Ethernet POWERLINK
Implementation Directive for CiA402 Drive Profile

Version 0.0.4

Ethernet POWERLINK
Implementation Directive for CiA402
Drive Profile
Directive for using IEC 61800-7-201 within POWERLINK-based
servo drives

Version 0.0.4©

B&R(B&R Industrial Automation GmbH)2024

Implementation Directive for
CiA402 Drive Profile V0.0.4-2-

B&R Industrial Automation GmbH

POWERLINK-Office
B&R Straße 15142 Eggelsberg
Austria

powerlink.office@br-automation.com
www.br-automation.com/en/technologies/powerlink/

The Ethernet POWERLINK Implementation Directive for CIA402 Drive Profile, “Directive for using IEC
61800-7-201 within POWERLINK-based servo drives“ has been provided by Ethernet POWERLINKStandardisation Group (hereinafter referred to as “EPSG”). As a consequence of the EPSG being
dissolved from March 31st, 2023, B&R Industrial Automation GmbH will – as the formal successor of
EPSG regarding the rights and content – make the Ethernet Powerlink Implementation Directive forCIA402 Drive Profile available as open source on it’s own website subject to the conditions mentioned
in the disclaimer under clause Pre. 1 of this document. B&R Industrial Automation GmbH especiallydisclaims liability for any personal injury, property or other damage, of any nature whatsoever, whether
special, indirect, consequential, or compensatory, directly or indirectly resulting from the publication,use of, or reliance upon this, or any other EPSG Standard document.

Implementation Directive for
CiA402 Drive Profile V0.0.4

Pre. 1-3-Disclaimer

Use of this EPSG Standard is wholly voluntary. The EPSG disclaims liability for any personal injury,
property or other damage, of any nature whatsoever, whether special, indirect, consequential, orcompensatory, directly or indirectly resulting from the publication, use of, or reliance upon this, or any
other EPSG Standard document.
The EPSG does not warrant or represent the accuracy or content of the material contained herein,and expressly disclaims any express or implied warranty, including any implied warranty ofmerchantability or fitness for a specific purpose, or that the use of the material contained herein is freefrom patent infringement. EPSG Standards documents are supplied “AS IS”.
The existence of an EPSG Standard does not imply that there are no other ways to produce, test,
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Implementation Directive for
CiA402 Drive Profile V0.0.4

Pre 1.1-4-

Patent noticeAttention is called to the possibility that implementation of this standard may require use of subject
matter covered by patent rights. By publication of this standard, no position is taken with respect to theexistence or validity of any patent rights in connection therewith. B&R shall not be responsible for
identifying patents for which a license may be required by an EPSG standard or for conducting
inquiries into the legal validity or scope of those patents that are brought to its attention.

Implementation Directive for
CiA402 Drive Profile V0.0.4

Pre. 2
Vers.
0.0.1
0.0.2
0.0.3
0.0.4

-5-

HistoryDate
2016-04-11
2016-05-10
2018-02-01
2024-03-18

Author / Filename
Gratzl/Altmann
Kirchmayer
GratzlKirchmayer

B&R et al.
B&R
B&R
B&R

Description
createdHeaders adjusted
Index 6094h deleted© B&R due to dissolution of the EPSG

Implementation Directive for
CiA402 Drive Profile V0.0.4

Pre. 3-6-

Content

Pre. 1 Disclaimer __________________________________________________ 3
Pre 1.1 Patent notice ______________________________________________ 4
Pre. 2 History _____________________________________________________ 5
Pre. 3 Content ____________________________________________________ 6
Pre. 4 Figures_____________________________________________________ 8
Pre. 5 Tables _____________________________________________________ 9
1 Scope _________________________________________________________ 10
1.1 IEC 61800-7 ________________________________________________________ 11

2 References _____________________________________________________ 12
3 Terms and Definitions ____________________________________________ 13
3.1 Abbreviated terms___________________________________________________ 13

4 Mapping to POWERLINK__________________________________________ 14
4.1 Mapping of communication objects ____________________________________ 14
4.1.1 Process Data Object (PDO) ________________________________________________ 14
4.1.2 Service Data Object (SDO) _________________________________________________ 14

5 Device profile ___________________________________________________ 15
5.1 Object 1000h: DeviceType_U32 (M) _____________________________________ 15

6 Error codes and error behavior ____________________________________ 16
6.1 Object 603Fh: ErrorCode_U16 (O) ______________________________________ 16
6.2 Error behavior ______________________________________________________ 16

7 Controlling the power drive system _________________________________ 17
7.1 State machine ______________________________________________________ 17
7.2 Object 6040h: ControlWord_U16 (M)____________________________________ 20
7.3 Object 6041h: StatusWord_U16 (M) ____________________________________ 21

8 Modes of operation ______________________________________________ 22
8.1 General ____________________________________________________________ 22
8.1.1 Object 6060h: ModesOfOperation_I8 (M) ______________________________________ 22
8.1.2 Object 6061h: ModesOfOperationDisplay_I8 (M) ________________________________ 22
8.1.3 Object 6502h: SupportedDriveModes_U32 (O) _________________________________ 22
8.1.4 Object list_______________________________________________________________ 22
8.1.5 Switching between Operation modes _________________________________________ 23

8.2 Profile position mode ________________________________________________ 24
8.2.1 General information _______________________________________________________ 24
8.2.2 Functional description _____________________________________________________ 25
8.2.3 Use of ControlWord_U16 and StatusWord_U16 ________________________________ 29
8.2.4 Object list_______________________________________________________________ 30

8.3 Profile Velocity mode ________________________________________________ 31
8.3.1 General information _______________________________________________________ 31
8.3.2 Functional description _____________________________________________________ 31

Implementation Directive for
CiA402 Drive Profile V0.0.4-7-

8.3.3 Use of ControlWord_U16 and StatusWord_U16 ________________________________ 32
8.3.4 Object list_______________________________________________________________ 32

8.4 Interpolated position mode ___________________________________________ 33
8.4.1 General information _______________________________________________________ 33
8.4.2 Functional description _____________________________________________________ 33
8.4.3 Use of ControlWord_U16 and StatusWord_U16 ________________________________ 34
8.4.4 Object list_______________________________________________________________ 35

8.5 Cyclic synchronous position mode ____________________________________ 36
8.5.1 General information _______________________________________________________ 36
8.5.2 Functional description _____________________________________________________ 36
8.5.3 Use of ControlWord_U16 and StatusWord_U16 ________________________________ 37
8.5.4 Object list_______________________________________________________________ 37

8.6 Cyclic synchronous velocity mode (C) __________________________________ 38
8.6.1 General information _______________________________________________________ 38
8.6.2 Functional description _____________________________________________________ 38
8.6.3 Use of ControlWord_U16 and StatusWord_U16 ________________________________ 38
8.6.4 Object list_______________________________________________________________ 39

9 Homing ________________________________________________________ 40
9.1 General ____________________________________________________________ 40
9.2 Calculation of position actual value by homing process ___________________ 40
9.3 Homing object list ___________________________________________________ 41
9.4 Object 60E3h: Supported Homing Methods ______________________________ 41
9.5 Homing Methods ____________________________________________________ 42
9.5.1 Method 35: _____________________________________________________________ 45
9.5.2 Method 37: _____________________________________________________________ 45

10 Factor Group __________________________________________________ 46
10.1 General ___________________________________________________________ 46
10.2 Object list _________________________________________________________ 46

11 Endless positioning_____________________________________________ 47
11.1 Object list _________________________________________________________ 48

12 Object description ______________________________________________ 49Implementation Directive for
CiA402 Drive Profile V0.0.4

Pre. 4-8-

FiguresFigure 1: Structure of the IEC 61800-7
Figure 2: Object 1000h Device Type
Figure 3: State Machine
Figure 4: ControlWord_U16 value definition
Figure 5: StatusWord_U16 value definition
Figure 6: Supported drive modes value definition
Figure 7: Dynamic change of operation mode
Figure 8: Trajectory generator and position control function
Figure 9: Trajectory generator for profile position mode
Figure 10: Set-point example
Figure 11: Handshaking procedure for the single set-point method
Figure 12: Handshaking procedure for the set of set-points method
Figure 13: Set-point handling for two set-points
Figure 14: Erase set-point
Figure 15: ControlWord_U16 for profile position (pp) mode
Figure 16: StatusWord_U16 for profile position (pp) mode
Figure 17: Profile velocity mode
Figure 18: StatusWord_U16 for profile velocity mode
Figure 19: Interpolation controller
Figure 20: Controlword for interpolation position mode
Figure 21: Statusword for interpolated position mode
Figure 22: Cyclic synchronous position mode overview
Figure 23: StatusWord_U16 for cyclic synchronous position mode
Figure 24: Cyclic synchronous velocity mode overview
Figure 25: StatusWord_U16 for cyclic synchronous velocity mode
Figure 26: Home offset definition
Figure 27: ControlWord_U16 for homing
Figure 28: StatusWord_U16 for homing
Figure 29: Homing on the negative limit switch and index pulse
Figure 30: Homing on the positive limit switch and index pulse
Figure 31: Homing on the positive home switch and index pulse
Figure 32: Homing on the negative home switch and index pulse
Figure 33: Homing on the home switch and index pulse — positive initial move
Figure 34: Homing on the home switch and index pulse — negative initial move
Figure 35: Homing on the positive home switch
Figure 36: Homing on the positive home switch
Figure 37: Position actual value in modulo format
Figure 38: Object structure 0x60F2
Figure 39: Rotary axis positioning

11
15
17
20
21
22
23
24
24
25
26
27
28
29
29
30
31
32
34
34
34
36
37
38
39
40
41
41
42
42
43
43
44
44
45
45
47
48
48

Implementation Directive for
CiA402 Drive Profile V0.0.4

Pre. 5-9-

TablesTable 1 - Supported Error option codes
Table 2 - Transition events and actions
Table 3 - FSA states and supported functions
Table 4 - Command coding
Table 5 - State coding
Table 6 - Operation Modes
Table 7 - Object list ModesOfOperation_I8
Table 8 - Definition of bit 4, bit 5 and bit 9 for profile position mode
Table 9 - Definition of bit 6 and bit 8 for profile position mode
Table 10 - Definition of bit 10, bit 12 and bit 13 for profile position mode
Table 11 - Object list profile position mode
Table 12 - Definition of bit 8 for profile velocity mode
Table 13 - Definition of bit 10, bit 12 and bit 13 for profile velocity mode
Table 14 - Object list profile velocity mode
Table 15 - Defined values for bit 4 and bit 8 in interpolated position mode
Table 16 - Definition of bit 10, bit 12 and bit 13 in interpolated position mode
Table 17 - Object list interpolated position mode
Table 18 - Definition of bit 12 and bit 13 for cyclic synchronous position mode
Table 19 - Object list cyclic synchronous position mode
Table 20 - Definition of bit 12 for cyclic synchronous velocity mode
Table 21 - Object list cyclic synchronous velocity mode
Table 22 - Homing Methods
Table 23 - Homing Object list
Table 24 - Default values for units
Table 25 - Object list factor groups
Table 26 - Value definition for bit 6 and 7 of object 60F2h
Table 27 - Object list endless positioning

16
18
19
20
21
22
22
30
30
30
30
32
32
32
34
35
35
37
37
39
39
40
41
46
46
48
48

Implementation Directive for
CiA402 Drive Profile V0.0.4-10-

1 Scope
IEC 61800-7-201 and IEC 61800-7-301 specify the CiA402 drive profile which is mapped to POWERLINK. In the
IEC Standard many objects and operation modes are defined as optional therefore this document intends todefine a common behavior of a POWERLINK servo drive supporting the CiA402 drive profile.
Scope of this directive- CiA402 Servo drives and compatible frequency inverters with POWERLINK interface
NOTE Objects / functions / operation modes in bold letters throughout the text and the figures means that this feature ismandatory according to this directive.

This directive is not a substitute of the IEC 61800-7-201 specification! For the understanding andimplementation of the drive profile the IEC specification is indispensable.
The directive gives explanations and defines enhancements according to the IEC specification.

Implementation Directive for
CiA402 Drive Profile V0.0.4-11-

1.1 IEC 61800-7
IEC 61800-7 specifies profiles for Power Drive Systems (PDS) and their mapping to existing
communication systems by use of a generic interface model.
IEC 61800-7-1 specifies a generic interface between power drive system(s) (PDS) and the application control
program in a controller. The generic PDS interface is not specific to any particular communication network
technology. Annexes of IEC 61800-7-1 specify the mapping of the different drive profiles onto the generic PDS
interface.
IEC 61800-7-201 specifies the CiA402 DriveProfile for power drive systems (PDS). This profile of the PDS is not
specific to any particular communication network technology.
IEC 61800-7-301 specifies the mapping of different profiles to different network technologies.
IEC 61800 series
Adjustable speed electrical power
drive systems

IEC/TR 62390
Device profile guideline

IEC 61800-7 Generic interface and use of profiles for power drive systems

IEC 61800-7-1 – Interface definition
Generic PDS interface specification
Annex A
Mapping ofProfile type 1(CiA 402)

Annex B
Mapping ofProfile type 2(CIP Motion)

Annex C
Mapping ofProfile type 3(PROFIdrive)

Annex D
Mapping ofProfile type 4(SERCOS)IEC 61800-7-200 – Profile specifications
IEC 61800-7-201

IEC 61800-7-202

IEC 61800-7-203

IEC 61800-7-204

Profile type 1(CiA 402)

Profile type 2(CIP Motion)

Profile type 3(PROFIdrive)

Profile type 4(SERCOS)IEC 61800-7-300 – Mapping of profiles to network technologies
IEC 61800-7-301

IEC 61800-7-302

IEC 61800-7-303

IEC 61800-7-304

Mapping of profile
type 1 to:

Mapping of profile
type 2 to:

Mapping of profile
type 3 to:

Mapping of profile
type 4 to:

CANopenDeviceNet

PROFIBUS

SERCOS I + II

CC-Link IE

ControlNet

PROFINETSERCOS III

EPA

EtherNet/IP

EtherCATETHERNETPowerlink

Figure 1: Structure of the IEC 61800-7

EtherCATImplementation Directive for
CiA402 Drive Profile V0.0.4-12-

2 References[1] IEC 61800-7-201: Adjustable speed electrical power drive systems Part 7-2 Generic interface and use ofprofiles for power drive systems Profile specification Type 1[2] IEC 61800-7-301: Adjustable speed electrical power drive systems Part 7-2 Generic interface and use ofprofiles for power drive systems mapping of profiles to network technologies

Implementation Directive for
CiA402 Drive Profile V0.0.4-13-

3 Terms and Definitions(M) Mandatory
the object / feature shall be supported according to IEC 61800-7 or according to this directive.
(C) Conditional
the object / feature parameter is conditional upon other parameters/features.
I.e. it shall be supported if (the) other parameter(s)/feature(s) is(are) supported.
(R) Recommended
the object / feature is highly recommended according to this directive.
It is defined for a better quality of the corresponding function.
(O) Optional
the object / feature might be supported.
It is not recommended according to this directive.
Low-level powerelectrical power supply for the control section of the drive, e.g. 24V.
High-level power
main electric power supply of the drive, e.g. 230V or 380V.

3.1 Abbreviated terms
CiA
csp
cst
csv
CSM
FSA
hm
ip
ms
PDS
pp
pv
Res, r
ro
rw
SM
vl
wo

CAN in Automation
Cyclic Synchronous Profile mode
Cyclic Synchronous Torque mode
Cyclic Synchronous Velocity mode
Communication State Machine
Finite State Automat
Homing mode
Interpolated Position mode
Manufacturer SpecificPower Drive System
Profile Position mode
Profile Velocity mode
Reserved
Read-Only
Read-Write
State Machine
Velocity mode
Write-OnlyImplementation Directive for
CiA402 Drive Profile V0.0.4-14-4 Mapping to POWERLINK
4.1 Mapping of communication objects
Communication objects for real-time data transmission shall be mapped to Process Data Object
message (PDOs). Communication objects for configuration data transmission shall be mapped toService Data Object message(s) (SDO).
System time distribution and synchronization is handled implicitly by the POWERLINK protocol without
the need for explicit messages. [61800-7-301]

4.1.1 Process Data Object (PDO)
The real-time data transfer is performed by means of Process Data Objects (PDO).
PDO communication in POWERLINK is always performed isochronously by PReq and/or PRes
frames. PReq frames are sent as unicast from the Managing Node to Controlled Nodes. Each frame
contains real-time output data for a single node. PRes frames are broadcast to the whole network andmay therefore contain data directed to several nodes. This allows direct cross-communication
following the producer/consumer principle.
The transmission type of PDO is continuous. There is no “on event” or “on change” transmission typeprovided.
From the device’s view, there are two types of PDO usage: data transmission and data reception.
Transmit PDOs (TPDOs) and Receive PDOs (RPDOs) shall be distinguished.
The mapping of the process data is not especially fixed by this directive.
Depending on the supported modes some objects must be mapped to TPDO/RPDO and some are
optional (O) to be mapped to PDO.
e.g.: 8.2.4 Object list

4.1.2 Service Data Object (SDO)The Service Data Object protocol allows asynchronous (i.e. non-real-time) access to the device. The
SDO protocol follows the master/slave principle and allows access to the whole object dictionary via
index and sub-index addressing.
SDO is used to manipulate the objects on the drive.
NOTE: Access (rw, ro, wo) via SDO shall be supported for each object defined on the drive!

Implementation Directive for
CiA402 Drive Profile V0.0.4-15-

5 Device profile
5.1 Object 1000h: DeviceType_U32 (M)The device type object 1000h shall define the device type, the device’s functionality, and the mapping
variant. [61800-7-301]
Additional information
DeviceFrequency
converter
Servo drive

Device profile
numberMode bits

Type

31…24
manufacturer
specific
manufacturer
specific

23

22

21

20

19

18

17

16

15…0

0

x

0

0

0

0

0

1

0192h (402d )

0

x

0

0

0

0

1

0

0192h (402d )Figure 2: Object 1000h Device TypeThe Device profile number (Bit 0…15) shows, if the device corresponds with the CiA402 standard.

Implementation Directive for
CiA402 Drive Profile V0.0.4-16-

6 Error codes and error behavior
Emergency messages are triggered by internal errors and severe warnings detected within the drive
device.
Error numbers are:••••defined in IEC 61800-7-201
16 Bit values
numbers from XX00h to XX7Fh
numbers from XX80h to XXFFh (manufacturer-specific)

6.1 Object 603Fh: ErrorCode_U16 (O)This object shall provide the error code of the last error which occurred in the drive device.
In CANopen this object provides the same information as the lower 16-bit of sub-index 01h of the predefined error field (1003h).

6.2 Error behavior
The following error option codes are supported:
Index

Name

Category

Access Object

6007h

AbortConnectionOptionCode_I16

O

RW

605Ah

QuickStopOptionCode_I16

O

605Bh

ShutdownOptionCode_16

605Ch

DisableOperationOptionCode_I16

605Dh
605Eh

Type

PDO - mapping

VAR

INTEGER16

O

RW

VAR

INTEGER16

O

O

RW

VAR

INTEGER16

O

O

RW

VAR

INTEGER16O

HaltOptionCode_I16

O

RW

VAR

INTEGER16

O

FaultReactionOptionCode_I16

O

RW

VAR

INTEGER16O

Table 1 - Supported Error option codes
The communication state machine (CSM) is independent of the drive state machine (FSA SM).
Object 0x6007 can be used to define the behavior in case the slave CSM leaves the OP state.
A state change of the FSA SM does not affect the CSM.

Implementation Directive for
CiA402 Drive Profile V0.0.4-17-

7 Controlling the power drive system
7.1 State machine
The PDS FSA is an abstraction to define the behavior of a black box as a control device experiences
the PDS. It defines the application behavior of the PDS.
The PDS FSA defines the PDS status and the possible control sequence of the PDS. A single state
represents a special internal or external behavior. The state of the PDS also determines which
commands are accepted.

Figure 3: State MachineImplementation Directive for
CiA402 Drive Profile V0.0.4-18-

Transition Event(s)Action(s)0Automatic transition after power-on or reset application

1
2

Automatic transition"Shutdown" command from control device or local Signal"Switch on" command received from control device or local
signal"Enable operation" command received from control device or
local signal"Disable operation" command received from control device or
local signal"Shutdown" command received from control device or local
signal"Quick stop" or "disable voltage" command from control device
or local signal

3
4
5
6
7

Drive device self-test and/or selfinitialization shall be performed.
Communication shall be activated.
None
The high-level power shall beswitched on, if possible.
The drive function shall be enabled
and all internal set-points cleared.
The drive function shall be disabled.
The high-level power shall beswitched off, if possible.
None
The drive function shall be disabled,
and the high-level power shall beswitched off, if possible.
The drive function shall be disabled,
and the high-level power shall beswitched off, if possible.
The high-level power shall beswitched off, if possible.
The quick stop function shall bestarted.

8"Shutdown" command from control device or local signal

9"Disable voltage" command from control device or local signal

10"Disable voltage" or "quick stop" command from control device
or local signal

11"Quick stop" command from control device or local signal

12

Automatic transition when the quick stop function is completed
and quick stop option code is 1, 2, 3 or 4, or disable voltage
command received from control device (depends on the quick
stop option code)

The drive function shall be disabled,
and the high-level power shall beswitched off, if possible.

13

Fault signal (see also IEC 61800-7-301)

The configured fault reaction
function shall be executed.

14

Automatic transition

The drive function shall be disabled;
the high-level power shall beswitched off, if possible.

"Fault reset" command from control device or local signal

A reset of the fault condition iscarried out, if no fault exists
currently on the drive device; after
leaving the Fault state, the Fault reset
bit in the ControlWord_U16 shall becleared by the control device.

15"Enable operation" command from control device, if the quick
stop option code is 5, 6, 7, or 8
NOTE It is not recommended to support transition 16.
16

The drive function shall be enabled.

Table 2 - Transition events and actions

Implementation Directive for
CiA402 Drive Profile V0.0.4-19-

The state Quick stop active is optional. Usually the control device will perform the quick stop function.
The state Not ready to switch on is performed automatically by the drive.
The state Switch on disabled can be passed through automatically by local signals of the drive. The control
device has to compare during start-up which state is reached by the drive. Then the control device has toperform the transition 2 only if necessary.
The states in bold letters are stable states in the drive and will be checked by the control device. The transitions
3 and 4 can only be requested by the control device.
If the control device sets Bits 0, 1 and 3 simultaneously in the ControlWord_U16 the drive can pass from Readyto Switch on via Switched on to Operation enabled with one control device command.
In area (A) the Low-level power is enabled. The High-level power may be enabled, e.g. to supply the low-level
power.
In area (B) the High-level power shall be switched on but there is no torque on the motor. Transition 3 shall berefused by the drive, if no high-level power is enabled. Target and set-point values shall be ignored.
In area (C) the drive is ready to operate and the torque is switched on to the motor. Target and setpoint values
shall be processed.
During transition 4 the torque can be set up and if necessary a brake can be opened. The StatusWord_U16
displays the state Switched on until the drive is ready to follow the target and set-point values.
Accordingly in transition 5 the drive can actively be decelerated and the brake can be closed. The
StatusWord_U16 displays the state Operation enabled as long as torque on the motor is enabled.
The servo drive shall support the following functions.
FSA states
Function

Not readySwitch on Ready to Switchedto switchdisabled switch on on
onBrake applied,Yes
if present
Low-levelYespower applied
High-level
Yes/Nopower applied
Drive function
NoenabledConfigurationYes
allowed

Fault
Operation Quick stop
reactionenabledactiveactive

Fault

Yes

Yes

Yes

Yes/NoYes/NoYes/No

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes/NoYes/No

Yes

Yes

Yes

Yes

Yes/No

No

No

No

Yes

Yes

Yes

No

Yes

Yes

Yes

Yes/NoYes/NoYes/NoYes

Table 3 - FSA states and supported functions

Implementation Directive for
CiA402 Drive Profile V0.0.4-20-

7.2 Object 6040h: ControlWord_U16 (M)This object shall indicate the received command controlling the PDS FSA.
The following Bits in the ControlWord_U16 shall be supported.
15 - 11
Manufacturer
specific

10

9

8

7

Res.

Operationmode
specific

Halt

Fault
reset

6

5

4

Operation mode specific

3

2

1

0

EnableOperation

Quick
stop

Enablevoltage

Switchon

Figure 4: ControlWord_U16 value definition
Bit 2 Quick stop shall be set (= 1) by the control device to deactivate an optional quick stop. This bit
shall be ignored by a drive that does not support the quick stop state.
Bits of the controlword

Command
Bit 7

Shutdown0
Switch on0
Switch on +0
enable operation
Disable voltage 0
Quick stop0
Disable0
operation
Enable0
operation
Fault reset

Transitions

Bit 3

Bit 2

Bit 1

Bit 0

X
0

1
1

1
1

0
1

1

1

1

1

X
X

X
0

0
1

X
X

2,6,8
3
3+4
(NOTE)
7,9,10,12
7,10,11

0

1

1

1

5

1

1

1

1

4,16

X

X

X

X

15

NOTE Automatic transition to enable operation state after executing SWITCHED ON state functionality.
Table 4 - Command codingImplementation Directive for
CiA402 Drive Profile V0.0.4-21-

7.3 Object 6041h: StatusWord_U16 (M)This object shall provide the status of the PDS FSA.
The following Bits in the StatusWord_U16 shall be supported:
15,14

ms

13

12

operation mode
specific

11

10

9

8

7

6

5

4

3

2

1

0

ready
internal
switchtargetquick voltage
operation switchedtoremote ms warning
fault
limit
on
reachedstop enabled
enabledonswitchdisabled
activeon

Figure 5: StatusWord_U16 value definition
Bit 5 Quick Stop shall be set by the drive if the Quick Stop state is not supported or the Quick stopfunction is not active.
Bit 9 Remote shall be set if the drive is controlled by the control device.
Bit 11 Internal limit active is set if internal limits are exceeded so that the target and set-point values
can't be reached. E.g. for hardware position switches, current limiter or thermal overload.
Statusword

xxxx
xxxx
xxxx
xxxx
xxxx
xxxx
xxxx
xxxx

xxxx
xxxx
xxxx
xxxx
xxxx
xxxx
xxxx
xxxx

PDS FSA statex0 xx 0 0 0 0 b
x1 xx 0 0 0 0 b
x0 1 x 0 0 0 1 b
x0 1 x 0 0 1 1 b
x0 1 x 0 1 1 1 b
x0 0 x 0 1 1 1 b
x0 xx 1 1 1 1 b
x0 xx 1 0 0 0 b

Not ready to switch on
Switch on disabled
Ready to switch on
Switched on
Operation enabled
Quick stop active
Fault reaction active
Fault

Table 5 - State codingImplementation Directive for
CiA402 Drive Profile V0.0.4-22-

8 Modes of operation
8.1 General
8.1.1 Object 6060h: ModesOfOperation_I8 (M)This object shall indicate the requested operation mode.
The following operation modes for the servo drives are recommended.
Mode of operation

Abbr.

Code

Manufacturer specific modeno mode change/no mode assigned
Profile position mode
Velocity mode
Profile velocity mode
Torque profile mode
reserved
Homing mode
Interpolated position mode
Cyclic synchronous position mode
Cyclic synchronous velocity mode
Cyclic synchronous torque mode
Cyclic synchronous torque mode with commutation angle
reserved

pp
vl
pv
tq
hm
ip
csp
csv
cst
cstca
-

-128..-1
0
1
2
3
4
5
6
7
8
9
10
11
12 - 127

Table 6 - Operation Modes

8.1.2 Object 6061h: ModesOfOperationDisplay_I8 (M)This object shall provide the actual operation mode.
Table 6 specifies the value definition.

8.1.3 Object 6502h: SupportedDriveModes_U32 (O)This object shall provide information on the supported drive modes.
31

16 15

11

Manufacturer specificreserved

10

9

8

7

6

cstca cst csv csp ip

5

hm r

4

3

2

tq

pv

1

vl

0

pp

Figure 6: Supported drive modes value definition
Depending on which Bits are set, the associated modes are supported.

8.1.4 Object list
Index

Name

Category

Access Object

6060h

ModesOfOperation_I8

M

RW

6061h
605Bh

ModesOfOperationDisplay_I8
SupportedDriveModes_U32

M
O

RO
RO

Type

PDO - mapping

VAR

INTEGER8

RPDO

VAR
VAR

INTEGER8TPDO
UNSIGNED32 O

Table 7 - Object list ModesOfOperation_I8

Implementation Directive for
CiA402 Drive Profile V0.0.4-23-

8.1.5 Switching between Operation modes
The operation mode can be switched through the object 6060h ModesOfOperation_I8. This should bedone cyclically via PDO communication.
Drive
Control device

POWERLINK
Slave

RPDO: Mode of Operation = pp / ControlWord / Target Position / Target Velocity
TPDO: Mode of Operation Dsp = pp / StatusWord / Position actual value

RPDO: Mode of Operation = pv / ControlWord / Target Position / Target Velocity
TPDO: Mode of Operation Dsp = pp / StatusWord / Position actual value
RPDO: Mode of Operation = pv / ControlWord / Target Position / Target Velocity
TPDO: Mode of Operation Dsp = pv / StatusWord / Position actual value

Figure 7: Dynamic change of operation mode

process
pp

processpv

Implementation Directive for
CiA402 Drive Profile V0.0.4-24-

8.2 Profile position mode
8.2.1 General information
The overall structure for this mode is shown in Figure 8. A target position is applied to the trajectory
generator. It is generating a position demand value for the position control loop described in theposition control function. These two function blocks are optionally controlled by individual parametersets.
Trajectory
generator
parameters

TargetPosition_I32(607Ah)Trajectory
generator

Position control
law parameter
PositionDemandInternalValue_I32(60FCh) or
PositionDemandValue_I32(6062h)ControlEffort_I32(60FAh)Positioncontrolfunction

Figure 8: Trajectory generator and position control function
At the input to the trajectory generator, parameters may have optional limits applied before being
normalized to internal units. The simplest form of a trajectory generator is just to pass through a target
position and to transform it to a position demand internal value with internal units (increments) only.
Figure 9 defines the detailed structure of the trajectory generator.
TargetPosition_I32 (607Ah)
PositionRangeLimit_I32 (607Bh)
SoftwarePositionLimit_I32 (607Dh)

Limit
functionTarget position [inc]Multiplier

Polarity_U8 (607Eh)
Polarity_U8 (607Eh)

Profile velocity or
End velocity [inc/s]

ProfileVelocity_U32 (6081h)

Limit
function

EndVelocity_U32 (6082h)

Multiplier

MaxProfileVelocity_U32 (607Fh)
Minimum
comparator

MaxMotorSpeed_U32 (6080 h)

ProfileAcceleration_U32 (6083 h)Profile acceleration or
profile deceleration or
quick-stop deceleration[inc/s²]

ProfileDeceleration_U32 (6084h)
QuickStopDeceleration_U32 (6085 h)
MaxAcceleration_U32 (60C5h)

Trajectory
generator

Velocity limit

Limit
function

MaxDeceleration_U32 (60C6h)
QuickStopOptionCode_I16 (605Ah)
MotionProfileType_I16 (6086 h)
inc= internal increments

Figure 9: Trajectory generator for profile position mode

Position DemandInternal Value_I32(60FC h)Implementation Directive for
CiA402 Drive Profile V0.0.4-25-

8.2.2 Functional description
8.2.2.1 General
The setting of set-points is controlled by the timing of the new set-point bit and the change set
immediately bit in the ControlWord_U16 as well as the set-point acknowledge bit in the
StatusWord_U16.
If the change set immediately bit of the ControlWord_U16 is set to 1, a single set-point is expected by
the drive device.
If the change set immediately bit of the ControlWord_U16 is set to 0, a set of set-points is expected by
the drive device.
After a set-point is applied to the drive device, the control device signals that the set-point is valid by arising edge of the new set-point bit in the ControlWord_U16. The drive device sets the set-point
acknowledge bit in the StatusWord_U16 to 1, and afterwards, the drive device signals with the setpoint acknowledge bit set to 0 its ability to accept new set-points. An example is shown in Figure 10.
Position

Velocityt

Target positiontProfile velocitytControlword

t

Bit 4
New Setpointt

Statusword
Bit 10Target reachedt
Bit 12
Setpoint acknowledgetFigure 10: Set-point example
If one set-point is still in progress and a new one is validated, two methods of handling are supported:
single set-point (change set immediately bit of ControlWord_U16 is 1) and set of setpoints (change set
immediately bit of ControlWord_U16 is 0).

Implementation Directive for
CiA402 Drive Profile V0.0.4-26-

8.2.2.2 Single set-point
When a set-point is in progress and a new set-point is validated by the new set-point (bit 4) in theControlWord_U16, the new set-point shall be processed immediately. The handshaking procedureshown in Figure 11 is used for the single set-point method.

Position

Velocityt

Target positiontProfile velocitytControlword

t

Bit 4
New Setpointt
Bit 5
Change set immediately

Statusword
Bit 10t

Target reachedt
Bit 12
Setpoint acknowledgetFigure 11: Handshaking procedure for the single set-point method

Implementation Directive for
CiA402 Drive Profile V0.0.4-27-

8.2.2.3 Set of set-points
When a set-point is in progress and a new set-point is validated by the new set-point (bit 4) in theControlWord_U16, the new set-point shall be processed only after the previous has been reached.
The handshaking procedure shown in Figure 12 is used for the set of set-points method. The right sideof the graph ‘Velocity’ shows the actual speed if the change of set point bit (bit 9) is set to 1.

Position

VelocityttTarget position

Profile velocitytControlword

t

Bit 4
New Setpointt
Bit 9
Change on setpoint

Statusword
Bit 10t

Target reached

Bit 12t

Setpoint acknowledgetFigure 12: Handshaking procedure for the set of set-points method

Implementation Directive for
CiA402 Drive Profile V0.0.4-28-

If a drive device supports set of set-points, a minimum of two set-points are available, a setpoint that iscurrently been processed and a buffered set-point. The set-points are handled as shown in Figure 13.

1

Controlword

2

3

4

5

Bit 4
New Setpointt
Bit 5
Change set immediatelyt
Set-pointA

Buffered
set-point
Processed
set-point

B

C

B

A

A

B

D

C

C

B

B

E

E

Statusword
Bit 10Target reachedt

Bit 12
Setpoint acknowledgetFigure 13: Set-point handling for two set-points
New set-points are buffered in the set-point list as long as free set-points are available in the drive
device. If no set-point is in progress, the new set-point shall become active immediately (1). If a setpoint is in progress, the new set-point shall be stored in the first set-point buffer that is free (2 + 3).
If all set-point buffers are busy (set-point acknowledge bit is 1), the reaction depends on the change
set immediately bit. If the change set immediately bit is set to 1, the new set-point shall be processed
immediately as single set-point. All previously loaded set-points shall be discarded (5).
The target reached bit shall remain 0 until all set-points are processed.

Implementation Directive for
CiA402 Drive Profile V0.0.4-29-

8.2.2.4 Usage of halt-bit in conjunction with new set-point bit
The halt-bit can be used to halt, set a new set-point and in combination with the new set-point bit tointerrupt an actual movement which is described in this section.
If a drive is processing a set-point the halt-bit (bit 8 of the ControlWord_U16) can be used to stop the
motor and keep it in position control. After releasing the halt-bit the processing of the actual set-point
is continued. Figure 21 describes a mechanism how to erase the processed set-point and set theactual position as a new set-point for that the drive remains at the current position in position control
even after releasing the halt-bit.
Controlword
Bit 4
New Setpointt
Bit 5
Change set immediately

t
Bit 8
Halt

t

Statusword
Bit 10Target reachedt

Bit 12
Setpoint acknowledge
Drive inpositioncontrol on
actualposition

Set setpoint toactualpositiont

Figure 14: Erase set-point
The actual drive position shall be captured after a complete stand still of the motor. Therefore bit 8(halt) of the ControlWord_U16 (6040h) and bit 10 (target reached) of the StatusWord_U16 (6041h)
have to be equal to 1. Additional information on this bit combination can be found in Table 10.
To define the slowdown ramp which is applied during the halt command object 605D h(HaltOptionCode_I16) can be used.

8.2.3 Use of ControlWord_U16 and StatusWord_U16
The profile position mode uses some bits of the ControlWord_U16 and the StatusWord_U16 for modespecific purposes. Figure 15 shows the structure of the ControlWord_U16. If no positioning is inprogress, the rising edge of bit 4 shall start the positioning of the axis. In case a positioning is inprogress, the definitions given in Table 8 shall be used. Table 9 defines the values for bit 6 and 8 of
the ControlWord_U16.
It is assumed that the target position is edge-triggered 0->1 otherwise the drive could set immediately
new values, which leads to unexpected behavior.
15-11

10

9

8

7

6

5

4

3

2

1

0

Manufacturer
specificRes.

Change on
setpoint

Halt

Fault
reset

abs/relChange set
immediately

New
Setpoint

EnableOperation

Quick
stop

Enablevoltage

Switch on

Figure 15: ControlWord_U16 for profile position (pp) modeImplementation Directive for
CiA402 Drive Profile V0.0.4
Bit 9

Bit 5

Bit 4

0

0

0 -> 1X

1

0 -> 1

1

00 -> 1-30-

Definition

Positioning shall be completed (target reached) before the next one gets
startedNext positioning shall be started immediately
Positioning with the current profile velocity up to the current setpoint shallbe proceeded and then the next positioning shall be applied

Table 8 - Definition of bit 4, bit 5 and bit 9 for profile position mode
Bit

6
8

Value

Definition

0
1
0
1

Target position shall be an absolute value
Target position shall be a relative value (depending on object 60F2h)
Positioning shall be executed or continued
Axis shall be stopped accordingly to halt option code (605Dh)

Table 9 - Definition of bit 6 and bit 8 for profile position mode
Figure 16 shows the structure of the StatusWord_U16.
Table 10 defines the values for bit 10, bit 12, and bit 13.
15, 14

ms

13

12

11

10

9

8

7

6

5

4

3

2

1

0

ready
Set-point internal
switchfollowingtargetquick voltage
operation switchedtoremote ms warning
fault
acknowlimitonreachedstop enabled
enablederror
onswitchdisabled
activeledge
onFigure 16: StatusWord_U16 for profile position (pp) mode
Bit

Value

Halt (Bit 8 in controlword) = 0: Target position not reached
Halt (Bit 8 in controlword) = 1: Axis decelerates
Halt (Bit 8 in controlword) = 0: Target position reached
Halt (Bit 8 in controlword) = 1: Velocity of axis is 0
Previous setpoint already processed, waiting for new setpoint
Previous setpoint still in process, setpoint overwriting shall be accepted
No following error
Following error

0
10
1
12
13

Definition

0
1
0
1

Table 10 - Definition of bit 10, bit 12 and bit 13 for profile position mode

8.2.4 Object list
Index

Name

Category

Access Object

607Ah

TargetPosition_I32

M

RW

Type

PDO - mapping

6081hProfileVelocity_U32

M

RW

VAR

INTEGER32

RPDO

VAR

UNSIGNED32 RPDO

6083hProfileAcceleration_U32

M

RW

VAR

UNSIGNED32 RPDO

6084hProfileDeceleration_U32

M

RW

VAR

UNSIGNED32 RPDO

6064h

PositionActualValue_I32

M

RO

VAR

INTEGER32

607Dh

SoftwarePositionLimit_I32

R

RW

ARRAY INTEGER32

6085h

QuickStopDeceleration_U32

R

RW

VAR

Table 11 - Object list profile position modeTPDOOUNSIGNED32 O

Implementation Directive for
CiA402 Drive Profile V0.0.4-31-

8.3 Profile Velocity mode
8.3.1 General information
The profile velocity mode covers the following sub-functions:
•
•
•
•
•

Demand value input via trajectory generator
Velocity capture using position sensor or velocity sensor
Velocity control function with appropriate input and output signals
Monitoring of the profile velocity using a window-function
Monitoring of velocity actual value using a threshold

Various sensors may be used for velocity capture. In particular, the aim is that costs are reduced andthe drive power system is simplified by evaluating position and velocity using a common sensor, suchas is optional using a resolver or an encoder.
The velocity control function is not specified more precisely at this point, as it is highly manufacturerspecific. Monitoring functions for the velocity actual value provide status information for superordinated systems.

8.3.2 Functional description
Figure 17 shows the defined structure of the profile velocity mode. The actual velocity may beobtained through differentiation from the position encoder and is represented in position encoder
increments.
The target reached bit (bit 10) shall be set to 1 in the StatusWord_U16 when the difference between
the target velocity and the velocity actual value is within the velocity window longer than the velocity
window time.
As soon as the velocity actual value exceeds the velocity threshold longer than the velocity thresholdtime, then bit 12 shall be set to 0 in the StatusWord_U16. Below this threshold, the bit shall be set to 1
and shall indicate that the axis is stationary.
TargetVelocity_I32 (60FFh)

MaxProfileVelocity_U32 (607Fh)
MaxMotorSpeed_U32 (6080 h)

Limit function
Velocity
limit

Minimum
comparator

ProfileAcceleration_U32 (6083h)

Trajectory
generator

ProfileDeceleration_U32 (6084 h)
QuickStopDeceleration_U32 (6085 h)

VelocityDemand Value_I32(606Bh)ControleffortMultiplier

Limit function

MaxAcceleration_U32 (60C5h)
MaxDeceleration_U32 (60C6h)

Velocity
controller

MotionProfileType_I16 (6086 h)
Polarity_U8 (607Eh)

SensorSelectionCode_I16 (606Ah)
PositionActualValue_I32 (6064 h)
VelocitySensorActualValue_I32 (6069 h)
Polarity_U8 (607Eh)

d/dt

Velocity
sensorselection

Velocity [inc/s]

Multiplier

Figure 17: Profile velocity mode

VelocityActualValue_I32 (606Ch)

Implementation Directive for
CiA402 Drive Profile V0.0.4-32-

8.3.3 Use of ControlWord_U16 and StatusWord_U16
The profile velocity mode uses no mode specific bits of the ControlWord_U16.
Table 12 defines the values for bit 8 of the ControlWord_U16.
Bit

Value

Definition

80
1

The motion shall be executed or continued
Axis shall be stopped according to the halt option code (605Dh)

Table 12 - Definition of bit 8 for profile velocity mode
Figure 18 shows the structure of the StatusWord_U16.
Table 13 defines the values for bit 10, 12, and 13 of the StatusWord_U16.
15, 14

ms

13

12

Max
slippage
error

Speed

11

10

9

8

7

6

5

4

3

2

1

0

ready
internal
switchtargetquick voltage
operation switchedtoremote ms warning
fault
limit
on
reachedstop enabled
enabledonswitchdisabled
activeon

Figure 18: StatusWord_U16 for profile velocity mode
Bit

Value

Halt (Bit 8 in controlword) = 0: Target not reached
Halt (Bit 8 in controlword) = 1: Axis decelerates
Halt (Bit 8 in controlword) = 0: Target reached
Halt (Bit 8 in controlword) = 1: Velocity of axis is 0
Speed is not equal 0
Speed is equal 0
Maximum slippage not reached
Maximum slippage reached

0
10
1
12
13

Definition

0
1
0
1

Table 13 - Definition of bit 10, bit 12 and bit 13 for profile velocity mode

8.3.4 Object list
Index

Name

Category

0x60FF TargetVelocity_I32
0x6083 ProfileAcceleration_U32
0x6084 ProfileDeceleration_U32
0x606C VelocityActualValue_I32
0x6085 QuickStopDeceleration_U32

M
M
M
M
R

Access Object
RW
RW
RW
RO
RW

VAR
VAR
VAR
VAR
VAR

Table 14 - Object list profile velocity modeType

PDO - mapping

INTEGER32 RPDOUNSIGNED32 O
UNSIGNED32 O
INTEGER32 TPDOUNSIGNED32 O

Implementation Directive for
CiA402 Drive Profile V0.0.4-33-

8.4 Interpolated position mode
8.4.1 General information
The interpolated position mode is used to control a single axis with the need for time-interpolation of
set-point data. The interpolated position mode normally uses time synchronisation mechanisms for atime coordination of the related drive units.
The interpolation data record contains the interpolation data; the data type of the sub-indices of thisstructure are manufacturer-specific.
For synchronous operation, the interpolation cycle time is defined by the object interpolation time
period. Time synchronisation may be done by network dependent mechanisms. Each syncronisation
cycle actuates the next data record if a valid data record is available.
For asynchronous operation, the interpolation time (for each time slice), may be included in theinterpolation data record. If this is so, then the units for the interpolation time are still specified by theinterpolation time index as for synchronous operation. The next data record shall be actuated as soon
as the interpolation time expires and a valid data record is available.
The interpolated position mode allows the control deviced to transmit a stream of interpolation datawith either an implicit or explicit time reference to a drive unit.
The interpolation algorithm is defined in the interpolation sub mode select. Linear interpolation is thedefault interpolation method. This requires only one interpolation data item to be buffered for the
calculation of the next demand value. For each interpolation cycle, the drive shall calculate a position
demand value by interpolating positions over a period of time.
Optionally the common limit functions for speed, acceleration and deceleration may be applied to theinterpolation data.

8.4.2 Functional description
The manufacturer specifies the way the drive device handles the next valid interpolation data record.
This may be in a way corresponding to the standard position mode, or might be a more complex
algorithm. The standard method is to apply the new data immediately, after the next synchronisation
signal in synchronous mode or after the previous interpolation time has expired in asynchronousmode. Figure 19 shows the defined structure of the profile velocity mode.

Implementation Directive for
CiA402 Drive Profile V0.0.4-34-

HomeOffset_I32 (607Ch)
PositionRangeLimit_I32 (607Bh)

Limit
function

SoftwarePositionLimit_I32 (607Dh)

InterpolationDataRecord_I32 (60C1h)

Multiplier

Input
BufferInterpolationDataConfiguration_U32 (60C4h)

Interpolated
position [inc]Interpolation
factorInterpolationSubmodeSelection_I16 (60C0h)

Polarity_U8 (607Eh)
Polarity_U8 (607Eh)

Position DemandInternal Value_I32(60FC h) or
PositionDemand
Value_I32 (6062 h)Profile velocity or
End velocity [inc/s]

ProfileVelocity_U32 (6081 h)Multiplier

Limit
function

EndVelocity_U32 (6082h)

Trajectory
generator

MaxProfileVelocity_U32 (607Fh)
Minimum
comparator

MaxMotorSpeed_U32 (6080 h)

ProfileAcceleration_U32 (6083 h)Profile acceleration or
profile deceleration or
quick-stop deceleration[inc/s²]

ProfileDeceleration_U32 (6084h)
QuickStopDeceleration_U32 (6085 h)

Limitfunction

MaxAcceleration_U32 (60C5h)

MaxDeceleration_U32 (60C6h)
QuickStopOptionCode_I16 (605Ah)
inc= internal increments

Figure 19: Interpolation controller

8.4.3 Use of ControlWord_U16 and StatusWord_U16
The interpolation position mode uses some bits of the ControlWord_U16 and the StatusWord_U16 formode-specific purposes. Figure 20: Controlword for interpolation position mode shows the structure of
the ControlWord_U16. If no positioning is in progress, the rising edge of bit 4 shall start the positioningof the axis. Table 15 defines the values for bit 4 and 8 of the ControlWord_U16.
15-11
Manufacturer
specific

10

9

Res.

Reserved

8

7

Halt

Fault
reset

6
Reserved

5

4

3

2

1

0

Reserved

EnableInterpolation

EnableOperation

Quick
stop

Enablevoltage

Switch on

Figure 20: Controlword for interpolation position mode
Bit

4
8

Value

Definition0
1
0

Disable interpolation
Enable interpolation
Execute instruction of bit 4
Axis shall be stopped accordingly to halt option code (605Dh) and Bit 12 in
the statusword shall be set to 0

1

Table 15 - Defined values for bit 4 and bit 8 in interpolated position mode
Figure 21: Statusword for interpolated position mode shows the structure of the StatusWord_U16.
Table 16 - Definition of bit 10, bit 12 and bit 13 in interpolated position mode defines the values for bit
10, 12, and 13 of the StatusWord_U16.
15, 14ms

13

12

following ip mode
error
active

11

10

9

8

7

6

5

4

3

2

1

0

ready
internal
switchtargetquick voltage
operation switchedtoremote ms warning
fault
limit
on
reachedstop enabled
enabledonswitchactivedisabledon

Figure 21: Statusword for interpolated position modeImplementation Directive for
CiA402 Drive Profile V0.0.4
Bit

Value

0
10
1
12
13

0
1
0
1

-35-

Definition

Halt (Bit 8 in controlword) = 0: Target not reached
Halt (Bit 8 in controlword) = 1: Axis decelerates
Halt (Bit 8 in controlword) = 0: Target reached
Halt (Bit 8 in controlword) = 1: Velocity of axis is 0
Interpolation inactive
Interpolation active
No following error
Following error

Table 16 - Definition of bit 10, bit 12 and bit 13 in interpolated position mode

8.4.4 Object list
Index

Name

Category

Access Object

60C0h

InterpolationSubModeSelect_I16

R

RW

VAR

60C1h

InterpolationDataRecord_I32

M

RW

ARRAY INTEGER32

RPDO

60C2h

InterpolationTimePeriod_U8

M

RW

ARRAY UNSIGNED8

O

60C4h

InterpolationDataConfiguration_U32 R

RW

ARRAY UNSIGNED32 O

Type

PDO - mapping

INTEGER16O

Table 17 - Object list interpolated position modeImplementation Directive for
CiA402 Drive Profile V0.0.4-36-

8.5 Cyclic synchronous position mode
If this mode is supported the cyclic synchronous velocity mode has to be supported too.

8.5.1 General information
The overall structure for this mode is shown in Figure 22. With this mode, the trajectory generator is
located in the control device, not in the drive device. In cyclic synchronous manner, it provides a target
position to the drive device, which performs position control, velocity control and torque control.
Optionally, additive velocity and torque values can be provided by the control system in order to allow
for velocity and/or torque feed forward.
Measured by sensors, the drive device may provide actual values for position, velocity and torque tothe control device.
The behavior of the control function is influenced by control parameters like limit functions, which areexternally applicable.
TorqueOffset_I16 (60B2h)
VelocityOffset_I32 (60B1h)
PositionOffset_I32 (60B0h)

TargetPosition_I32(607Ah)+++Positioncontrol++
Velocity
control+

Torquecontrol

M

STorqueActualValue_I16 (6077 h)
VelocityActualValue_I32 (606Ch)
PositionActualValue_I32 (6064h)

Figure 22: Cyclic synchronous position mode overview

8.5.2 Functional description
The input values (from the control function point of view) are the target position and optionally aposition offset (to be added to the target position to allow two instances to set up the position) as wellas an optional velocity offset and an optional torque offset used for feed forward control. Especially incascaded control structures, where a position control is followed by a velocity or torque control, theoutput of the position control loop is used as an input for a further calculation in the drive device. Limit
functions may be used to restrict the range of values to avoid unintended positions.
The drive device monitors the following error. Other features specified in this mode are limitation of
motor speed and a quick stop function for emergency reasons. The torque may be limited as well.
The interpolation time period defines the time period between two updates of the target position and/or
additive position and shall be used for intercycle interpolation.
The target position shall be interpreted as absolute value.
The position actual value is used as mandatory output to the control device. Further outputs may be
the velocity actual value, torque actual value and the velocity sensor actual value.
The following error actual value may be used as an additional parameter.
A target position value or position offset outside the allowed range of the following error window
around a position demand value for longer than the following error time out shall result in setting bit 13(following error) in the StatusWord_U16 to 1.

Implementation Directive for
CiA402 Drive Profile V0.0.4-37-

8.5.3 Use of ControlWord_U16 and StatusWord_U16
The cyclic synchronous position mode uses no mode specific bits of the ControlWord_U16.
Figure 23 shows the structure of the StatusWord_U16.
Table 18 defines the values for bit 12 and 13 of the StatusWord_U16.
15, 14

ms

13

12

11

10

9

8

7

6

5

4

3

2

1

0

Drive
ready
internal
switchfollowing follows
quick voltage
operation switchedtoreserved remote ms warning
fault
limit
on
stop enabled
enablederror
onswitchthedisabled
activecommandon

Figure 23: StatusWord_U16 for cyclic synchronous position mode
Bit

12
13

Value

Definition

0

Drive does not follow the command value – Target position ignored
Drive follows the command value – Target position used as input
to position control loop
No following error
Following error

101Table 18 - Definition of bit 12 and bit 13 for cyclic synchronous position mode

8.5.4 Object list
Index

Name

Category

Access Object

607Ah

TargetPosition_I32

M

RW

60B0h

PositionOffset_I32

R

60B1h

VelocityOffset_I32

60B2h
6064h

Type

PDO - mapping

VAR

INTEGER32

RPDO

RW

VAR

INTEGER32

O

R

RW

VAR

INTEGER32O

TorqueOffset_I16

R

RW

VAR

INTEGER16O

PositionActualValue_I32

M

RO

VAR

INTEGER32

TPDO

606Ch

VelocityActualValue_I32

M

RO

VAR

INTEGER32

TPDO

6077h

TorqueActualValue_I16

R

RO

VAR

INTEGER16O

Table 19 - Object list cyclic synchronous position modeImplementation Directive for
CiA402 Drive Profile V0.0.4-38-

8.6 Cyclic synchronous velocity mode (C)This mode has to be supported if cyclic synchronous position mode is supported.

8.6.1 General information
The overall structure for this mode is shown in Figure 24. With this mode, the trajectory generator is
located in the control device, not in the drive device. In cyclic synchronous manner, it provides a target
velocity to the drive device, which performs velocity control and torque control. If desired, the position
control loop may be closed over the communication system. Optionally, additive velocity and torquevalues may be provided by the control system in order to allow a second source for velocity and/or atorque feed forward. Measured by sensors, the drive device may provide actual values for position,
velocity and torque to the control device.
The cyclic synchronous velocity mode covers the following sub-functions:• Demand value input• Velocity capture using position sensor or velocity sensor• Velocity control function with appropriate input and output signals• Limitation of torque demand
The behavior of the control function is influenced by control parameters like limit functions, which areexternally applicable.
TorqueOffset_I16 (60B2h)
VelocityOffset_I32 (60B1h)

TargetVelocity_I32(60FFh)+++Velocity
control+

Torquecontrol

M

STorqueActualValue_I16 (6077 h)
VelocityActualValue_I32 (606Ch)
PositionActualValue_I32 (6064 h)

Figure 24: Cyclic synchronous velocity mode overview

8.6.2 Functional description
The inputs (from the control device point of view) are the target velocity and optionally, a velocity offset(to be added to the target velocity to allow two instances to set up the velocity) as well as a torqueoffset. Especially in cascaded control structures, where a velocity control is followed by a torquecontrol, the output of the velocity control loop is used as an input for a further calculation in the drive
device.
The drive device may support limitation of motor speed and a quick stop function for emergency
reasons. The torque may be limited as well.
The interpolation time period defines the time period between two updates of the target velocity and/or
additive velocity and shall be used for intercycle interpolation.
The velocity actual value is used as mandatory output to the control device. Further outputs may be
the torque actual value and the velocity sensor actual value.

8.6.3 Use of ControlWord_U16 and StatusWord_U16
The cyclic synchronous velocity mode uses no mode specific bits of the ControlWord_U16.
Figure 25 shows the structure of the StatusWord_U16.
Table 20 defines the values for bit 12 of the StatusWord_U16.

Implementation Directive for
CiA402 Drive Profile V0.0.4
15, 14

ms

13

12

11

10

-39-

9

8

7

6

5

4

3

2

1

0

Drive
ready
internal
switchtofollowing follows
quick voltage
operation switchedlimit
reserved remote ms warningon
fault
switchthestop enabled
enablederror
ondisabled
activecommandon

Figure 25: StatusWord_U16 for cyclic synchronous velocity mode
Bit

12

Value

Definition

0

Drive does not follow the command value – Target velocity ignored
Drive follows the command value – Target velocity used as input
to velocity control loop

1

Table 20 - Definition of bit 12 for cyclic synchronous velocity mode

8.6.4 Object list
Index

Name

Category

Access Object

60FFh

TargetVelocity_I32

M

RW

60B1h

VelocityOffset_I32

R

RW

60B2h

TorqueOffset_I16

R

RW

6064h

PositionActualValue_I32

M

606Ch

VelocityActualValue_I32

6077h

TorqueActualValue_I16

Type

PDO - mapping

VAR

INTEGER32

RPDO

VAR

INTEGER32OVAR

INTEGER16

O

RO

VAR

INTEGER32

TPDO

M

RO

VAR

INTEGER32

TPDO

R

RO

VAR

INTEGER16O

Table 21 - Object list cyclic synchronous velocity modeImplementation Directive for
CiA402 Drive Profile V0.0.4-40-

9 Homing
9.1 General
This clause describes the method by which a drive seeks the home position. There are various
methods of achieving this using limit switches at the ends of travel or a home switch (zero pointswitch) in mid-travel, most of the methods use the index (zero) pulse train from an incremental
encoder.
The user may specify the speeds, acceleration and the method of homing. There is a further object
home offset, which allows the user to displace zero in the user’s coordinate system from the home
position.
MethodDescription-128 to -1
0
1
2
3, 4
5, 6
7…14
15, 16
17…30
31, 3233, 3435
36
37
38 to 127

Manufacturer-specificNo homing method assigned
Homing on negative limit switch and index pulse
Homing on positive limit switch and index pulse
Homing on positive home switch and index pulse
Homing on negative home switch and index pulse
Homing on home switch and index pulse
Reserved
Homing without index pulse
Reserved
Homing on index pulse
Homing on current position
reserved
Homing on current position
reserved

Table 22 - Homing Methods

9.2 Calculation of position actual value by homing
process
The current position is the unprocessed position sensor information (incremental, single or multi turn sensor)
before homing.
For a single turn sensor the single turn information represents the position sensor information. For a multi turnsensor the multi turn information represents the position sensor information. For an incremental sensor (e.g.
TTL encoder) the position sensor information is zero after initialization.
The Home Offset is configured with the machine specific value during commissioning.
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.
Zero position = home position + home offset

Figure 26: Home offset definition

Implementation Directive for
CiA402 Drive Profile V0.0.4-41-

The PositionActualValue_I32 (0x6064) is the current software position in the drive. It is based on the
unprocessed position sensor information and the Home Offset (after Homing process).
NOTE: The activation of a new value of the object home offset is manufacturer-specific. It is recommended to apply the
new value only while the drive is in homing mode.

At the Home position (i.e. after the homing process) the PositionActualValue_I32 (0x6064) is calculated
according to the used Homing method.
For example (using Methode 37):•

Before homing:o PositionActualValue_I32 0x6064 = 245
o HomeOffset_I32 0x607C = 100
After homingo PositionActualValue_I32 0x6064 = 100•

9.3 Homing object list
Index

Name

Category

Access Object

Type

PDO - mapping

607Ch

HomeOffset_I32

M

RW

VAR

INTEGER32

O

6098h

HomingMethod_I8

M

RW

VAR

INTEGER8O

6099h

HomingSpeed_U32

M

RW

ARRAY UNSIGNED32 O

609AhHomingAcceleration_U32

M

RW

VAR

UNSIGNED32 O

60E3h

SupportedHomingMethods_I8

R

RO

VAR

INTEGER8O

Table 23 - Homing Object list
In the ControlWord_U16 the Bit 4 is used.
15-11
Manufacturer
specific

10
Res.

9
Reserved

8
Halt

7
Fault
reset

6
Reserved

5

4

3

2

1

0

Reserved

Homingoperation
start

EnableOperation

Quick
stop

Enablevoltage

Switch on

2

1

Figure 27: ControlWord_U16 for homing
In the StatusWord_U16 the bits 12 and 13 are used.
15, 1413

12

ms

homingerrorhomingattained

11

10

9

8

7

6

5

4

3

0

ready
internal
switchtargetquick voltage
operation switched
to
limit
on
remote ms warning
fault
reachedstop enabled
enabledonswitchdisabled
activeon

Figure 28: StatusWord_U16 for homing

9.4 Object 60E3h: Supported Homing Methods
This object defines the supported homing methods of the drive.

Implementation Directive for
CiA402 Drive Profile V0.0.4-42-

9.5 Homing Methods
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 (hereshown as low). The home position is at the first index pulse to the right of the position where the negative limit
switch becomes inactive.

Figure 29: Homing on the negative limit switch and index pulse
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.

Figure 30: Homing on the positive limit switch and index pulse

Implementation Directive for
CiA402 Drive Profile V0.0.4-43-

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 the left or right of the pint where the home switch
changes state. If the initial position is sited so that the direction of movement must reverse duringhoming, the point at which the reversal takes place is anywhere after a change of state of the home
switch.

Figure 31: Homing on the positive home switch and index pulse
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 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 duringhoming, the point at which the reversal takes place is anywhere after a change of state of the home
switch.

Figure 32: Homing on the negative home switch and index pulse

Implementation Directive for
CiA402 Drive Profile V0.0.4-44-Methods 7 to 14: Homing on the home switch and index pulse

These methods use a home switch that is active over only a portion of the travel; in effect, the switch
has a “momentary” action as the axle 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 motion.
In this case, the initial direction of motion is dependent on the edge being sought. The home positionis at the index pulse on either side of the rising or falling edges of the home switch, as shown in thefollowing two diagrams. If the initial direction of movement leads away from the home switch, the drive
must reverse on encountering the relevant limit switch.

Figure 33: Homing on the home switch and index pulse — positive initial move

Figure 34: Homing on the home switch and index pulse — negative initial move
Methods 15 and 16: Reserved

These methods are reserved for future expansion of the homing mode.

Implementation Directive for
CiA402 Drive Profile V0.0.4-45-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 theindex pulse; it is dependent only 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:

Figure 35: Homing on the positive home switch
Methods 31 and 32: Reserved

These methods are reserved for future expansion of the homing mode.
Methods 33 and 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.

Figure 36: Homing on the positive home switch
Method 35 and 37: Homing on the current position

In these methods, the current position is taken to be the home position.

9.5.1 Method 35:
In this method, the current position shall be taken to be the home position.

9.5.2 Method 37:
In this method, the current position shall be taken to be the home position.
At the Home position (i.e. after homing process) the PositionActualValue_I32 (0x6064) is calculated asfollows:
𝑃𝑜𝑠𝑖𝑡𝑖𝑜𝑛𝐴𝑐𝑡𝑢𝑎𝑙𝑉𝑎𝑙𝑢𝑒_𝐼32 (0𝑥6064) = 𝐻𝑜𝑚𝑒𝑂𝑓𝑓𝑠𝑒𝑡_𝐼32 (0𝑥607𝐶)

Implementation Directive for
CiA402 Drive Profile V0.0.4-46-

10 Factor Group10.1 General
In some drive device applications several sensor resolution values and ratio values are needed. They
may make use for the objects defined in this clause.
These units are used for all objects, which support user defined units (e.g. position actual value, profile
velocity, profile acceleration). Objects, which values are not dependent on the factor group have fixedunits specified with the objects.
The following default values shall be used for position, velocity and acceleration units. The default
value for Pos Encoder Resolution should be used if PositionEncoderResolution_U32 0x608F is notavailable.
Parameter

Default Unit

Position Unit
Velocity Unit
Acceleration Unit

inc
inc/s
inc/s

Pos Encoder resolution

2 inc/rev2

32

Table 24 - Default values for units

10.2 Object list
Index

Name

Category

Access Object

607Eh

Polarity_U8

R

RW

VAR

608Fh

PositionEncoderResolution_U32

R

RW

ARRAY UNSIGNED32 O

6090h

VelocityEncoderResolution_U32

R

RW

ARRAY UNSIGNED32 O

6091h

GearRatio_U32

R

RW

ARRAY UNSIGNED32 O

6092h

FeedConstant_U32

R

RW

ARRAY UNSIGNED32 O

6093h

PositionFactor_U32

R

RW

ARRAY UNSIGNED32 O

6096h

VelocityFactor_U32

R

RW

ARRAY UNSIGNED32 O

6097h

AccelerationFactor_U32

R

RW

ARRAY UNSIGNED32 O

60A2h

JerkFactor_U32

R

RW

ARRAY UNSIGNED32 O

Table 25 - Object list factor groups

Type

PDO - mapping

UNSIGNED8O

Implementation Directive for
CiA402 Drive Profile V0.0.4-47-

11 Endless positioning
The position data range (0x607A TargetPosition_I32, 0x6064 PositionActualValue_I32) and the machine
relevant absolute position data of the axis sensor may differ. If the position data of an axis with infinite travel
range (e.g. rotary axis, spindle etc.) were processed in absolute format, the axis would risk moving beyond thevalue range of the position data. This would lead to invalid position data; operating modes with position
control would not be safe to operate.
Position data
range
2³²

t

0x607D:02
SoftwarePositionLimitMax_I32

0x607B:02
PositionRangeLimitMax_I32

0x607B:01 mint
0x607D:01 min

n*360°

Figure 37: Position actual value in modulo format
The object 0x607B PositionRangeLimit_I32 indicates the maximum and minimum position range limits.
It shall limit the range of the input value. On reaching or exceeding these limits, the input value shallwrap automatically to the other end of range. The SoftwarePositionLimit_I32 0x607D shall be out of therange of the position range limits.
To disable the position range limits for any reason the MinPositionRangeLimit_I32 (0x 607B:01) andMaxPositionRangeLimit_I32 (0x607B:02) shall be set to 0.
The drive shall always use the shortest way to the next TargetPosition_I32. Therefore the positioncommand difference between two consecutive cycles may not exceed half the range:
Maximum position command difference = Position range / 2
Different movements are defined in object PositioningOptionCode_U16 60F2h in the bits 6 and 7.
Possible movements:- normal positioning- positioning only in negative direction- positioning only in positive direction- positioning with the shortest wayImplementation Directive for
CiA402 Drive Profile V0.0.4
15

14

manufacturer
specific

12 11

reserved

8

ip option

-48-

7

6

5

4

3

2

1

0

request response change immediately
relative option
optionoptionrado

Figure 38: Object structure 0x60F2
The following table shows the bit definition of bit 6 and 7.
Bit 7

Bit 6

0

0

0

1

1

0

1

1

Definition

Normal positioning similar to linear axis
If reaching or exceeding the position range limits (607B) the input value shallwrap automatically to the other end of the range
Positioning only in negative direction;
if target position is higher than actual position, axis moves over
"Min position limit" to target position
Positioning only in positive direction;
if target position is lower than actual position, axis moves over"Max position limit" to target position
Positioning with the shortest way to the target position.
Special condition: If the difference between actual value and target position
in a 360° system is 180°, the axis will move in positive direction.

Table 26 - Value definition for bit 6 and 7 of object 60F2h
The following figure depicts the movements depending on the settings of the rotary axis direction option bits.
In this example min position range limit is 0 and max position range limit is 360.

Figure 39: Rotary axis positioning

11.1 Object list
Index

Name

Category

Access Object

607Bh

PositionRangeLimit_I32

R

RW

ARRAY INTEGER32

O

607Dh

SoftwarePositionLimit_I32

M

RW

ARRAY INTEGER32

O

60F2h

PositioningOptionCode_U16

M

RW

VAR

Table 27 - Object list endless positioningType

PDO - mapping

UNSIGNED16 O

Implementation Directive for
CiA402 Drive Profile V0.0.4-49-

12 Object description
Object 1000h: DeviceType_U32
Index
Name
Data Type
Value Range
Default Value

1000h
DeviceType_U32
UNSIGNED32
See Figure 2
Manufacturer-specificObject Type

VAR

Category
AccessPDO MappingM
constant
O

Object Type

VAR

Category
AccessPDO MappingO
RWO

Object Type

VAR

Category
AccessPDO Mapping

R
RO
O

Object Type

VAR

Category
AccessPDO Mapping

M
RW
M

Object Type

VAR

Category
AccessPDO Mapping

M
RO
M

Object Type

VAR

Category
AccessPDO MappingO
RWO

Object 6007h: AbortConnectionOptionCode_I16
Index
Name
Data Type
Value Range
Default Value

6007h
AbortConnectionOptionCode_I16
INTEGER16
INTEGER16
1

Object 603Fh: ErrorCode_U16
Index
Name
Data Type
Value Range
Default Value

603Fh
ErrorCode_U16
UNSIGNED16
UNSIGNED16
No

Object 6040h: ControlWord_U16
Index
Name
Data Type
Value Range
Default Value

6040h
ControlWord_U16
UNSIGNED16
UNSIGNED16
Device and operation mode specificObject 6041h: StatusWord_U16
Index
Name
Data Type
Value Range
Default Value

6041h
StatusWord_U16
UNSIGNED16
UNSIGNED16
No

Object 605Ah: QuickStopOptionCode_I16
Index
Name
Data Type
Value Range
Default Value

605Ah
QuickStopOptionCode_I16
INTEGER16
INTEGER16
2

Implementation Directive for
CiA402 Drive Profile V0.0.4-50-

Object 605Bh: ShutdownOptionCode_16
Index
Name
Data Type
Value Range
Default Value

605Bh
ShutdownOptionCode_16
INTEGER16
INTEGER16
0

Object Type

VAR

Category
AccessPDO MappingO
RWO

Object Type

VAR

Category
AccessPDO MappingO
RWO

Object Type

VAR

Category
AccessPDO MappingO
RWO

Object Type

VAR

Category
AccessPDO MappingO
RWO

Object Type

VAR

Category
AccessPDO Mapping

M
RW
M

Object Type

VAR

Category
AccessPDO Mapping

M
RO
M

Object Type

VAR

Category
AccessPDO Mapping

M
RO
M

Object 605Ch: DisableOperationOptionCode_I16
Index
Name
Data Type
Value Range
Default Value

605Ch
DisableOperationOptionCode_I16
INTEGER16
INTEGER16
1

Object 605Dh: HaltOptionCode_I16
Index
Name
Data Type
Value Range
Default Value

605Dh
HaltOptionCode_I16
INTEGER16
INTEGER16
1

Object 605Eh: FaultReactionOptionCode_I16
Index
Name
Data Type
Value Range
Default Value

605Eh
FaultReactionOptionCode_I16
INTEGER16
INTEGER16
2

Object 6060h: ModesOfOperation_I8
Index
Name
Data Type
Value Range
Default Value

6060h
ModesOfOperation_I8
INTEGER8
INTEGER8
Manufacturer-specificObject 6061h: ModesOfOperationDisplay_I8
Index
Name
Data Type
Value Range
Default Value

6061h
ModesOfOperationDisplay_I8
INTEGER8
INTEGER8
No

Object 6064h: PositionActualValue_I32
Index
Name
Data Type
Value Range
Default Value

6064h
PositionActualValue_I32
INTEGER32
INTEGER32
No

Implementation Directive for
CiA402 Drive Profile V0.0.4-51-

Object 606Ch: VelocityActualValue_I32
Index
Name
Data Type
Value Range
Default Value

606Ch
VelocityActualValue_I32
INTEGER32
INTEGER32
No

Object Type

VAR

Category
AccessPDO Mapping

M
RO
M

Object Type

VAR

Category
AccessPDO Mapping

R
RO
O

Object Type

VAR

Category
AccessPDO Mapping

M (mode-specific)
RW
M

Object 6077h: TorqueActualValue_I16
Index
Name
Data Type
Value Range
Default Value

6077h
TorqueActualValue_I16
INTEGER16
INTEGER16
No

Object 607Ah: TargetPosition_I32
Index
Name
Data Type
Value Range
Default Value

607Ah
TargetPosition_I32
INTEGER32
INTEGER32
Manufacturer-specificObject 607Bh: PositionRangeLimit_I32
Index
Name
Data Type

607Bh
PositionRangeLimit_I32
INTEGER32

Object Type

ARRAY

CategoryR

Sub-Index
Name-Value Range

00h
Highest sub-index supported-02hCategory
AccessM
constant

Default Value

02h

PDO MappingNo

Sub-Index
Name-Value Range
Default Value01h
Min position range limit-INTEGER32
Manufacturer-specificCategory
AccessPDO Mapping

M
RWO

Sub-Index
Name-Value Range
Default Value

02h
Max position range limit-INTEGER32
Manufacturer-specificCategory
AccessPDO Mapping

M
RWOImplementation Directive for
CiA402 Drive Profile V0.0.4-52-

Object 607Ch: HomeOffset_I32
Index
Name
Data Type
Value Range
Default Value

607Ch
HomeOffset_I32
INTEGER32
INTEGER32
0

Object Type

VAR

Category
AccessPDO Mapping

M (mode-specific)
RW
O

Object Type

ARRAY

Category

R

Object 607Dh: SoftwarePositionLimit_I32
Index
Name
Data Type

607Dh
SoftwarePositionLimit_I32
INTEGER32

Sub-Index
Name-Value Range

00h
Highest sub-index supported-02hCategory
AccessM
constant

Default Value

02h

PDO MappingNo

Sub-Index
Name-Value Range
Default Value01h
Min position limit-INTEGER32
Manufacturer-specificCategory
AccessPDO Mapping

M
RWO

Sub-Index
Name-Value Range
Default Value

02h
Max position limit-INTEGER32
Manufacturer-specificCategory
AccessPDO Mapping

M
RWO

Object Type

VAR

Category
AccessPDO MappingR
RWO

Object Type

VAR

Category
AccessPDO Mapping

M (mode-specific)
RW
M

Object 607Eh: Polarity_U8
Index
Name
Data Type
Value Range
Default Value

607Eh
Polarity_U8
UNSIGNED8UNSIGNED800h

Object 6081h: ProfileVelocity_U32
Index
Name
Data Type
Value Range
Default Value

6081h
ProfileVelocity_U32
UNSIGNED32
UNSIGNED32
Manufacturer-specificImplementation Directive for
CiA402 Drive Profile V0.0.4-53-

Object 6083h: ProfileAcceleration_U32
Index
Name
Data Type
Value Range
Default Value

6083h
ProfileAcceleration_U32
UNSIGNED32
UNSIGNED32
Manufacturer-specificObject Type

VAR

Category
AccessPDO Mapping

M (mode-specific)
RW
O

Object Type

VAR

Category
AccessPDO Mapping

M (mode-specific)
RW
O

Object Type

VAR

Category
AccessPDO MappingR
RWO

Object Type

ARRAY

Category

R

Object 6084h: ProfileDeceleration_U32
Index
Name
Data Type
Value Range
Default Value

6084h
ProfileDeceleration_U32
UNSIGNED32
UNSIGNED32
Manufacturer-specificObject 6085h: QuickStopDeceleration_U32
Index
Name
Data Type
Value Range
Default Value

6085h
QuickStopDeceleration_U32
UNSIGNED32
UNSIGNED32
Manufacturer-specificObject 608Fh: PositionEncoderResolution_U32
Index
Name
Data Type

608Fh
PositionEncoderResolution_U32
UNSIGNED32

Sub-Index
Name-Value Range

00h
Highest sub-index supported-02hCategory
AccessM
constant

Default Value

02h

PDO MappingNo

Sub-Index
Name-Value Range
Default Value

01h
Encoder increments-32

Category
AccessPDO Mapping

M
RWO

Sub-Index
Name-Value Range
Default Value

02h
Motor revolutions-32

Category
AccessPDO MappingM
RWO

UNSIGNED32 (0 equals 2 )Manufacturer-specific (but not equal to 0)

UNSIGNED32 (0 equals 2 )Manufacturer-specific (but not equal to 0)

Implementation Directive for
CiA402 Drive Profile V0.0.4-54-

Object 6090h: VelocityEncoderResolution_U32
Index
Name
Data Type

6090h
VelocityEncoderResolution_U32
UNSIGNED32

Object Type

ARRAY

CategoryR

Sub-Index
Name-Value Range

00h
Highest sub-index supported-02hCategory
AccessM
constant

Default Value

02h

PDO MappingNo

Sub-Index
Name-Value Range
Default Value

01h
Encoder increments per second--

Category
AccessPDO Mapping

M
RWO

Sub-Index
Name-Value Range
Default Value

02h
Motor revolutions per second--

Category
AccessPDO Mapping

M
RWO

Object Type

ARRAY

Category

R

32

UNSIGNED32 (0 equals 2 )Manufacturer-specific (but not equal to 0)

32

UNSIGNED32 (0 equals 2 )Manufacturer-specific (but not equal to 0)

Object 6091h: GearRatio_U32
Index
Name
Data Type

6091h
GearRatio_U32
UNSIGNED32

Sub-Index
Name-Value Range

00h
Highest sub-index supported-02hCategory
AccessM
constant

Default Value

02h

PDO MappingNo

Sub-Index
Name-Value Range
Default Value

01h
Motor shaft revolutions-UNSIGNED32
Manufacturer-specific (but not equal to 0)

Category
AccessPDO Mapping

M
RWO

Sub-Index
Name-Value Range
Default Value

02h
Driving shaft revolutions-UNSIGNED32
Manufacturer-specific (but not equal to 0)

Category
AccessPDO Mapping

M
RWOImplementation Directive for
CiA402 Drive Profile V0.0.4-55-

Object 6092h: FeedConstant_U32
Object Type

ARRAY

CategoryR

00hHighest sub-index supported-02hCategory
AccessM
constant

Default Value

02h

PDO MappingNo

Sub-Index
Name-Value Range
Default Value

01h
Feed
-UNSIGNED32
Manufacturer-specific (but not equal to 0)

Category
AccessPDO Mapping

M
RWO

Sub-Index
Name-Value Range
Default Value

02h
Shaft revolutions-UNSIGNED32
Manufacturer-specific (but not equal to 0)

Category
AccessPDO Mapping

M
RWO

Object Type

ARRAY

Category

R

Index
Name
Data Type

6092h
FeedConstant_U32
UNSIGNED32

Sub-Index
Name-Value Range

Object 6096h: VelocityFactor_U32
Index
Name
Data Type

6096h
VelocityFactor_U32
UNSIGNED32

Sub-Index
Name-Value Range

00h
Highest sub-index supported-02hCategory
AccessM
constant

Default Value

02h

PDO MappingNo

Sub-Index
Name-Value Range
Default Value

01h
Numerator--

Category
AccessPDO Mapping

M
RWO

Sub-Index
Name-Value Range
Default Value

02h
Divisor--Category
AccessPDO Mapping

M
RW
O

32

1 to 2 -1
1

32

1 to 2 -1
1

Implementation Directive for
CiA402 Drive Profile V0.0.4-56-

Object 6097h: AccelerationFactor_U32
Index
Name
Data Type6097h
AccelerationFactor_U32
UNSIGNED32

Object Type

ARRAY

CategoryR

Sub-Index
Name-Value Range

00h
Highest sub-index supported-02hCategory
AccessM
constant

Default Value

02h

PDO MappingNo

Sub-Index
Name-Value Range
Default Value

01h
Numerator--

Category
AccessPDO Mapping

M
RWO

Sub-Index
Name-Value Range
Default Value

02h
Divisor--Category
AccessPDO Mapping

M
RWO

Object Type

VAR

Category
AccessPDO Mapping

M (mode-specific)
RW
O

32

1 to 2 -1
1

32

1 to 2 -1
1

Object 6098h: HomingMethod_I8
Index
Name
Data Type
Value Range
Default Value

6098h
HomingMethod_I8
INTEGER8
INTEGER8
Manufacturer-specificImplementation Directive for
CiA402 Drive Profile V0.0.4-57-

Object 6099h: HomingSpeed_U32
Object Type

ARRAY

Category

M (mode-specific)

00hHighest sub-index supported-02hCategory
AccessM
constant

Default Value

02h

PDO MappingNo

Sub-Index
Name-Value Range
Default Value

01h
Speed during search for switch-UNSIGNED32
Manufacturer-specificCategory
AccessPDO Mapping

M
RWO

Sub-Index
Name-Value Range
Default Value

02h
Speed during search for zero
-UNSIGNED32
Manufacturer-specificCategory
AccessPDO Mapping

M
RWO

Object Type

VAR

Category
AccessPDO Mapping

M (mode-specific)
RW
O

Index
Name
Data Type

6099h
HomingSpeed_U32
UNSIGNED32

Sub-Index
Name-Value Range

Object 609Ah: HomingAcceleration_U32
Index
Name
Data Type
Value Range
Default Value

609Ah
HomingAcceleration_U32
UNSIGNED32
UNSIGNED32
Manufacturer-specificImplementation Directive for
CiA402 Drive Profile V0.0.4-58-

Object 60A2h: JerkFactor_U32
Index
Name
Data Type

60A2h
JerkFactor_U32
UNSIGNED32

Object Type

ARRAY

CategoryR

Sub-Index
Name-Value Range

00h
Highest sub-index supported-02hCategory
AccessM
constant

Default Value

02h

PDO MappingNo

Sub-Index
Name-Value Range
Default Value

01h
Numerator--

Category
AccessPDO Mapping

M
RWO

Sub-Index
Name-Value Range
Default Value

02h
Divisor--Category
AccessPDO Mapping

M
RWO

Object Type

VAR

Category
AccessPDO MappingR
RWO

Object Type

VAR

Category
AccessPDO MappingR
RWO

Object Type

VAR

Category
AccessPDO Mapping

R
RW
O

32

1 to 2 -1
1

32

1 to 2 -1
1

Object 60B0h: PositionOffset_I32
Index
Name
Data Type
Value Range
Default Value

60B0h
PositionOffset_I32
INTEGER32
INTEGER32
0

Object 60B1h: VelocityOffset_I32
Index
Name
Data Type
Value Range
Default Value

60B1h
VelocityOffset_I32
INTEGER32
INTEGER32
0

Object 60B2h: TorqueOffset_I16
Index
Name
Data Type
Value Range
Default Value

60B2hTorqueOffset_I16
INTEGER16
INTEGER160Implementation Directive for
CiA402 Drive Profile V0.0.4-59-

Object 60C0h: InterpolationSubModeSelect_I16
Index
Name
Data Type
Value Range
Default Value

60C0h
InterpolationSubModeSelect_I16
INTEGER16
INTEGER16
0000h

Object Type

VAR

Category
AccessPDO MappingR
RWO

Object Type

ARRAY

Category

M (mode-specific)

Object 60C1h: InterpolationDataRecord_I32
Index
Name
Data Type

60C1h
InterpolationDataRecord_ I32
INTEGER32

Sub-Index
Name-Value Range
Default Value

00h
Highest sub-index supported-01h to FEh
Manufacturer-specificCategory
AccessPDO MappingM
constantNo

Sub-Index
Name-Value Range
Default Value

01h
1st set-point-INTEGER32
Manufacturer-specificCategory
AccessPDO Mapping

M
RW
RPDO

Sub-Index
Name-Value Range
Default Value

02h to FEh
2nd - 254th set-point-INTEGER32
Manufacturer-specificCategory
AccessPDO Mapping

M
RWOImplementation Directive for
CiA402 Drive Profile V0.0.4-60-

Object 60C2h: InterpolationTimePeriod_U8
Index
Name
Data Type

60C2h
InterpolationTimePeriod_U8
UNSIGNED8

Object Type

ARRAY

Category

M (mode specific)

Sub-Index
Name-Value Range

00h
Highest sub-index supported-02hCategory
AccessM
constant

Default Value

02h

PDO MappingNo

Sub-Index
Name-Value Range
Default Value

01h
Intepolation time period value-UNSIGNED801h

Category
AccessPDO Mapping

M
RWO

Sub-Index
Name-Value Range
Default Value

02h
Interpolation time index--128 to +63-3Category
AccessPDO Mapping

M
RWO

Object Type

ARRAY

Category

R

Object 60C4h: InterpolationDataConfiguration_U32
Index
Name
Data Type

60C4h
InterpolationDataConfiguration_U32
UNSIGNED32

Sub-Index
Name-Value Range

00h
Highest sub-index supported-02hCategory
AccessM
constant

Default Value

02h

PDO MappingNo

Sub-Index
Name-Value Range
Default Value

01h
Maximum buffer size
-UNSIGNED32
No

Category
AccessPDO Mapping

M
RWO

Sub-Index
Name-Value Range
Default Value

02h
Actual buffer size
-UNSIGNED320000 0000h

Category
AccessPDO Mapping

M
RWOImplementation Directive for
CiA402 Drive Profile V0.0.4-61-

Object 60E3h: SupportedHomingMethods_I8
Index
Name
Data Type

60E3h
SupportedHomingMethods_I8
INTEGER8

Object Type

ARRAY

CategoryR

Sub-Index
Name-Value Range
Default Value

00h
Highest sub-index supported-01h to FEh
No

Category
AccessPDO MappingM
constantNo

Sub-Index
Name-Value Range
Default Value

01h to FEh
1st supported homing method-INTEGER8No

Category
AccessPDO Mapping

M
ROO

Sub-Index
Name-Value Range
Default Value

02h to FEh
2nd to 254th supported homing method-INTEGER8
Manufacturer-specificCategory
AccessPDO MappingO
RO
O

Object Type

VAR

Category
AccessPDO MappingR
RWO

Object Type

VAR

Category
AccessPDO Mapping

M (mode-specific)
RW
M

Object Type

VAR

Category
AccessPDO Mapping

R
RO
O

Object 60F2h: PositioningOptionCode_U16
Index
Name
Data Type
Value Range
Default Value

60F2h
PositioningOptionCode_U16
UNSIGNED16
UNSIGNED160000h

Object 60FFh: TargetVelocity_I32
Index
Name
Data Type
Value Range
Default Value

60FFh
TargetVelocity_I32
INTEGER32
INTEGER32
Manufacturer-specificObject 6502h: SupportedDriveModes_U32
Index
Name
Data Type
Value Range
Default Value

6502h
SupportedDriveModes_U32
UNSIGNED32
UNSIGNED32
No