 Download SDO Segment Protocol .................................................................... 17
3.10 Initiate SDO Upload Protocol ....................................................................... 18
3.11 Upload SDO Segment Protocol ..................................................................... 19
3.12 Abort SDO Transfer Protocol ........................................................................ 20
3.13 Example using SDO expedited Transfer ......................................................... 22
3.14 Process data Objects PDO ........................................................................... 24
3.15 Emergency Object (EMCY) .......................................................................... 25
3.16 Emergency object data ............................................................................... 25
3.17 Synchronization Object (SYNC) .................................................................... 26
3.18 Network Management (NMT) ....................................................................... 26
3.19 The Bootup protocol ................................................................................... 28
4 Communication Profile ........................................................................................ 28
4.1 Object 1000h – Device Type .......................................................................... 28
4.2 Object 1001h – Error Register ........................................................................ 29
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4.3 Object 1003h – Pre-defined error field ............................................................. 30

4.4 Object 1005h - COB-ID SYNC message ............................................................ 31
4.5 Object 1006h - Communication Cycle Period ..................................................... 32
4.6 Object 1007h - Synchronous Window Length .................................................... 33
4.7 Object 1008h: Manufacturer Device Name ........................................................ 33
4.8 Object 1009h: Manufacturer Hardware Version ................................................. 34
4.9 Object 100Ah: Manufacturer Software Version .................................................. 34
4.10 Object 1010h - Save parameters .................................................................. 35
4.11 Object 1011h - Restore default parameters .................................................... 36
4.12 Object 1014h - COB-ID Emergency Object ..................................................... 36
4.13 Object 1015h - Inhibit Time EMCY ................................................................ 37
4.14 Object 1016h - Consumer Heartbeat Time ..................................................... 38
4.15 Object 1017h: Producer Heartbeat Time ........................................................ 39
4.16 Object 1018h: Identity Object ..................................................................... 40
4.17 Object 1029h - Error behavior ..................................................................... 41
4.18 Object 1200h - Server SDO Parameter .......................................................... 42
4.19 Object 1400h:1403h - Receive PDO communication parameter ........................ 44
4.20 Object 1600h - 17FFh: Receive PDO Mapping Parameter .................................. 47
4.21 Object 1800h - 1803h: Transmit PDO Communication Parameter ...................... 48
4.21.1 Event time .......................................................................................... 50
4.21.2 Inhibit time ......................................................................................... 50
4.22 Object 1A00h - 1A03h: Transmit PDO Mapping Parameter ................................ 50
5 Manufacturer-specific Objects .............................................................................. 52
5.1 Object 2100h – Manufacturer specific error register ........................................... 52
5.2 Object 2F80h – Boot NMT Status .................................................................... 52
5.3 Object 2F81h – Status word masking .............................................................. 53
6 Device Control................................................................................................... 55
6.1 General Information ..................................................................................... 55
6.2 State machine ............................................................................................. 56
6.3 Object Description ........................................................................................ 61
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6.3.1 Object 6040h: Controlword....................................................................... 61

6.3.2 Object 6041h: Statusword ........................................................................ 63
6.3.3 Object 6060h: Modes of operation ............................................................. 66
6.4 Object 6061h: Modes of operation display ........................................................ 67
7 Profile Position Mode .......................................................................................... 69
7.1 General Information ..................................................................................... 69
7.2 Objects ....................................................................................................... 69
7.2.1 Object 607Ah: Target Position ................................................................... 69
7.2.2 Object 607Bh: Position range limit ............................................................. 70
7.2.3 Object 607Dh: Software position limit ........................................................ 71
7.2.4 Object 6081h: Profile velocity ................................................................... 72
7.2.5 Object 6083h: Profile acceleration ............................................................. 73
7.2.6 Object 6084h: Profile deceleration ............................................................. 73
7.2.7 Object 6085h: Quick stop deceleration ....................................................... 74
7.2.8 Object 6086h: Motion profile type .............................................................. 74
8 Homing Mode .................................................................................................... 77
8.1 General information ...................................................................................... 77
8.2 Object description ........................................................................................ 77
8.2.1 Object 607Ch: Home offset ...................................................................... 77
8.2.2 Object 6098h: Homing method ................................................................. 78
8.2.3 Object 6099h: Homing speeds .................................................................. 79
8.2.4 Object 609Ah: Homing acceleration ........................................................... 80
8.3 Functional description ................................................................................... 81
8.4 Homing methods .......................................................................................... 81
8.4.1 Method 1: Homing on the negative limit switch and index pulse ..................... 82
8.4.2 Method 2: Homing on the positive limit switch and index pulse ....................... 82
8.4.3 Methods 3 and 4: Homing on the positive home switch and index pulse ........... 83
8.4.4 Methods 5 and 6: Homing on the negative home switch and index pulse .......... 84
8.4.5 Methods 7 to 14: Homing on the home switch and index pulse ....................... 85
8.4.6 Methods 17 to 30: Homing without an index pulse ....................................... 87
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8.4.7 Methods 33 to 34: Homing on the index pulse ............................................. 88

8.4.8 Method 35: Homing on the current position ................................................. 88
9 Position control function ...................................................................................... 90
9.1 General information ...................................................................................... 90
9.2 Object description ........................................................................................ 90
9.2.1 Object 6062h: Position demand value ........................................................ 90
9.2.2 Object 6063h: Position actual value ........................................................... 91
9.2.3 Object 6064h: Position actual value ........................................................... 91
9.2.4 Object 6065h: Following error window ........................................................ 92
9.2.5 Object 6066h: Following error time out ...................................................... 92
9.2.6 Object 6067h: Position window ................................................................. 93
9.2.7 Object 6068 : Position window time ........................................................... 94
9.2.8 Object 60F4h: Following error actual value .................................................. 94
9.2.9 Object 60FAh: Control effort ..................................................................... 95
9.2.10 Object 60FBh: Position control parameter set ........................................... 95
10 Interpolated Position Mode .................................................................................. 97
10.1 Object description ...................................................................................... 97
10.1.1 Object 60C0h: Interpolation Sub Mode Select ............................................ 97
10.1.2 Object 60C1h: Interpolation data record ................................................... 98
10.2 ................................................................................................................... 99
10.2.1 Object 60C2h: Interpolation time period ................................................... 99
10.2.2 Object 60C3h: Interpolation sync definition ............................................. 100
10.2.3 Object 60C4h: Interpolation data configuration ........................................ 101
11 Profile Velocity Mode ........................................................................................ 105
11.1 Object description .................................................................................... 105
11.1.1 Object 6069h: Velocity sensor actual value............................................. 105
11.1.2 Object 606Bh: Velocity demand value ................................................... 105
11.1.3 Object 606C : Velocity actual value ....................................................... 106
11.1.4 Object 606Dh: Velocity window ............................................................ 106
11.1.5 Object 606Eh: Velocity window time ...................................................... 107
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11.1.6 Object 606F: Velocity threshold ............................................................ 108

11.1.7 Object 6070h: Velocity threshold time ................................................... 108
11.1.8 Object 60FFh: Target velocity............................................................... 109
11.1.9 Object 60F9h: Velocity control parameter set ......................................... 109

Notice:

• This guide is delivered subject to the following conditions and restrictions: This guide contains
proprietary information belonging to Motor power Company Srl. Such information is supplied solely
for the purpose of assisting users of the MPC Devices and Servo drive in its installation and
configuration.
• The text and graphics included in this manual are for the purpose of illustration and reference only.
The specifications on which they are based are subject to change without notice.
• Motor power Company and the Motor power Company logo are trademarks of Motor power
Company Srl.
• Information in this document is subject to change without notice.

Version Date Author Note

1.0 01/11/2020 Maurizio Piccinelli Initial Release
 CANOpen Implementation Guide Manual Pag. 7

2 Introduction

2.1 Scope

This manual describes, in detail, the CANOpen implementation of Motor Power Company
Devices.

2.2 CANopen

CANopen is a standard established by the association ”CAN in Automation". A great number of

device manufacturers are organized in this association. This standard has replaced most of all
manufacturer-specific CAN protocols, now a manufacturer independent communication
interface is available for the user:

CiA Draft Standard 201...207: In these standards the general network administration and
the transfer of objects are determined. This book is rather comprehensive. The relevant aspects
are treated in the CANopen manual in hand so that it is not necessary in general to acquire the
DS201..207.

CiA Draft Standard 301: In this standard the basic structure of the object dictionary of a
CANopen device and the access to this directory are described. Besides this the statements
made in the DS201..207 are described in detail. The elements needed for the the object
directory and the access methods which belong to them are described in the present manual.
It is advisable to acquire the DS301 but not necessary.

CiA Draft Standard 402: This standard describes the concrete implementation of CANopen in
servo controllers. Though all implemented objects are also briefly documented and described
in this CANopen manual the user should own this book.
 CANOpen Implementation Guide Manual Pag. 8

Any information on CANopen protocol can be found at [Link]

2.3 Cabling and pin assignment

Follow the installation Guide of each device to find out the correct pinout
configuration.

Please carefully respect the following information and notes for the
cabling of the controller to get a stable and undisturbed communication
system. A non-professional cabling can cause malfunctions of the CAN
bus which hence the controller to shut down with an error.

2.4 Cabling Hints

The CAN bus offers an easy and safe way to connect all parts of a plant. As condition all
following instructions must be respected carefully.

Image 1: Can Bus Cabling

✗ All nodes of a network are principally connected in series, so that the CAN cable is looped
through all controllers.
✗ The two ends of the CAN cable must be terminated by a resistor of 120Ω +/- 5%. Please
note that such a resistor is often already installed in CAN cards or the PLC.
✗ For cabling shielded cable with exactly two twisted pairs must be used.
➔ One twisted pair is used for CAN-H and CAN-L.
 CANOpen Implementation Guide Manual Pag. 9

➔ One twisted pair is used commonly for CAN-GND.

➔ The shield of the cable is connected to CAN-SHIELD at all nodes.
✗ A table with technical data of suitable cables can be found at the end of this chapter.
✗ Recommended cables can be found in the product manual.
✗ We dissuade from using connectors in between the CAN bus line. If it is still necessary
to
✗ use connectors, assure that the connection of the shield is done by using metallic cases.
✗ For less noise injection principally
➔ never place motor cables parallel to signal cables.
➔ use only motor cables specified by Motor Power Company.
➔ shield and earth motor cables correctly.
✗ For further information refer to the Controller Area Network protocol specification, Ver.
2.0, Robert Bosch GmbH, 1991.
✗ Technical data CAN bus cable:
2 twisted pairs, d ≥ 0,22 mm2 shielded
loop resistance < 0,2 Ω/m
char. impedance 100-120 Ω

120Ω Termination resistor

No termination resistor is integrated in Motor Power Company Devices.

3 CANopen Basics

This chapter describes — in general — the CANopen communication features most relevant to
Motor Power Company Devices. More detailed information is available in the specific CANopen
documentation.

3.1 Physical Layer

CAN is a serial communication standard in which the transferred data is coded as electrical
pulses on a two-wire communication line. The device that handles the CAN physical layer is
 CANOpen Implementation Guide Manual Pag. 10

called the CAN controller. The device that transmits data over the CAN lines is called the CAN
transceiver.

For all the information regarding the connection, please check the Device Installation Guide
Manual.

3.2 Client - Server relations

A CAN master (or client) is a controller that makes requests to nodes to respond to its
commands. A CAN slave (or server) responds to the commands issued by the CAN master. The
CAN protocol permits both single-master and multiple-master networks.

The Device assume a single-master network arrangement, in which the devices are the slaves
and the machine controller or PLC is the master.

Every servo drive has a unique ID in the range [1…127]. The network master does not require
an ID. As slave, the device never sends an unrequested message, other than emergencies. The
drive responds only to messages addressed to its ID or to broadcast messages, which have an
ID of 0. All messages sent by a servo drive are marked with its own ID.

If two servo drives have been assigned the same ID, the CAN network
may crash.
 CANOpen Implementation Guide Manual Pag. 11

3.3 Object Dictionary

An object dictionary (OD) is a naming system that gives a unique identifier to each data item
— or “object” —that is communicated over the CAN bus. An object is identified by an index
and, if it is a complex object, also by a sub-index. A CANopen client can manipulate an object
of a CANopen server by referring to its identifier, according to the access permission of the
object. (An object’s access permission may be read-only, write-only, or read-write.)

CiA DS 301 requires a set of mandatory objects for all CANopen devices. Other OD items are
predefined by CiA DS 301 to have fixed identifiers, if supported. The OD also accommodates
manufacturer-specific objects.

3.4 Communication Objects

The data-byte units transported through a CAN network are called communication objects
(COBs). The Device uses the following COB types:

COB Type Description

NMT objects are used by CAN clients to initialize a servo drive
Network Management (NMT)
as a server.
Emergency messages are used by the servo drives to warn of
an exception. The EMCY is the only COB type that a servo drive
Emergency (EMCY) may transmit without first being explicitly asked. EMCY objects
are like servo drive “interrupts”: they eliminate the need to poll
the servo drive continuously for the emergency status.
PDO messages are used to manipulate OD objects without
explicit reference to the object identifier, which is possible if
there is an a-priori convention concerning the OD item
Process data object (PDO)
referenced. Such conventions are called “PDO mappings”; these
are actually OD objects themselves and may be defined and
manipulated using an SDO.
SDO messages are used to manipulate OD objects according to
their IDs. The server receives the SDO, which specifies in its
message which object is to be dealt with.
Service data object (SDO)
SDO messages can be chained to form a “domain transfer,”
which is useful for sending large data items such as long strings.
Domain transfers are time-consuming because the CAN bus is
 CANOpen Implementation Guide Manual Pag. 12

half-duplex. Each time a data segment is downloaded, a full-

sized data segment is uploaded for verification, and vice versa.
Table 1: Communication Object used by Device

The type of COB transmitted is indicated in the arbitration field of the message, and thereby
determines its priority. The relation between bits 8 to 11 of the arbitration field (COB-ID) and
the COB type is presented in the following table:

COB Type Bits 8-11 COB-ID ID Range

NMT 0000 0
SYNC 0001 128 (80h)
Time Stamp 0010 256 (100h)
Emergency 0001 129 .. 255 (81h .. 255h)
PDO1 – Transmit 0011 513 .. 639 (181h .. 1FFh)
PDO1 – Receive 0100 641 .. 767 (281h .. 2FFh)
PDO2 – Transmit 0101 897 .. 1023 (381h .. 3FFh)
PDO2 – Receive 0110
PDO3 – Transmit 0111
PDO3 – Receive 1000
PDO4 – Transmit 1001
PDO4 – Receive 1010
SDO – Transmit 1011
SDO – Receive 1100
Error control (node guarding) 1110 1739 .. 1919 (701h .. 77FFh)

3.5 Object Dictionary data types

The Device CAN controller supports the following data types:

Index Object Name

0002 DEFTYPE Integer8
0003 DEFTYPE Integer16
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0004 DEFTYPE Integer32

0005 DEFTYPE Unsigned8
0006 DEFTYPE Unsigned16
0007 DEFTYPE Unsigned32
0008 DEFTYPE Floating Point(Float)
0009 DEFTYPE Visible String
0020 DEFSTRUCT PDO communication parameter
0021 DEFSTRUCT PDO Mapping
0023 DEFSTRUCT Identity
0081 DEFTYPE DSP 402 Interpolated data record

Data Objects 0002 to 0004 are used as map able “dummy” entries.

3.6 The Object Dictionary

The most important part of a device profile is the Object Dictionary description. The Object
Dictionary is essentially a grouping of objects accessible via the network in an ordered pre-
defined fashion. Each object within the dictionary is addressed using a 16-bit index.

The overall layout of the standard Object Dictionary is shown below. This layout closely
conforms with other industrial serial bus system concepts:

Index (hex) Object

0000 Not used
0001-001F Static data types
0020-003F Complex data types
0040-005F Manufacturer specific Complex data types
0060-007F Device Profile Specific Static Data Types
0080-009F Device Profile Specific Complex Data Types
00A0-0FFF Reserved for further us
1000-1FFF Communication Profile Area
2000-5FFF Manufacturer Specific Profile Area
6000-9FFF Standardized Device Profile Area
 CANOpen Implementation Guide Manual Pag. 14

A000-FFFF Reserved for further use

The Object Dictionary may contain a maximum of 65536 entries which are addressed through
a 16-bit index.
 CANOpen Implementation Guide Manual Pag. 15

3.7 Service data Objects SDO

Motor Power Company Devices use a single transmit server SDO (COB 581h-6ffh) and a single
receive server SDO (COB601h-67fh). This is according to CiA definitions and priority allocations
for 11-bit addressing.

When using SDOs, it is important to remember that:

✓ An SDO has a lower priority than a PDO.

✓ An SDO session is not complete until it is confirmed.

For example, if an SDO is used to change a PDO mapping, the SDO should be issued only after
the last session in which the PDO is completed, and the newly-mapped PDO should not be used
until the SDO mapping change is confirmed.

3.8 Initiate SDO Download Protocol

This protocol is used to implement the Initiate SDO Download service for SDOs.

Client to server:

Byte 0 Byte 1 – 3 Byte 4 - 7

7..5 4 3..2 1 0 - -
css=1 x N e s m d (data)

Server to client:

Byte 0 Byte 1 – 3 Byte 4 - 7

7..5 4..0 - -
scs=3 x m reserved

Where:
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css Client command specifier

1: Initiate download request

scs Server command specifier

3: Initiate download response

n Number of bytes in d that do not contain data. Only valid if e = 1 and s = 1;

otherwise it is 0. Bytes [8-n, 7] do not contain data.

e Transfer type

0: Normal transfer

1: Expedited transfer

s Size indicator

0: Data set size is not indicated

1: Data set size is indicated

m Multiplexor. Represents index/sub-index of data to be transferred by SDO.

d Data

e = 0, s = 0: d is reserved for future use.

e = 0, s = 1: d contains number of bytes to be downloaded.

Byte 4 contains LSB and byte 7 contains MSB.

e = 1, s = 1: d contains data of length 4-n to be downloaded. The encoding

depends on the type of data referenced by index and sub-index.

e = 1, s = 0: d contains an unspecified number of bytes to be

downloaded.

x Not used; always 0.

reserved Reserved for future use; always 0.

 CANOpen Implementation Guide Manual Pag. 17

3.9 Download SDO Segment Protocol

This protocol is used to implement the Download SDO Segment service.

Client to server:

Byte 0 Byte 1 – 7
7..5 4 3..1 0 -
css=0 t n c Segment - data

Server to client:

Byte 0 Byte 1 – 7
7..5 4 3..0 -
css=1 t x reserved

Where:

ccs: client command specifier

0: download segment request

scs: server command specifier

1: download segment response

seg-data: at most 7 bytes of segment data to be downloaded. The encoding

depends on the type of the data referenced by index and sub-index

n: indicates the number of bytes in seg-data that do not contain segment

data. Bytes [8-n, 7] do not contain segment data. n = 0 if no segment
size is indicated.

c: indicates whether there are still more segments to be downloaded.

0 more segments to be downloaded
1: no more segments to be downloaded

t: toggle bit. This bit must alternate for each subsequent segment that is
downloaded. The firstnsegment will have the toggle-bit set to 0. The
toggle bit will be equal for the request and the response message.
x: not used, always 0
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reserved: reserved for further use, always 0

3.10 Initiate SDO Upload Protocol

This protocol is used to implement the Initiate SDO Upload service.

Client to server:

Byte 0 Byte 1 – 3 Byte 4 – 7

7..5 4..0 - -
css=2 x m reserved

Server to client:

Byte 0 Byte 1 – 3 Byte 4 - 7

7..5 4 3..2 1 0 - -
css=2 x n e s m d (data)

Where:

ccs: client command specifier

2: initiate upload request
scs: server command specifier
2: initiate upload response

n: Only valid if e = 1 and s = 1, otherwise 0. If valid it indicates the number

of bytes in d that do not contain data. Bytes [8-n, 7] do not contain
segment data.

e: transfer type
0: normal transfer
1: expedited transfer

s: size indicator
0: data set size is not indicated
1: data set size is indicated

m: multiplexor. It represents the index/sub-index of the data to be transfer

by the SDO.
 CANOpen Implementation Guide Manual Pag. 19

d: data
e = 0, s = 0: d is reserved for further use.
e = 0, s = 1: d contains the number of bytes to be uploaded.
Byte 4 contains the lsb and byte 7 contains the msb.
e = 1, s = 1: d contains the data of length 4-n to be uploaded,
the encoding depends on the type of the data referenced by index and
sub-index e = 1, s = 0: d contains unspecified number of bytes to be
uploaded.
x: not used, always 0

reserved: reserved for further use , always 0

3.11 Upload SDO Segment Protocol

This protocol is used to implement the Upload SDO Segment service.

Client to server:

Byte 0 Byte 1 – 7
7..5 4 3..0 -
css=2 t x reserved

Server to client:

Byte 0 Byte 1 – 7
7..5 4 3..1 0 -
css=0 t n c Segment - data

Where:

ccs: client command specifier

3: upload segment request

scs: server command specifier

0: upload segment response
 CANOpen Implementation Guide Manual Pag. 20

t: toggle bit. This bit must alternate for each subsequent segment that is
uploaded. The first segment will have the toggle-bit set to 0. The toggle
bit will be equal for the request and the response message.

c: indicates whether there are still more segments to be uploaded.

0: more segments to be uploaded
1: no more segments to be uploaded

seg-data: at most 7 bytes of segment data to be uploaded. The encoding depends

on the type of the data referenced by index and sub-index

n: indicates the number of bytes in seg-data that do not contain segment

data. Bytes [8-n, 7] do not contain segment data. n = 0 if no segment
size is indicated.

x: not used, always 0

reserved: reserved for further use, always 0

3.12 Abort SDO Transfer Protocol

This protocol is used to implement the Abort SDO Transfer Service.

Client to server:

Byte 0 Byte 1 – 3 Byte 4 – 7

7..5 4..0 - -
cs=4 x m d (data)

Where:

cs: command specifier

4: abort transfer request

x: not used, always 0

m: multiplexor. It represents index and sub-index of the SDO.

d: contains a 4 byte abort code about the reason for the abort.
 CANOpen Implementation Guide Manual Pag. 21

the abort code is encoded as UNSIGNED32 value.

Abort Code Description

0503 0000h Toggle bit not alternated.
0504 0000h SDO protocol timed out.
0504 0001h Client/server command specifier not valid or unknown.
0504 0002h Invalid block size (block mode only).
0504 0003h Invalid sequence number (block mode only).
0504 0004h CRC error (block mode only)
0504 0005h Out of memory.
0601 0000h Unsupported access to an object.
0601 0001h Attempt to read a write only object.
0601 0002h Attempt to write a read only object.
0602 0000h Object does not exist in the object dictionary.
0604 0041h Object cannot be mapped to the PDO.
0604 0042h The number and length of the objects to be mapped would exceed PDO
length.
0604 0043h General parameter incompatibility reason.
0604 0047h General internal incompatibility in the device.
0606 0000h Access failed due to an hardware error.
0607 0010h Data type does not match, length of service parameter does not match
0607 0012h Data type does not match, length of service parameter too high
0607 0013h Data type does not match, length of service parameter too low
0609 0011h Sub-index does not exist.
0609 0030h Value range of parameter exceeded (only for write access).
0609 0031h Value of parameter written too high.
0609 0032h Value of parameter written too low.
0609 0036h Maximum value is less than minimum value.
0800 0000h general error
0800 0020h Data cannot be transferred or stored to the application.
0800 0021h Data cannot be transferred or stored to the application because of local
control.
0800 0022h Data cannot be transferred or stored to the application because of the
present device state.
0800 0023h Object dictionary dynamic generation fails or no object dictionary is
present (e.g. object dictionary is generated from file and generation
fails because of an file error).
 CANOpen Implementation Guide Manual Pag. 22

The abort codes not listed here are reserved.

3.13 Example using SDO expedited Transfer

Here below some sample for reading and writing different objects:

UINT8/INT8

Reading Object: 6061-00h

Returning data: 01h

Command: 40h 61h 60h 00h

Answer: 4Fh 61h 60h 00h 01h

Writing Object: 1401-02h

Data: EFh

Command: 2Fh 01h 14h 02h EFh

Answer: 60h 01h 14h 02h

UINT16/INT16

Reading Object: 6041-00h

Returning data: 1234h

Command: 40h 41h 60h 00h

Answer: 4Bh 41h 60h 00h 34h 12h

Writing Object: 6040-00h

Data: 03E8h

Command: 2Bh 40h 60h 00h E8h 03h

Answer: 60h 01h 60h 00h

UINT32/INT32

Reading Object: 6093-01h

Returning data: 12345678h
 CANOpen Implementation Guide Manual Pag. 23

Command: 40h 93h 60h 01h

Answer: 43h 93h 60h 01h 78h 56h 34h 12h

Writing Object: 6093-01h

Data: 12345678h

Command: 23h 93h 60h 01h 78h 56h 34h 12h

Answer: 60h 93h 60h 01h

Always wait for the acknowledge of the controller!

Only if a request has been acknowledged by the controller it can send the next
request.
 CANOpen Implementation Guide Manual Pag. 24

3.14 Process data Objects PDO

Process Data Objects (PDOs) are suitable to transmit data event-controlled, whereat
the PDO contains one or more predefined parameters. In contrast to SDOs no hand-
shake is used. So the receiver has to be able to handle an arriving PDO at any time. In
most cases this requires a great deal of software in the host computer. This
disadvantage is in contrast to the advantage that the host computer does not need
cyclically inquiry of the objects embedded in a PDO, which means a strong reduction of
bus load.

Following types of PDO can be used:

Servo controller sends PDO if

Transmit PDO (TPDO) Device → Host
a certain event occurs
Servo controller evaluates
Receive PDO (RPDO) Host → Device
PDO if a certain event occurs

The servo controller disposes of four Transmit- and four Receive-PDOs.

Almost all parameters can be embedded (mapped) into a PDO, i.e. the PDO is for
example composed of the velocity actual value, the position actual value or the like.
 CANOpen Implementation Guide Manual Pag. 25

3.15 Emergency Object (EMCY)

Emergency objects are triggered by the occurrence of a device internal error situation
and are transmitted from an emergency producer on the device. Emergency objects
are suitable for interrupt type error alerts. An emergency object is transmitted only
once per 'error event'. As long as no new errors occur on a device no further emergency
objects must be transmitted.
The emergency object may be received by zero or more emergency consumers. The
reaction on the emergency consumer(s) is not specified and does not fall in the scope
of this document.
By means of this specification emergency error codes and the error register are
specified.

3.16 Emergency object data

The Emergency Telegram consists of 8 bytes with the data as shown below.
 CANOpen Implementation Guide Manual Pag. 26

3.17 Synchronization Object (SYNC)

The Synchronization Object is broadcasted periodically by the SYNC producer. This

SYNC provides the basic network clock. The time period between the SYNCs is specified
by the standard parameter communication cycle period (see Object 1006h:
Communication Cycle Period), which may be written by a configuration tool to the
application devices during the boot-up process. There can be a time jitter in
transmission by the SYNC producer corresponding approximately to the latency due to
some other message being transmitted just before the SYNC.
In order to guarantee timely access to the CAN bus the SYNC is given a very high
priority identifier (1005h).

COB-ID=0080h NO DATA

3.18 Network Management (NMT)

NMT commands are used to control the communication state of the servo drive and to
broadcast manufacturer messages to all other connected servo drives.

The NMT message contains only 2 data byte, with the following format:

COB-ID=0000h NMT-command node-id

The following network communication states are supported, with the following
communication type.

State Description SDO PDO NMT SYNC

Servo drive is not ready, or it is booting.
Inizialization Drive will not respond to communication - - - -
and will not transmit anything.
Servo drive boot sequence is complete, but
Pre-operational no command has been received to enter X - X X
operational mode. The servo drive will
 CANOpen Implementation Guide Manual Pag. 27

respond to SDO and NMT messages, but

not to PDOs.
Servo drive is fully operational, responding
Operational X X X X
to PDO, SDO and NMT messages.
Servo drive can respond only to NMT
Stopped - - X -
objects (including heartbeats).
Tabella 2: Network Management

Here below we can find the NMT state machine with all the allowed transitions.

Image 2: State diagram

The transition (2) from Initialization state to Pre-Operational state is done automatically
by the servo.

The following NMT commands are supported:

Command Specifier Service

1 (01h) Start Remote Node (3)(6)
2 (02h) Stop Remote Node (8)(5)
128 (80h) Enter Pre-Operational state (4)(7)
129 (81h) Reset node (12)(13)(14)
 CANOpen Implementation Guide Manual Pag. 28

130 (82h) Reset communication (9)(10)(11)

3.19 The Bootup protocol

This protocol is used to signal that an NMT slave has entered the pre-operational node
state after the initializing state. The protocol uses the same identifier as the error
control protocols.

COB-ID=1792+node-id 0

Only one byte with 0 (zero) value is transmitted.

4 Communication Profile

This chapter define all the Device object available in the communication profile area of
the Object Dictionary.

4.1 Object 1000h – Device Type

This object contains information about the device type and functionality. It is comprised
of a 16-bit field that describes the device profile used, and a second 16-bit field that
gives additional information about optional functionality of the device.

MSB LSB
BYTE 4 BYTE 3 BYTE 2 BYTE 1
Additional Information Device profile Number

Object Description:
 CANOpen Implementation Guide Manual Pag. 29

Index 1000h
Name Device type
Object code VAR
Data Type UNSIGNED32
Category Mandatory

Entry Description:

Access Read Only

PDO Mapping NO
Value Range UNSIGNED32
Default Value 0x191

4.2 Object 1001h – Error Register

This object is an error register for the device.

Object Description:

Index 1001h
Name Error Register
Object code VAR
Data Type UNSIGNED8
Category Mandatory

Entry Description:

Access Read Only

PDO Mapping NO
Value Range UNSIGNED8
Default Value 0x0

Data description:
 CANOpen Implementation Guide Manual Pag. 30

bit Meaning
0 Generic Error
1 Current
2 Voltage
3 Temperature
4 Communication Error
5 Device Profile Specific
6 Reserved
7 Manufacturer Specific

If a bit is set to 1, the specified error has occurred.

4.3 Object 1003h – Pre-defined error field

The object at index 1003h holds the errors that have occurred on the device and have
been signaled via the Emergency Object. In doing so it provides an error history.

1. The entry at sub-index 0 contains the number of actual errors that are recorded
in the array starting at sub-index 1.
2. Every new error is stored at sub-index 1, the older ones move down the list.
3. Writing a „0“ to sub-index 0 deletes the entire error history (empties the array).
4. The error numbers are of type UNSIGNED32 and are composed of a 16 bit error
code and a 16 bit additional error information field which is manufacturer specific.
The error code is contained in the lower 2 bytes (LSB) and the additional
information is included in the upper 2 bytes (MSB). The Error list contain 8
elements.

MSB LSB
BYTE 4 BYTE 3 BYTE 2 BYTE 1
Additional Information Error Code

Object Description:

Index 1003h
Name Pre-defined error field
Object code ARRAY
 CANOpen Implementation Guide Manual Pag. 31

Data Type UNSIGNED32

Category Optional

Entry Description:

Sub-Index 0
Description Number of actual error
Entry Category Mandatory
Access Read/Write
PDO Mapping NO
Value Range UNSIGNED32
Default Value 0x0

Sub-Index 01 - 08
Description Standard Error Field
Entry Category Mandatory
Access Read
PDO Mapping NO
Value Range UNSIGNED32
Default Value 0x0

4.4 Object 1005h - COB-ID SYNC message

This object defines the COB-ID of the synchronization object (SYNC).

MSB LSB
31 30 29 28-11 10-0
x 0 0 0 11-bit identifier

Object Description:

Index 1005h
Name COB-ID SYNC message
 CANOpen Implementation Guide Manual Pag. 32

Object code VAR

Data Type UNSIGNED32
Category Mandatory

Entry Description:

Access Read/Write
PDO Mapping NO
Value Range UNSIGNED32
Default Value 0x80

4.5 Object 1006h - Communication Cycle Period

This object defines the communication cycle period in µs. This period defines the SYNC
interval. It is 0 if not used. If the communication cycle period on sync producer is
changed to a new value unequal 0 the transmission of sync object resumes within 1
sync cycle of the new value.

Object Description:

Index 1006h
Name Communication Cycle Period
Object code VAR
Data Type UNSIGNED32
Category Conditional; Mandatory for sync
producers

Entry Description:

Access Read/Write
PDO Mapping NO
Value Range UNSIGNED32
Default Value 0x0
 CANOpen Implementation Guide Manual Pag. 33

4.6 Object 1007h - Synchronous Window Length

Contains the length of the time window for synchronous PDOs in ms. It is 0 if not used.

Object Description:

Index 1007h
Name Communication Cycle Period
Object code VAR
Data Type UNSIGNED32
Category Optional

Entry Description:

Access Read/Write
PDO Mapping NO
Value Range UNSIGNED32
Default Value 0x0

4.7 Object 1008h: Manufacturer Device Name

Contains the manufacturer device name.

Object Description:

Index 1008h
Name Manufacturer Device Name
Object code VAR
Data Type Visible String
Category Optional

Entry Description:

Access Read Only

PDO Mapping NO
Value Range -
 CANOpen Implementation Guide Manual Pag. 34

Default Value -

4.8 Object 1009h: Manufacturer Hardware Version

Contains the manufacturer hardware version description.

Object Description:

Index 1009h
Name Manufacturer Hardware Version
Object code VAR
Data Type Visible String
Category Optional

Entry Description:

Access Read Only

PDO Mapping NO
Value Range -
Default Value -

4.9 Object 100Ah: Manufacturer Software Version

Contains the manufacturer software version description.

Object Description:

Index 1008h
Name Manufacturer Software Version
Object code VAR
Data Type Visible String
Category Optional

Entry Description:
 CANOpen Implementation Guide Manual Pag. 35

Access Read Only

PDO Mapping NO
Value Range -
Default Value -

4.10 Object 1010h - Save parameters

This object is used to save parameters in non-volatile memory. Through read access,
the drive provides information about its save capabilities, using:
(a) ƒSub-index 0: Largest supported sub-index
(b) Sub-index 1: Save all parameters
In order to avoid accidental storage, storage is only executed when a specific signature
“save” is written to the appropriate sub-index.

MSB LSB
BYTE 4 BYTE 3 BYTE 2 BYTE 1
“e” “v” “a” “s”
65h 76h 61h 73h

Object Description:

Index 1010h
Name Save parameters
Object code ARRAY
Data Type UNSIGNED32
Category Optional

Entry Description:

Sub-Index 0
Description largest sub-index supported
Entry Category Mandatory
Access Read Only
 CANOpen Implementation Guide Manual Pag. 36

PDO Mapping NO
Value Range UNSIGNED32
Default Value 1

Sub-Index 1
Description Save all parameters
Entry Category Mandatory
Access Read/Write
PDO Mapping NO
Value Range UNSIGNED32
Default Value -

4.11 Object 1011h - Restore default parameters

This object is used to restore parameters from non-volatile memory. Through read
access, the drive provides information about its restore capabilities, using:
(a) ƒSub-index 0: Largest supported sub-index
(b) ƒSub-index 1: Restore all parameters
In order to avoid accidental storage, restore is only executed when a specific signature
“load” is written to the appropriate sub-index.

MSB LSB
BYTE 4 BYTE 3 BYTE 2 BYTE 1
“d” “a” “o” “l”
64h 61h 6Fh 6Ch

4.12 Object 1014h - COB-ID Emergency Object

Index 1014h defines the COB-ID of the Emergency Object (EMCY).

UNSIGNED32
 CANOpen Implementation Guide Manual Pag. 37

MSB LSB
31 30 29 28-11 10-0
Reserved (=0) 0 0 11-bit identifier

Object Description:

Index 1014h
Name COB-ID Emergency Object
Object code VAR
Data Type UNSIGNED32
Category Optional

Entry Description:

Access Read/Write
PDO Mapping NO
Value Range UNSIGNED32
Default Value 0x08+Node-ID

4.13 Object 1015h - Inhibit Time EMCY

The inhibit time for the EMCY message can be adjusted via this entry. The time has to
be a multiple of 100µs.

Object Description:

Index 1014h
Name Inhibit Time EMCY
Object code VAR
Data Type UNSIGNED16
Category Optional

Entry Description:

Access Read/Write
 CANOpen Implementation Guide Manual Pag. 38

PDO Mapping NO
Value Range UNSIGNED16
Default Value 0x00

4.14 Object 1016h - Consumer Heartbeat Time

The consumer heartbeat time defines the expected heartbeat cycle time and thus has
to be higher than the corresponding producer heartbeat time configured on the device
producing this heartbeat.

Monitoring starts after the reception of the first heartbeat. If the consumer heartbeat
time is 0 the corresponding entry is not used. The time has to be a multiple of 1ms.

UNSIGNED32

MSB
LSB
bits 31-24 23-16 15-0
value reserved (value: 00h) Node-ID heartbeat time
encoded as - UNSIGNED8 UNSIGNED16

Object Description:

Index 1016h
Name Consumer Heartbeat Time
Object code ARRAY
Data Type UNSIGNED32
Category Optional

Entry Description:

Sub-Index 0
Description number entries
Entry Category Mandatory
 CANOpen Implementation Guide Manual Pag. 39

Access Read Only

PDO Mapping NO
Value Range UNSIGNED32
Default Value 0x1

Sub-Index 1
Description Consumer Heartbeat Time
Entry Category Mandatory
Access Read/Write
PDO Mapping NO
Value Range UNSIGNED32
Default Value 0

This object is not active and reserved for future implementation.

4.15 Object 1017h: Producer Heartbeat Time

The producer hartbeat time defines the cycle time of the heartbeat. The producer
heartbeat time is 0 if it not used. The time has to be a multiple of 1ms.

Object Description:

Index 1017h
Name Producer Heartbeat Time
Object code VAR
Data Type UNSIGNED16
Category Optional

Entry Description:

Access Read/Write
PDO Mapping NO
Value Range UNSIGNED16
Default Value 0x00

This object is not active and reserved for future implementation.

 CANOpen Implementation Guide Manual Pag. 40

4.16 Object 1018h: Identity Object

The object at index 1018h contains general information about the device.
The Vendor ID (sub-index 1h) contains a unique value allocated to each manufacturer.
The manufacturer-specific Product code (sub-index 2h) identifies a specific device
version.
The manufacturer-specific Revision number (sub-index 3h) consists of a major revision
number and a minor revision number. The major revision number identifies a specific
CANopen behavior. If the CANopen functionality is expanded, the major revision has to
be incremented. The minor revision number identifies different versions with the same
CANopen behavior.

Object Description:

Index 1018h
Name Identity Object
Object code ARRAY
Data Type Identity
Category Optional

Entry Description:

Sub-Index 0
Description number entries
Entry Category Mandatory
Access Read Only
PDO Mapping NO
Value Range UNSIGNED32
Default Value 0x4

Sub-Index 1
Description Vendor ID
Entry Category Mandatory
Access Read Only
 CANOpen Implementation Guide Manual Pag. 41

PDO Mapping NO
Value Range UNSIGNED32
Default Value -

Sub-Index 2
Description Product code
Entry Category Mandatory
Access Read Only
PDO Mapping NO
Value Range UNSIGNED32
Default Value -

Sub-Index 3
Description Revision Number
Entry Category Mandatory
Access Read Only
PDO Mapping NO
Value Range UNSIGNED32
Default Value -

Sub-Index 4
Description Serial Number
Entry Category Mandatory
Access Read Only
PDO Mapping NO
Value Range UNSIGNED32
Default Value -

4.17 Object 1029h - Error behavior

This object reports the CAN communication state after a heartbeat failure. The value of
the object asserts that after such a failure, the CAN communication state is:
 CANOpen Implementation Guide Manual Pag. 42

0: Pre-operational (only if current state is operational)

1: No state change
2: Stopped

The default value is 1 (no state change).

Object Description:

Index 1029h
Name Error behavior
Object code ARRAY
Data Type UNSIGNED8
Category Optional

Entry Description:

Sub-Index 0
Description Number of error classes
Entry Category Mandatory
Access Read Only
PDO Mapping NO
Value Range UNSIGNED8
Default Value 0x1

Sub-Index 1
Description Communication error
Entry Category Mandatory
Access Read/Write
PDO Mapping NO
Value Range UNSIGNED8
Default Value 1

4.18 Object 1200h - Server SDO Parameter

 CANOpen Implementation Guide Manual Pag. 43

This object is used to describe the SDO used on a device. The data type has the index
22h in the object dictionary. The number of supported entries in the SDO object record
is specified by sub-index 0h. The values at 1h and 2h specify the COB-ID for this SDO.
Sub-index 3 gives the server of the SDO if the record describes an SDO for which the
device is a client, and it gives the client of the SDO if the record describes an SDO for
which the device is the server. The structure of the SDO COB-ID entry is as follows:

MSB LSB
bits 31 30 29 28-11 10-0
11-bit ID 0/1 0 0 0 11-bit identifier

Bit number Value Meaning

31 0/1 1 = SDO Enabled, 0 = SDO not Enabled
30 0 Reserved (always 0)
29 0 11-bit ID (CAN 2.0A)
28-11 0 (Always 0)
10-0 x SDO COB-ID

Object Description:

Index 1200h
Name Server SDO Parameter
Object code RECORD
Data Type SDO Parameter
Category Optional

Entry Description:

Sub-Index 0
Description Number of entries
Entry Category Mandatory
Access Read Only
PDO Mapping NO
Value Range UNSIGNED8
 CANOpen Implementation Guide Manual Pag. 44

Default Value 0x2

Sub-Index 1
Description COB-ID Client->Server (rx)
Entry Category Mandatory
Access Read Only
PDO Mapping NO
Value Range 601h…67Fh
Default Value 600h+Node-ID

Sub-Index 2
Description COB-ID Server -> Client (tx)
Entry Category Mandatory
Access Read Only
PDO Mapping NO
Value Range 581h … 5FFh
Default Value 580h+Node-ID

4.19 Object 1400h:1403h - Receive PDO communication parameter

Contains the communication parameters for the PDOs the device is able to receive.

MSB LSB
bits 31 30 29 28-11 10-0
11-bit ID 0/1 0 0 0 11-bit identifier

Bit number Value Meaning

31 0/1 1 = PDO Enabled, 0 = PDO not Enabled
30 0 No RTR is allowed
29 0 11-bit ID (CAN 2.0A)
28-11 0 (Always 0)
 CANOpen Implementation Guide Manual Pag. 45

10-0 x PDO COB-ID

The transmission type (sub-index 2) defines the transmission/reception character of

the PDO. Table following Table describes the usage of this entry. On an attempt to
change the value of the transmission type to a value that is not supported by the device
an abort message (abort code: 0609 0030h) is generated.

Transmission type PDO transmission

cyclic acyclic synchronous Asynchronous
0 x x
1-240 x x
241-251 Reserved
254 x
255 x

Synchronous (transmission types 0-240 and 252) means that the transmission of the
PDO shall be related to the SYNC object as described in 9.3. Preferably the devices use
the SYNC as a trigger to output or actuate based on the previous synchronous Receive
PDO respectively to update the data transmitted at the following synchronous Transmit
PDO. Details of this mechanism depend on the device type and are defined in the device
profile if applicable.
Asynchronous means that the transmission of the PDO is not related to the SYNC object.
A transmission type of zero means that the message shall be transmitted synchronously
with the SYNC object but not periodically.
A value between 1 and 240 means that the PDO is transferred synchronously and
cyclically, the transmission type indicating the number of SYNC which are necessary to
trigger PDO transmissions/receptions.

Object Description:

Index 1400h - 1403h

Name Receive PDO parameter
Object code RECORD
Data Type PDO CommPar (object 0x20)
Category Mandatory for supported PDO
 CANOpen Implementation Guide Manual Pag. 46

Entry Description:

Sub-Index 0
Description Number of entries
Entry Category Mandatory
Access Read Only
PDO Mapping NO
Value Range UNSIGNED8
Default Value 0x2

Sub-Index 1
Description COB-ID used by PDO
Entry Category Mandatory
Access Read/Write
PDO Mapping NO
Value Range UNSIGNED32
Default Value Index 1400h: 200h+NODE-ID
Index 1401h: 300h+NODE-ID
Index 1402h: 400h+NODE-ID
Index 1403h: 500h+NODE-ID

Sub-Index 2
Description transmission type
Entry Category Mandatory
Access Read/Write
PDO Mapping NO
Value Range UNSIGNED8
Default Value 0
 CANOpen Implementation Guide Manual Pag. 47

4.20 Object 1600h - 17FFh: Receive PDO Mapping Parameter

Contains the mapping for the PDOs the device is able to receive. The sub-index 0h
contains the number of valid entries within the mapping record. This number of entries
is also the number of the application variables which shall be transmitted/received with
the corresponding PDO. The sub-indices from 1h to number of entries contain the
information about the mapped application variables. These entries describe the PDO
contents by their index, sub-index and length. All three values are hexadecimal coded.
The length entry contains the length of the object in bit (1..8h). This parameter can be
used to verify the overall mapping length. It is mandatory.

The structure of the entries from sub-index 1h – 8h is as follows:

Byte: MSB LSB

Index (16 bit) Sub-index (8 bit) Object length (8 bit)

If the change of the PDO mapping cannot be executed (e.g. the PDO length is exceeded
or the SDO client attempts to map an object that cannot be mapped) the device
responds with an Abort SDO Transfer Service.
Sub-index 0 determines the valid number of objects that have been mapped. For
changing the PDO mapping first sub-index 0 must be set to 0 (mapping is deactivated).
Then the objects can be remapped. When a new object is mapped by writing a sub-
index between 1 and 8, the device may check whether the object specified by index
/sub-index exists. If the object does not exist or the object cannot be mapped, the SDO
transfer must be aborted with the Abort SDO Transfer Service with one of the abort
codes 0602 0000h or 0604 0041h.
After all objects are mapped sub-index 0 is set to the valid number of mapped objects.
When sub-index 0 is set to a value >0 the device may validate the new PDO mapping
before transmitting the response of the SDO service. If an error is detected the device
has to transmit the Abort SDO Transfer Service with one of the abort codes 0602 0000h,
0604 0041h or 0604 0042h.

A device that supports dynamic mapping of PDOs must support this during the state
PRE-OPERATIONAL state. If dynamic mapping during the state OPERATIONAL is
supported, the SDO client is responsible for data consistency.

Object Description:

Index 1600h - 1603h

Name Receive PDO mapping parameters
 CANOpen Implementation Guide Manual Pag. 48

Object code RECORD

Data Type PDO Mapping
Category Mandatory for each supported PDO

Entry Description:

Sub-Index 0
Description Number of entries
Entry Category Mandatory
Access Read/Write
PDO Mapping NO
Value Range 0 deactivated ; 1-8 activated
Default Value 0

Sub-Index N (1-8)
Description PDO mapping for the nth
Entry Category Conditional
Access Read/Write
PDO Mapping NO
Value Range UNSIGNED32
Default Value 0

4.21 Object 1800h - 1803h: Transmit PDO Communication Parameter

Contains the communication parameters for the PDOs the device is able to transmit.
The type of the PDO communication parameter (20h). A detailed description of the
entries is done in the section for the Receive PDO Communication Parameter (1400h –
1403h).

Index 1400h - 1403h

Name Transmit PDO parameter
Object code RECORD
Data Type PDO CommPar (object 0x20)
 CANOpen Implementation Guide Manual Pag. 49

Category Mandatory for supported PDO

Entry Description:

Sub-Index 0
Description Number of entries
Entry Category Mandatory
Access Read Only
PDO Mapping NO
Value Range UNSIGNED8
Default Value 0x2

Sub-Index 1
Description COB-ID used by PDO
Entry Category Mandatory
Access Read/Write
PDO Mapping NO
Value Range UNSIGNED32
Default Value Index 1800h: 180h+NODE-ID
Index 1801h: 280h+NODE-ID
Index 1802h: 380h+NODE-ID
Index 1803h: 480h+NODE-ID

Sub-Index 2
Description transmission type
Entry Category Mandatory
Access Read/Write
PDO Mapping NO
Value Range UNSIGNED8
Default Value 0

Sub-Index 3
Description inhibit time
Entry Category Optional
Access Read/Write
 CANOpen Implementation Guide Manual Pag. 50

PDO Mapping NO
Value Range UNSIGNED16
Default Value 0

Sub-Index 4
Description reserved
Entry Category optional
Access Read/Write
PDO Mapping NO
Value Range UNSIGNED8
Default Value 0

Sub-Index 5
Description Event timer
Entry Category Optional
Access Read/Write
PDO Mapping NO
Value Range 0 not used - UNSIGNED16
Default Value 0

4.21.1 Event time

When a TPDO transmission type is 254 an event time can be used. The event occurs
when the time is elapsed. The event time elapse is a multiple of 1 millisecond of sub-
index 5. It causes the transmission of this PDO in addition to other asynchronous events.
The occurrence of an event sets the timer again. A value of 0 disables this function.
4.21.2 Inhibit time
Inhibit time specifications do not relate to the generating event but to the transmission
of the TPDO. The inhibit time resolution is 100 microseconds. The exact inhibit times
are not very accurate and can actually be up to 2 milliseconds (20 units of inhibit time)
longer than defined by sub-index 3 of this object. For example, if an inhibit time is
specified as 10 milliseconds, its actual inhibit time length may vary in the range of
[10…12] milliseconds.

4.22 Object 1A00h - 1A03h: Transmit PDO Mapping Parameter

 CANOpen Implementation Guide Manual Pag. 51

Contains the mapping for the PDOs the device is able to transmit. The type of the PDO
mapping parameter (21h). A detailed description of the entries is done in the section
for the Receive PDO Mapping Parameter (1600h – 1603h).

Object Description:

Index 1A00h - 1A03h

Name Transmit PDO mapping parameters
Object code RECORD
Data Type PDO Mapping
Category Mandatory for each supported PDO

Entry Description:

Sub-Index 0
Description Number of entries
Entry Category Mandatory
Access Read/Write
PDO Mapping NO
Value Range 0 deactivated ; 1-8 activated
Default Value 0

Sub-Index N (1-8)
Description PDO mapping for the nth
Entry Category Conditional
Access Read/Write
PDO Mapping NO
Value Range UNSIGNED32
Default Value 0
 CANOpen Implementation Guide Manual Pag. 52

5 Manufacturer-specific Objects

5.1 Object 2100h – Manufacturer specific error register

This object show the status of internal Drive error register.

Object Description:

Index 2100h
Name Manufacturer specific error register
Object code VAR
Data Type UNSIGNED16
Category Optional

Entry Description:

Access Read Only

PDO Mapping NO
Value Range UNSIGNED16
Default Value 0x0

5.2 Object 2F80h – Boot NMT Status

With this object is possible to select the Boot NMT status.

 CANOpen Implementation Guide Manual Pag. 53

Object Description:

Index 2F80h
Name Boot NMT Status
Object code VAR
Data Type UNSIGNED16
Category Optional

Entry Description:

Access Read/Write
PDO Mapping NO
Value Range -
Default Value 0

List of possible values:

Value Description
0x00 Pre-operational
0x04 Operational

5.3 Object 2F81h – Status word masking

For compatibility reasons it is possible to use this mask to hide the Manufacturer specific
bit of the Status word. The mask affects all status word, please change only the 2 most
significative bits if needed.

Object Description:

Index 2F81h
Name Status word masking
Object code VAR
Data Type UNSIGNED16
Category Optional

Entry Description:
 CANOpen Implementation Guide Manual Pag. 54

Access Read/Write
PDO Mapping NO
Value Range UNSIGNED16
Default Value 65535
 CANOpen Implementation Guide Manual Pag. 55

6 Device Control

6.1 General Information

The device control function block controls all functions of the drive (drive function and
power section).
It is divided into:
● device control of the state machine
● operation mode function

Image 3: Device Control

The state of the device can be controlled by the controlword.

The state of the device is shown in the statusword.
In remote mode the device is controlled directly from the CANopen network by PDO
and SDO.
The state machine is controlled externally by the controlword and external signals. The
state machine is also controlled by internal signals like faults and modes of operation.
 CANOpen Implementation Guide Manual Pag. 56

Image 4: Device Control Flow

The Device is always in remote mode, thus the relative bit in the status word is always
set to 1.

6.2 State machine

The state machine describes the device status and the possible control sequence of the
drive. A single state represents a special internal or external behavior. The state of the
drive also determines which commands are accepted. E.g. it is only possible to start a
point-to-point move when the drive is in state OPERATION ENABLE.
States may be changed using the controlword and/or according to internal events. The
current state can be read using the statusword.
 CANOpen Implementation Guide Manual Pag. 57

Image 5: Flow Diagram

The state machine describes the state machine of the device with respect to control of
the power electronics because of user commands and internal drive faults.
 CANOpen Implementation Guide Manual Pag. 58

Image 6: State Machine

The following states of the device are possible:

➢ NOT READY TO SWITCH ON:
Low level power (e.g. ± 15V, 5V) has been applied to the drive.
The drive is being initialized or is running self test.
A brake, if present, has to be applied in this state.
The drive function is disabled.
➢ SWITCH ON DISABLED:
Drive initialization is complete.
The drive parameters have been set up.
Drive parameters may be changed.
High voltage may not be applied to the drive, (e.g. for safety reasons).
The drive function is disabled.
➢ READY TO SWITCH ON:
 CANOpen Implementation Guide Manual Pag. 59

High voltage may be applied to the drive.

The drive parameters may be changed.
The drive function is disabled.
➢ SWITCHED ON:
High voltage has been applied to the drive.
The power amplifier is ready.
The drive parameters may be changed.
The drive function is disabled.
➢ OPERATION ENABLE:
No faults have been detected.
The drive function is enabled and power is applied to the motor.
The drive parameters may be changed.
(This corresponds to normal operation of the drive.)
➢ QUICK STOP ACTIVE:
The drive parameters may be changed.
The quick stop function is being executed.
The drive function is enabled and power is applied to the motor.
o If the quick stop option code is switched to 5 (stay in the state QUICK STOP
ACTIVE), you can’t leave the state QUICK STOP ACTIVE, but you can
transmit to the state OPERATION ENABLE with the command ‘Enable
Operation’.
➢ FAULT REACTION ACTIVE:
The drive parameters may be changed.
A fault has occurred in the drive.
The quick stop function is being executed.
The drive function is enabled and power is applied to the motor.
➢ FAULT:
The drive parameters may be changed.
A fault has occurred in the drive.
High voltage switch-on/-off depends on the application.
The drive function is disabled.

State transitions are caused by internal events in the drive or by commands from the
host via the controlword.

State Transition 0: START ⇒ NOT READY TO SWITCH ON

Event: Reset.
Action: The drive self-tests and/or self-initializes.

State Transition 1: NOT READY TO SWITCH ON ⇒ SWITCH ON DISABLED

Event: The drive has self-tested and/or initialized successfully.
Action: Activate communication.
 CANOpen Implementation Guide Manual Pag. 60

State Transition 2: SWITCH ON DISABLED ⇒ READY TO SWITCH ON

Event: 'Shutdown' command received from host.
Action: None

State Transition 3: READY TO SWITCH ON ⇒ SWITCHED ON

Event: 'Switch On' command received from host.
Action: The power section is switched on if it is not already switched on.
State Transition 4: SWITCHED ON ⇒ OPERATION ENABLE
Event: 'Enable Operation' command received from host.
Action: The drive function is enabled.

State Transition 5: OPERATION ENABLE ⇒ SWITCHED ON

Event: 'Disable Operation' command received from host.
Action: The drive operation will be disabled.

State Transition 6: SWITCHED ON ⇒ READY TO SWITCH ON

Event: 'Shutdown' command received from host.
Action: The power section is switched off.

State Transition 7: READY TO SWITCH ON ⇒ SWITCH ON DISABLED

Event: 'Quick Stop' and ‘Disable Voltage’ command received from host.
Action: None

State Transition 8: OPERATION ENABLE ⇒ READY TO SWITCH ON

Event: 'Shutdown' command received from host.
Action: The power section is switched off immediately, and the motor is free to rotate
if unbraked.

State Transition 9: OPERATION ENABLE ⇒ SWITCH ON DISABLED

Event: 'Disable Voltage' command received from host.
Action: The power section is switched off immediately, and the motor is free to rotate
if unbraked.

State Transition 10: SWITCHED ON ⇒ SWITCH ON DISABLED

Event: 'Disable Voltage' or 'Quick Stop' command received from host.
Action: The power section is switched off immediatly, and the motor is free to rotate if
unbraked.

State Transition 11: OPERATION ENABLE ⇒ QUICK STOP ACTIVE

Event: 'Quick Stop' command received from host.
Action: The quick stop function is executed.
 CANOpen Implementation Guide Manual Pag. 61

State Transition 12: QUICK STOP ACTIVE ⇒ SWITCH ON DISABLED

Event: 'Quick Stop' is completed or 'Disable Voltage' command received from host.
This transition is possible, if the Quick-Stop-Option-Code is different 5 (stay in the state
‘Quick
Stop Active’).
Action: The power section is switched off.

State Transition 13: All states ⇒ FAULT REACTION ACTIVE

A fault has occurred in the drive.
Action: Execute appropriate fault reaction.

State Transition 14: FAULT REACTION ACTIVE ⇒ FAULT

Event: The fault reaction is completed.
Action: The drive function is disabled. The power section may be switched off.

State Transition 15: FAULT ⇒ SWITCH ON DISABLED

Event: 'Fault Reset' command received from host.
Action: A reset of the fault condition is carried out if no fault exists currently on the
drive. After leaving the state Fault the Bit 'Fault Reset' of the controlword has to be
cleared by the host.

State Transition 16: QUICK STOP ACTIVE ⇒ OPERATION ENABLE

Event: 'Enable Operation' command received from host. This transition is possible if
the Quick-Stop-Option-Code is 5, 6, 7 or 8 (→ Chapter 10.3.5).
Action: The drive function is enabled.

6.3 Object Description

6.3.1 Object 6040h: Controlword

The controlword consist of bits for:

• the controlling of the state,
• the controlling of operating modes and
• manufacturer specific options.

Object Description:

Index 6040h
 CANOpen Implementation Guide Manual Pag. 62

Name Control word

Object code VAR
Data Type UNSIGNED16
Category Mandatory

Entry Description:

Access Read/Write
PDO Mapping YES
Value Range UNSIGNED16
Default Value -

The bits of the controlword are defined as follows:

15-11 10-9 8 7 6-4 3 2 1 0

Manufacturer reserved halt Faul Operation Enable Quick Enable Switch
specific reset mode specific operation Stop voltage on
O O O M O M M M M
MSB LSB

O – Optional
M – Mandatory

Bits 0-3 and 7:

Device control commands are triggered by the following bit patterns in the controlword:

Bits of the Controlword

Command Enable Quick Enable Switch Transitions
Fault reset
operation stop voltage on
Shutdown 0 x 1 1 0 2,6,8
Switch on 0 0 1 1 1 3*
Switch on 0 1 1 1 1 3**
 CANOpen Implementation Guide Manual Pag. 63

Disable Voltage 0 x x 0 x 7,9,10,12

Quick stop 0 x 0 1 x 7,10,11
Disable operation 0 0 1 1 1 5
Enable operation 0 1 1 1 1 4,16
Fault reset x x x x 15

Bits marked with X are not relevant.

ƒ * The drive executes the functionality of SWITCH_ON.
ƒ ** The drive does nothing in this state, which is treated the same as in *

Bits 4,5,6 and 8:

Operation mode
Bit Velocity Profile Profile Profile Homing Interpolation
mode position mode velocity mode torque mode mode position mode
Homing
4 rfg enable New set-point Reserved Reserved operation Enable ip mode
start
Change set
5 rfg unlock Reserved Reserved Reserved Reserved
immediately
6 rfg use ref abs/rel Reserved Reserved Reserved Reserved
8 Halt Halt Halt Halt Halt Halt

Bits: 9,10:

These bits are reserved for further use. They are inactive by setting to zero. If they
have no special function, they must be set to zero.

Bits 11, 12, 13, 14 and 15:

These bits are manufacturer specific.

6.3.2 Object 6041h: Statusword

The statusword indicates the current state of the drive. No bits are latched. The
statusword consist of bits for:
• the current state of the drive,
 CANOpen Implementation Guide Manual Pag. 64

• the operating state of the mode and

• manufacturer specific options.

Object Description:

Index 6041h
Name Status word
Object code VAR
Data Type UNSIGNED16
Category Mandatory

Entry Description:

Access Read Only

PDO Mapping YES
Value Range UNSIGNED16
Default Value -

The bits in the status word has the following meaning:

bit Description M/O

0 Ready to switch on M
1 Switched on M
2 Operation enabled M
3 Fault M
4 Voltage enabled M
5 Quick stop M
6 Switch on disabled M
7 Warning O
8 Manufacturer specific O
9 Remote M
10 Target reached M
11 Internal limit active M
12 Operation mode specific M
13 Operation mode specific M
 CANOpen Implementation Guide Manual Pag. 65

14 MS – not used O
15 MS – Homing reached O

Bits 0-3, 5 and 6:

The following bits indicate the status of the device:

Value (binary) State

xxxx xxxx x0xx 0000 Not ready to switch on
xxxx xxxx x1xx 0000 Switch on disabled
xxxx xxxx x01x 0001 Ready to switch on
xxxx xxxx x01x 0011 Switched on
xxxx xxxx x01x 0111 Operation enabled
xxxx xxxx x00x 0111 Quick stop active
xxxx xxxx x0xx 1111 Fault reaction active
xxxx xxxx x0xx 1000 Fault

Bit 4: VOLTAGE ENABLED

High voltage is applied to the drive when this bit is set to 1.

Bit 5: QUICK STOP

When reset, this bit indicates that the drive is reacting on a quick stop request. Bits 0,
1 and 2 of the statusword must be set to 1 to indicate that the drive is capable to
regenerate. The setting of the other bits indicates the status of the drive (e.g. the drive
is performing a quick stop as result of a reaction to a non-fatal fault. The fault bit is set
as well as bits 0, 1 and 2).

Bit 7: WARNING
A drive warning is present if bit 7 is set. The cause means no error but a state that has
to be mentioned, e.g. temperature limit, job refused. The status of the drive does not
change. The cause of this warning may be found by reading the fault code parameter.
The bit is set and reset by the device.

Bit 8: MANUFACTURER SPECIFIC

Not used.

Bit 9: REMOTE
Always set to 1.
 CANOpen Implementation Guide Manual Pag. 66

Bit 10: TARGET REACHED

If bit 10 is set by the drive, then a set-point has been reached. The set-point is
dependent on the operating mode. The description is situated in the chapter of the
special mode. The change of a target value by software alters this bit.
If quick stop option code is 5, 6, 7 or 8, this bit must be set, when the quick stop
operation is finished and the drive is halted.
If halt occurred and the drive has halted then this bit is set too.

Bit 11: INTERNAL LIMIT ACTIVE

This bit set by the drive indicates, that an internal limitation is active (e.g. position
range limit).

Bit 12 and 13:

These bits are operation mode specific. The description is situated in the chapter of the
special mode.
The following table gives an overview:

Operation mode
Bit
vl pp pv tq hm ip
Set point Homing Ip mode
12 reserved Speed reserved
acknowledge attained active
Following Following Homing
13 reserved reserved reserved
error error error

Bit 14 and 15:

14 - Not used
15 - Homing is Valid.

6.3.3 Object 6060h: Modes of operation

The parameter modes of operation switches the actually chosen operation mode.

Object Description:

Index 6060h
Name Modes of operation
Object code VAR
 CANOpen Implementation Guide Manual Pag. 67

Data Type INTEGER8

Category Mandatory

Entry Description:

Access Read/Write
PDO Mapping YES
Value Range INTEGER8
Default Value -

List of possible operation modes:

Value Description
-4 Tuning Current Mode
0 Reserved
1 Profile Position Mode
3 Profile Velocity Mode
4 Torque Profile Mode
5 Reserved
6 Homing Mode
7 Interpolated Position Mode

Note:
A read of modes of operation shows only the value of modes of operation. The actual
mode of the drive is reflected in the object modes of operation display. It may be
changed by writing to modes of operation.

6.4 Object 6061h: Modes of operation display

The modes of operation display show the current mode of operation. The meaning of
the returned value corresponds to that of the modes of operation option code (index
6060h).

Object Description:
 CANOpen Implementation Guide Manual Pag. 68

Index 6061h
Name Modes of operation display
Object code VAR
Data Type INTEGER8
Category Mandatory

Entry Description:

Access Read Only

PDO Mapping YES
Value Range INTEGER8
Default Value -
 CANOpen Implementation Guide Manual Pag. 69

7 Profile Position Mode

7.1 General Information

This chapter describes how to set a point-to-point (PTP) movement under a profiled
position where a target position is applied to the trajectory generator. It generates a
position demand value to the control loop. The trajectory generator input includes
profiled velocity, acceleration, deceleration, and selection of motion type, motion
polarity and stopping option. The inputs to the trajectory are given in user units and
are limited before being normalized to internal increments.

7.2 Objects

7.2.1 Object 607Ah: Target Position

The target position is the position that the drive should move to in position profile mode
using the current settings of motion control parameters such as velocity, acceleration,
deceleration, motion profile type etc. The target position is given in user defined
position units. It is converted to position increments using the position factor. The target
position will be interpreted as absolute or relative depending on the ‘abs / rel' flag in
the control word.

Object Description:

Index 607Ah
Name Target position
Object code VAR
Data Type INTEGER32
Category Mandatory

Entry Description:

Access Read/Write
PDO Mapping YES
 CANOpen Implementation Guide Manual Pag. 70

Value Range INTEGER32

Default Value -

7.2.2 Object 607Bh: Position range limit

Position range limit contains two sub-parameters, min position range limit and max
position range limit. These limit the numerical range of the input value. On reaching or
exceeding these limits, the input value automatically wraps to the other end of the
range. Wrap-around of the input value can be prevented by setting software position
limits.

Object Description:

Index 607Bh
Name Position range limit
Object code ARRAY
Data Type INTEGER32
Category Mandatory

Entry Description:

Sub-Index 0
Description Number of entries
Entry Category Mandatory
Access Read Only
PDO Mapping NO
Value Range 2
Default Value 2

Sub-Index 1
Description Min position range limit
Entry Category Mandatory
Access Read/Write
PDO Mapping NO
Value Range INTEGER32
Default Value -231
 CANOpen Implementation Guide Manual Pag. 71

Sub-Index 2
Description Max position range limit
Entry Category Mandatory
Access Read/Write
PDO Mapping NO
Value Range INTEGER32
Default Value 231-1

7.2.3 Object 607Dh: Software position limit

Software position limit contains the sub-parameters min position limit and max position
limit. These parameters define the absolute position limits for the position demand
value and the position actual value. Every new target position must be checked against
these limits. The limit positions are specified in position units (same as target position)
and are always relative to the machine home position.

Object Description:

Index 607Dh
Name Software position limit
Object code ARRAY
Data Type INTEGER32
Category Mandatory

Entry Description:

Sub-Index 0
Description Number of entries
Entry Category Mandatory
Access Read Only
PDO Mapping NO
Value Range 2
Default Value 2

Sub-Index 1
 CANOpen Implementation Guide Manual Pag. 72

Description Min position limit

Entry Category Mandatory
Access Read/Write
PDO Mapping NO
Value Range INTEGER32
Default Value -231

Sub-Index 2
Description Max position limit
Entry Category Mandatory
Access Read/Write
PDO Mapping NO
Value Range INTEGER32
Default Value 231-1

7.2.4 Object 6081h: Profile velocity

The profile velocity is the velocity normally attained at the end of the acceleration ramp
during a profiled move and is valid for both directions of motion. The profile velocity is
given in user defined speed units. It is converted to position increments per second
using the velocity encoder factor.

Object Description:

Index 6081h
Name Profile velocity
Object code VAR
Data Type INTEGER32
Category Mandatory

Entry Description:

Access Read/Write
PDO Mapping YES
Value Range INTEGER32
Default Value 0
 CANOpen Implementation Guide Manual Pag. 73

7.2.5 Object 6083h: Profile acceleration

The profile acceleration is given in user defined acceleration units. It is converted to

position increments per second2 using the normalizing factors (see chapter 11).

Object Description:

Index 6083h
Name Profile acceleration
Object code VAR
Data Type INTEGER32
Category Mandatory

Entry Description:

Access Read/Write
PDO Mapping YES
Value Range INTEGER32
Default Value 0

7.2.6 Object 6084h: Profile deceleration

The profile deceleration is given in the same units as profile acceleration. If this
parameter is not supported, then the profile acceleration value is also used for
deceleration.

Object Description:

Index 6084h
Name Profile deceleration
Object code VAR
Data Type INTEGER32
Category Mandatory

Entry Description:
 CANOpen Implementation Guide Manual Pag. 74

Access Read/Write
PDO Mapping YES
Value Range INTEGER32
Default Value 0

7.2.7 Object 6085h: Quick stop deceleration

The quick stop deceleration is the deceleration used to stop the motor if the ‘Quick Stop’
command is given. The quick stop deceleration is given in the same units as the profile
acceleration.

Object Description:

Index 6085h
Name Quick stop deceleration
Object code VAR
Data Type INTEGER32
Category Mandatory

Entry Description:

Access Read/Write
PDO Mapping YES
Value Range INTEGER32
Default Value 0

7.2.8 Object 6086h: Motion profile type

The motion profile type is used to select the type of motion profile used to perform a
profiled move.

Object Description:
 CANOpen Implementation Guide Manual Pag. 75

Index 6086h
Name Motion profile type
Object code VAR
Data Type INTEGER32
Category Mandatory

Entry Description:

Access Read/Write
PDO Mapping YES
Value Range INTEGER32
Default Value 0

List of possible values:

Value Description
-32768 -1 Manufacturer specific
0 Linear ramp (trapezoidal profile)
1 Not used
2 Not used
3 Not used
4 .. 32767 reserved

• Functional Description

Two different ways to apply target positions to a drive, are supported by this device
profile.
➢ Set of set-points:
After reaching the target position the drive unit immediately processes the next target
position which results in a move where the velocity of the drive normally is not reduced
to zero after achieving a set-point.
➢ Single set-point:
After reaching the target position the drive unit signals this status to a host computer
and then receives a new set-point. After reaching a target position the velocity normally
is reduced to zero before starting a move to the next set-point.
 CANOpen Implementation Guide Manual Pag. 76

The two modes are controlled by the timing of the bits ‘new set-point’ and ‘change set
immediately’ in the controlword and ‘set-point acknowledge’ in the statusword. These
bits allow to set up a request-response mechanism in order to prepare a set of set-
points while another set still is processed in the drive unit. This minimizes reaction
times within a control program on a host computer.
 CANOpen Implementation Guide Manual Pag. 77

8 Homing Mode

8.1 General information

This chapter describes the method by which a drive seeks the home position (also called,
the datum, reference point or zero point). There are various methods of achieving this
using limit switches at the ends of travel or a home switch (zero point switch) in mid-
travel, most of the methods also use the index (zero) pulse train from an incremental
encoder.

Image 7: Homing function

8.2 Object description

8.2.1 Object 607Ch: Home offset

The home offset object is the difference between the zero position for the application
and the machine home position (found during homing), it is measured in position units.
During homing the machine home position is found and once the homing is completed
the zero position is offset from the home position by adding the home offset to the
home position. All subsequent absolute moves shall be taken relative to this new zero
position. This is illustrated in the following diagram.
 CANOpen Implementation Guide Manual Pag. 78

Image 8: Home Offset description

If the home offset is not implemented, then it shall be zero.

Object Description:

Index 607Ch
Name Home offset
Object code VAR
Data Type INTEGER32
Category Optional

Entry Description:

Access Read/Write
PDO Mapping YES
Value Range INTEGER32
Default Value 0

8.2.2 Object 6098h: Homing method

The homing method object determines the method that will be used during homing.

Object Description:

Index 6098h
Name Homing method
Object code VAR
Data Type INTEGER8
 CANOpen Implementation Guide Manual Pag. 79

Category Optional

Entry Description:

Access Read/Write
PDO Mapping YES
Value Range INTEGER8
Default Value 0

List of possible values:

Value Description
-17 See the functional description
-18 See the functional description
0 No homing operation required
1 - 35 See the functional description
36 - 127 reserved

8.2.3 Object 6099h: Homing speeds

This entry in the object dictionary defines the speeds used during homing and is given
velocity units.

Object Description:

Index 6099h
Name Homing speeds
Object code ARRAY
Data Type UNSIGNED32
Category Mandatory

Entry Description:

Sub-Index 0
 CANOpen Implementation Guide Manual Pag. 80

Description Number of entries

Entry Category Mandatory
Access Read Only
PDO Mapping NO
Value Range 2
Default Value 2

Sub-Index 1
Description Speed during search for switch
Entry Category Mandatory
Access Read/Write
PDO Mapping YES
Value Range UNSIGNED32
Default Value 0

Sub-Index 2
Description Speed during search for zero
Entry Category Mandatory
Access Read/Write
PDO Mapping YES
Value Range UNSIGNED32
Default Value 0

8.2.4 Object 609Ah: Homing acceleration

The homing acceleration establishes the acceleration to be used for all accelerations
and decelerations with the standard homing modes and is given in acceleration units.

Object Description:

Index 609Ah
Name Homing acceleration
Object code VAR
Data Type UNSIGNED32
 CANOpen Implementation Guide Manual Pag. 81

Category Optional

Entry Description:

Access Read/Write
PDO Mapping YES
Value Range UNSIGNED32
Default Value 0

8.3 Functional description

By choosing a method of homing by writing a value to homing method will clearly

establish:

✔ the homing signal (positive limit switch, negative limit switch, home switch)
✔ the direction of actuation and where appropriate
✔ the position of the index pulse.

The home position and the zero position are offset by the home offset, see the definition
of home offset for how this offset is used. Various homing positions are illustrated in
the following diagrams. An encircled number indicates the code for selection of this
homing position. The direction of movement is also indicated.
There are five sources of homing signal available, these are the negative and positive
limit switches, the home switch and the index pulse from an encoder and the hard-
home.
In the diagrams of homing sequences shown below, the encoder count increases as the
axis position moves to the right, in other words the left is the minimum position and
the right is the maximum position. For the operation of positioning drives, an exact
knowledge of the absolute position is normally required. Since for cost reasons, drives
often do not have an absolute encoder, a homing operation is necessary. There are
several, application-specific methods. The homing method is used for selection.
The exact sequence of the homing operation is clearly described by the method. In
some circumstances, a device has several methods to choose from, using the homing
method.

8.4 Homing methods

 CANOpen Implementation Guide Manual Pag. 82

The following sub-sections describe the details of how each of the homing modes shall
function.

8.4.1 Method 1: Homing on the negative limit switch and index pulse

Using this method the initial direction of movement is leftward if the negative limit
switch is inactive (here shown as low). The home position is at the first index pulse to
the right of the position where the negative limit switch becomes inactive.

Image 9: Homing on negative Limit switch and index pulse

8.4.2 Method 2: Homing on the positive limit switch and index pulse

Using this method the initial direction of movement is rightward if the positive limit
switch is inactive (here shown as low). The position of home is at the first index pulse
to the left of the position where the positive limit switch becomes inactive.
 CANOpen Implementation Guide Manual Pag. 83

Image 10: Homing on positive Limit switch and index pulse

8.4.3 Methods 3 and 4: Homing on the positive home switch and index pulse

Using methods 3 or 4 the initial direction of movement is dependent on the state of the
home switch. The home position is at the index pulse to either to the left or the right
of the point where the home switch changes state. If the initial position is sited so that
the direction of movement must reverse during homing, the point at which the reversal
takes place is anywhere after a change of state of the home switch.
 CANOpen Implementation Guide Manual Pag. 84

Image 11: Homing on positive home switch and index pulse

8.4.4 Methods 5 and 6: Homing on the negative home switch and index pulse

Using methods 5 or 6 the initial direction of movement is dependent on the state of the
home switch. The home position is at the index pulse to either to the left or the right
of the point where the home switch changes state. If the initial position is sited so that
the direction of movement must reverse during homing, the point at which the reversal
takes place is anywhere after a change of state of the home switch.
 CANOpen Implementation Guide Manual Pag. 85

Image 12: Homing on negative home switch and index pulse

8.4.5 Methods 7 to 14: Homing on the home switch and index pulse

These methods use a home switch which is active over only portion of the travel, in
effect the switch has a ‘momentary’ action as the axle's position sweeps past the switch.
Using methods 7 to 10 the initial direction of movement is to the right, and using
methods 11 to 14 the initial direction of movement is to the left except if the home
switch is active at the start of the motion.
In this case the initial direction of motion is Dependent on the edge being sought. The
home position is at the index pulse on either side of the rising or falling edges of the
home switch, as shown in the following two diagrams. If the initial direction of
movement leads away from the home switch, the drive must reverse on encountering
the relevant limit switch.
 CANOpen Implementation Guide Manual Pag. 86

Image 13: Homing on the home switch and index pulse - positive initial move
 CANOpen Implementation Guide Manual Pag. 87

Image 14: Homing on the home switch and index pulse - negative initial move

8.4.6 Methods 17 to 30: Homing without an index pulse

These methods are similar to methods 1 to 14 except that the home position is not
dependent on the index pulse but only dependent on the relevant home or limit switch
transitions. For example methods 19 and 20 are similar to methods 3 and 4 as shown
in the following diagram.
 CANOpen Implementation Guide Manual Pag. 88

Image 15: Homing without and index pulse

8.4.7 Methods 33 to 34: Homing on the index pulse

Using methods 33 or 34 the direction of homing is negative or positive respectively.

The home position is at the index pulse found in the selected direction.

Image 16: Homing on index pulse

8.4.8 Method 35: Homing on the current position

In method 35 the current position is taken to be the home position.

CANOpen Implementation Guide Manual Pag. 89
 CANOpen Implementation Guide Manual Pag. 90

9 Position control function

9.1 General information

In this chapter, all parameters are described which are necessary for a closed loop
position control. The control loop is fed with the position demand value as one of the
outputs of the trajectory generator and with the output of the position detection unit
(position actual value) of encoder as input parameters. The behavior of the control may
be influenced by control parameters which are externally applicable. To keep stable the
loop, a relative limitation of the output using the previous control effort is possible. In
order not to exceed physical limits of a drive, an absolute limit function is
implemented for the control effort. The control effort may be a velocity demand value,
a position demand value or any other output value, depending on the modes of
operation implemented by a manufacturer. Especially in cascaded control structures,
where a position control is followed by a torque control, e.g. the control effort of the
position control loop is used as an input for a further calculation.

9.2 Object description

9.2.1 Object 6062h: Position demand value

The position demand value is given in position units.

Object Description:

Index 6062h
Name Position demand value
Object code VAR
Data Type UNSIGNED32
Category Optional

Entry Description:

Access Read Only

PDO Mapping YES
 CANOpen Implementation Guide Manual Pag. 91

Value Range UNSIGNED32

Default Value 0

9.2.2 Object 6063h: Position actual value

The actual value of the position measurement device is one of the two input values of
the closed loop position control. The data unit is defined as increments.

Object Description:

Index 6063h
Name Position actual value
Object code VAR
Data Type UNSIGNED32
Category Optional

Entry Description:

Access Read Only

PDO Mapping YES
Value Range UNSIGNED32
Default Value 0

9.2.3 Object 6064h: Position actual value

The actual value of the position measurement in user units.

Object Description:

Index 6064h
Name Position actual value
Object code VAR
Data Type UNSIGNED32
Category Mandatory

Entry Description:
 CANOpen Implementation Guide Manual Pag. 92

Access Read Only

PDO Mapping YES
Value Range UNSIGNED32
Default Value 0

9.2.4 Object 6065h: Following error window

The following error window defines a range of tolerated position values symmetrically
to the position demand value. As it is in most cases used with user defined units, a
transformation into increments with the position factor is necessary. If the position
actual value is out of the following error window, an error occur.

Object Description:

Index 6065h
Name Following error window
Object code VAR
Data Type UNSIGNED32
Category Optional

Entry Description:

Access Read/Write
PDO Mapping YES
Value Range UNSIGNED32
Default Value 0

9.2.5 Object 6066h: Following error time out

When a following error occurs longer than the defined value of the time-out given in
multiples of milliseconds, the corresponding bit 13 following error in the status word
will be set to one. The reaction of the drive when a following error occurs, is
manufacturer specific.

Object Description:
 CANOpen Implementation Guide Manual Pag. 93

Index 6066h
Name Following error time out
Object code VAR
Data Type UNSIGNED16
Category Optional

Entry Description:

Access Read/Write
PDO Mapping YES
Value Range UNSIGNED16
Default Value 0

9.2.6 Object 6067h: Position window

The position window defines a symmetrical range of accepted positions relatively to the
target position. If the actual value of the position encoder is within the position window,
this target position is regarded as reached. As the user mostly prefers to specify the
position window in his application in user defined units, the position factor must be
used to transform this value into increments. The target position has to be handled in
the same manner as in the Trajectory Generator concerning limiting functions and
transformation into internal machine units before it can be used with this function.

Object Description:

Index 6067h
Name Position window
Object code VAR
Data Type UNSIGNED32
Category Optional

Entry Description:

Access Read/Write
PDO Mapping YES
Value Range UNSIGNED32
 CANOpen Implementation Guide Manual Pag. 94

Default Value 0

9.2.7 Object 6068 : Position window time

When the actual position is within the position window during the defined position
window time which is given in multiples of milliseconds, the corresponding bit 10 target
reached in the statusword will be set to one.

Object Description:

Index 6068h
Name Position window time
Object code VAR
Data Type UNSIGNED16
Category Optional

Entry Description:

Access Read/Write
PDO Mapping YES
Value Range UNSIGNED16
Default Value 0

9.2.8 Object 60F4h: Following error actual value

This object represents the actual value of the following error, it is given in user defined
position units.

Object Description:

Index 60F4h
Name Following error actual value
Object code VAR
 CANOpen Implementation Guide Manual Pag. 95

Data Type UNSIGNED32

Category Optional

Entry Description:

Access Read Only

PDO Mapping YES
Value Range UNSIGNED32
Default Value 0

9.2.9 Object 60FAh: Control effort

The output of the position control loop is the control effort. It is particular to the Position
control function that the notation of the control effort is mode dependent and therefore
not specified in the object description.

Object Description:

Index 60FAh
Name Control effort
Object code VAR
Data Type INTEGER32
Category Optional

Entry Description:

Access Read Only

PDO Mapping YES
Value Range INTEGER32
Default Value 0

9.2.10 Object 60FBh: Position control parameter set

The object define the manufacturer-specific object for the position control loop
 CANOpen Implementation Guide Manual Pag. 96

Object Description:

Index 60FBh
Name Position control parameter set
Object code ARRAY
Data Type UNSIGNED16
Category Optional

Entry Description:

Sub-Index 0
Description Number of entries
Entry Category Mandatory
Access Read Only
PDO Mapping NO
Value Range 2
Default Value 2

Sub-Index 1
Description KP Position loop
Entry Category Mandatory
Access Read/Write
PDO Mapping NO
Value Range UNSIGNED16
Default Value 0
 CANOpen Implementation Guide Manual Pag. 97

10 Interpolated Position Mode

The interpolated position mode is used to control multiple coordinated axis or a single
axis with the need for time-interpolation of set-point data. The interpolated position
mode use time synchronization mechanisms for a time coordination of the related drive
units.

10.1 Object description

10.1.1 Object 60C0h: Interpolation Sub Mode Select

This object reflects or changes the actual chosen interpolation mode, selected by the
user. The interpolation sub-modes can be changed only when the interpolated mode is
inactive.

Object Description

Index 60C0h
Name Interpolated Sub Mode Select
Object code VAR
Data Type INTEGER16
Category Optional

Entry Description

Access Read/Write
PDO Mapping NO
Value Range 0
Default Value 0 (Linear Interpolation)

Data Description

Value Description
 CANOpen Implementation Guide Manual Pag. 98

-3,...,-32768 Reserved
-2 Linear Interpolation no Buffering
-1 Reserved
0 Linear Interpolation

10.1.2 Object 60C1h: Interpolation data record

This object is the data words, which are necessary for performing the interpolation
algorithm. The interpretation of the data words may vary with the different possible
interpolation modes as set by 60C0h.

Object Description

Index 60C0h
Name Interpolation data record
Object code 60C0h = 0 : INTEGER32
60C0h > 0 : not defined
Data Type INTEGER16
Category Optional

Entry Description

Sub-Index 0
Description Number of Entries
Entry Category mandatory
Access Read/Write
PDO Mapping YES
Value Range 1
Default Value 1

Sub-Index 1
Description Parameter of IP Function
Entry Category mandatory
Access Read/Write
PDO Mapping YES
 CANOpen Implementation Guide Manual Pag. 99

Value Range 60C0h = 0 : INTEGER32

60C0h > 0 : not defined
Default Value No

10.2

10.2.1 Object 60C2h: Interpolation time period

This object is used to define the relative time taken between two set points for the
interpolation position modes. The interpolation time unit is given in 10 interpolation time index
seconds.
The interpolation time period can be changed only when the interpolated mode is
inactive.

Object Description

Index 60C2h
Name Interpolation time period
Object code RECORD
Data Type Interpolation time period record (0080h)
Category Optional

Entry Description

Sub-Index 0
Description Number of Entries
Entry Category mandatory
Access Read Only
PDO Mapping YES
Value Range 2
Default Value 2

Sub-Index 1
Description Interpolation time units
Entry Category mandatory
 CANOpen Implementation Guide Manual Pag. 100

Access Read/Write
PDO Mapping YES
Value Range 0,26
Default Value 1

Sub-Index 2
Description Interpolation time index
Entry Category mandatory
Access Read/Write
PDO Mapping YES
Value Range -128,63 (-3 ONLY)
Default Value -3

10.2.2 Object 60C3h: Interpolation sync definition

Devices in the interpolation position mode often interact with other devices. Therefore
it is necessary to define a communication object which is used to synchronize these
interactions.
This can be done by the general Sync, or a specific group-sync-signal. Each reception
of this trigger-signal or a specified number of occurrences of the trigger-signal can
synchronize the devices; a second opportunity is to use fixed time slices for
synchronization.

Object Description

Index 60C3h
Name Interpolation sync definition
Object code ARRAY
Data Type UNSIGNED8
Category Optional

Entry Description

Sub-Index 0
 CANOpen Implementation Guide Manual Pag. 101

Description Number of Entries

Entry Category mandatory
Access Read Only
PDO Mapping YES
Value Range 2
Default Value 2

Sub-Index 1
Description Synchronize on Group
Entry Category mandatory
Access Read Only
PDO Mapping NO
Value Range 0 .. 255
Default Value 0

Sub-Index 2
Description IP Sync every n event
Entry Category mandatory
Access Read/Write
PDO Mapping NO
Value Range 0 .. 255
Default Value 1

Description of synchronize on group:

Value Description
0 General Sync is Used
1 .. 255 Reserved

10.2.3 Object 60C4h: Interpolation data configuration

It is possible to offer different algorithms of interpolation. Most of them need a larger

number of position to calculate the actual position the axles should reach. To enable
 CANOpen Implementation Guide Manual Pag. 102

the device to receive the needed data in advance a data space is used to store the
positions and further data send by the host.

Object Description

Index 60C4h
Name Interpolation data configuration
Object code RECORD
Data Type Interpolation data configuration record
(0081h)
Category Optional

Entry Description

Sub-Index 0
Description Number of Entries
Entry Category mandatory
Access Read Only
PDO Mapping NO
Value Range 6
Default Value 6

Sub-Index 1
Description Maximum buffer size
Entry Category mandatory
Access Read Only
PDO Mapping NO
Value Range UNSIGNED32
Default Value 1

Sub-Index 2
Description Actual buffer size
Entry Category mandatory
Access Read/Write
 CANOpen Implementation Guide Manual Pag. 103

PDO Mapping YES

Value Range UNSIGNED32
Default Value 0

Sub-Index 3
Description Buffer organization
Entry Category mandatory
Access Read/Write
PDO Mapping YES
Value Range 0 .. 255
Default Value 0

Possible values for Buffer organization:

Value Description
0 FIFO buffer
1 RING Buffer
2 .. 255 Reserved

Sub-Index 4
Description Buffer position
Entry Category mandatory
Access Read/Write
PDO Mapping YES
Value Range UNSIGNED16
Default Value 0

Sub-Index 5
Description Size of data record
Entry Category mandatory
Access Write Only
PDO Mapping YES
Value Range 1 .. 254
Default Value 1
 CANOpen Implementation Guide Manual Pag. 104

Sub-Index 6
Description Buffer clear
Entry Category mandatory
Access Write Only
PDO Mapping YES
Value Range UNSIGNED8
Default Value 0

Possible values for Clear buffer:

Value Description
0 Clear Input Buffer
Access disabled
Clear all ip data records
1 Enable access to the input buffer for the
drive functions
2 .. 255 Reserved
 CANOpen Implementation Guide Manual Pag. 105

11 Profile Velocity Mode

The profile velocity mode allow the user to run the motor with a controlled speed profile.

11.1 Object description

11.1.1 Object 6069h: Velocity sensor actual value

The velocity sensor actual value describes the value read from a velocity encoder.

Object Description:

Index 6069h
Name Velocity sensor actual value
Object code VAR
Data Type INTEGER32
Category Mandatory

Entry Description:

Access Read Only

PDO Mapping YES
Value Range INTEGER32
Default Value 0

11.1.2 Object 606Bh: Velocity demand value

The output value of the trajectory generator may be corrected by the output value of
the position control function. It is then provided as a demand value for the velocity
controller and given in the velocity units.

Object Description:
 CANOpen Implementation Guide Manual Pag. 106

Index 606Bh
Name Velocity demand value
Object code VAR
Data Type INTEGER32
Category Mandatory

Entry Description:

Access Read Only

PDO Mapping YES
Value Range INTEGER32
Default Value 0

11.1.3 Object 606C : Velocity actual value

The velocity actual value is also represented in velocity units and is coupled to the
velocity used as input to the velocity controller.

Object Description:

Index 606Ch
Name Velocity actual value
Object code VAR
Data Type INTEGER32
Category Mandatory

Entry Description:

Access Read Only

PDO Mapping YES
Value Range INTEGER32
Default Value 0

11.1.4 Object 606Dh: Velocity window

 CANOpen Implementation Guide Manual Pag. 107

The velocity window monitors whether the required process velocity has been achieved
after an eventual acceleration or deceleration (braking) phase. It is given in velocity
units.

Object Description:

Index 606Dh
Name Velocity window
Object code VAR
Data Type UNSIGNED16
Category Optional

Entry Description:

Access Read/Write
PDO Mapping YES
Value Range UNSIGNED16
Default Value 0

11.1.5 Object 606Eh: Velocity window time

The corresponding bit 10 target reached is set in the statusword when the difference
between the target velocity and the velocity actual value is within the velocity window
longer than the velocity window time. The value of the velocity window time is given in
multiples of milliseconds.

Object Description:

Index 606Eh
Name Velocity window time
Object code VAR
Data Type UNSIGNED16
Category Optional

Entry Description:
 CANOpen Implementation Guide Manual Pag. 108

Access Read/Write
PDO Mapping YES
Value Range UNSIGNED16
Default Value 0

11.1.6 Object 606F: Velocity threshold

As soon as the velocity actual value exceeds the velocity threshold longer than the
velocity threshold time bit 12 velocity = 0 is reset in the statusword. Below this
threshold the bit is set and indicates that the axle is stationary. The value is given in
velocity units.

Object Description:

Index 606Fh
Name Velocity threshold
Object code VAR
Data Type UNSIGNED16
Category Optional

Entry Description:

Access Read/Write
PDO Mapping YES
Value Range UNSIGNED16
Default Value 0

11.1.7 Object 6070h: Velocity threshold time

The velocity threshold time is given in multiples of milliseconds.

Object Description:

Index 606Fh
 CANOpen Implementation Guide Manual Pag. 109

Name Velocity threshold time

Object code VAR
Data Type UNSIGNED16
Category Optional

Entry Description:

Access Read/Write
PDO Mapping YES
Value Range UNSIGNED16
Default Value 0

11.1.8 Object 60FFh: Target velocity

The target velocity is the input for the trajectory generator and the value is given in
velocity units.

Object Description:

Index 60FFh
Name Target velocity
Object code VAR
Data Type INTEGER32
Category Mandatory

Entry Description:

Access Read/Write
PDO Mapping YES
Value Range INTEGER32
Default Value 0

11.1.9 Object 60F9h: Velocity control parameter set

 CANOpen Implementation Guide Manual Pag. 110

In order to control the behavior of the velocity control loop, one or more parameters
are necessary.
This object defines a rudimentary set of three parameters for a PI-control which may
be enlarged by the manufacturer up to 255 parameters.

Object Description:

Index 60F9h
Name Velocity control parameter set
Object code ARRAY
Data Type UNSIGNED16
Category Optional

Entry Description:

Sub-Index 0
Description Number of entries
Entry Category Mandatory
Access Read Only
PDO Mapping NO
Value Range 2
Default Value 2

Sub-Index 1
Description KP Velocity loop
Entry Category Mandatory
Access Read/Write
PDO Mapping NO
Value Range UNSIGNED16
Default Value 0

Sub-Index 2
Description KI Velocity loop
Entry Category Mandatory
Access Read/Write
PDO Mapping NO
 CANOpen Implementation Guide Manual Pag. 111

Value Range UNSIGNED16

Default Value 0
CANOpen Implementation Guide Manual Pag. 112