Stepper motor driver

DS1000A-EC

Instruction manual
EtherCAT drive profile supported©2019 Suruga Seiki Co., Ltd.

Blank page

Table of contents0.

Abbreviations and terms ...................................................................................................................................... 1

1.

Introduction ......................................................................................................................................................... 2
System overview............................................................................................................................................... 2
About EtherCAT ............................................................................................................................................... 22.

Safety precautions................................................................................................................................................ 3

3.

Laws, regulations and standards .......................................................................................................................... 5
CE marking ....................................................................................................................................................... 5
3.1.1. The EMC directive.................................................................................................................................... 5
The RoHS directive .......................................................................................................................................... 5

4.

Setup .................................................................................................................................................................... 6
Names and functions of parts............................................................................................................................ 6
Method for installation ..................................................................................................................................... 6
4.2.1. Operating environment ............................................................................................................................. 6
4.2.2. Mounting .................................................................................................................................................. 6
4.2.3. Precautions when installing the motor ...................................................................................................... 7
4.2.4. Grounding ................................................................................................................................................. 8Connection example ......................................................................................................................................... 9Connector pin arrangement............................................................................................................................. 10
4.4.1. Power supply connector (CNPS) ............................................................................................................ 10
4.4.2. Input / output connector (CNIF) ............................................................................................................. 10
4.4.3. Motor connector (CNM) ......................................................................................................................... 10
4.4.4. Encoder connector .................................................................................................................................. 10
Connector type .................................................................................................................................................11

5.

Communication specifications........................................................................................................................... 12
EtherCAT communication specifications ....................................................................................................... 12
Device profile ................................................................................................................................................. 125.2.1. CoE ......................................................................................................................................................... 125.2.2. FoE.......................................................................................................................................................... 12
Setting the node address ................................................................................................................................. 125.3.1. Reading SII (EEPROM) settings via Configured Station Alias .............................................................. 13
5.3.2. Reading the rotary ID switch value via Configured Station Alias .......................................................... 13
5.3.3. Reading the rotary ID switch value via AL Status Code ........................................................................ 13
Sequence flow from power-on to establishment of communication ............................................................... 14

6.

CiA402 drive profile common specifications .................................................................................................... 15
State machine .................................................................................................................................................. 15
State machine state transitions ........................................................................................................................ 15
6.2.1. Controlword (6040h) ............................................................................................................................... 15
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6.2.2. Statusword (6041h) ................................................................................................................................. 16
7.

Basic parameters ................................................................................................................................................ 18
Setting user units............................................................................................................................................. 18
7.1.1. Position encoder resolution (608Fh) ....................................................................................................... 18
7.1.2. Gear ratio (6091h) ................................................................................................................................... 19
7.1.3. Feed constant (6092h) ............................................................................................................................. 19
7.1.4. Polarity (607Eh) ...................................................................................................................................... 19
Common objects ............................................................................................................................................. 19
7.2.1. Position actual value (6064h) .................................................................................................................. 19
7.2.2. Velocity actual value (606Ch) ................................................................................................................. 19
7.2.3. Torque actual value (6077h) .................................................................................................................... 20
7.2.4. Max motor speed (6080h) ....................................................................................................................... 20
Position control common settings ................................................................................................................... 20
7.3.1. Related objects ........................................................................................................................................ 20
7.3.2. Position demand value (6062h) ............................................................................................................... 20
7.3.3. Following error window (6065h) ............................................................................................................ 20
7.3.4. Following error time out (6066h) ............................................................................................................ 20
7.3.5. Target position (607Ah)........................................................................................................................... 20
7.3.6. Position range limit (607Bh) ................................................................................................................... 20
7.3.7. Software position limit (607Dh) .............................................................................................................. 21
7.3.8. Following error actual value (60F4h) ...................................................................................................... 21
Velocity control common settings................................................................................................................... 21
7.4.1. Velocity demand value (606Bh) .............................................................................................................. 21
7.4.2. Velocity window (606Dh) ....................................................................................................................... 21
7.4.3. Velocity window time (606Eh) ................................................................................................................ 22
7.4.4. Velocity threshold (606Fh) ...................................................................................................................... 22
7.4.5. Velocity threshold time (6070h) .............................................................................................................. 22
7.4.6. Velocity offset (60B1h) ........................................................................................................................... 22
7.4.7. Target velocity (60FFh) ........................................................................................................................... 22
Torque control common settings ..................................................................................................................... 22
7.5.1. Target torque (6071h) .............................................................................................................................. 22
7.5.2. Max torque (6072h) ................................................................................................................................. 22
7.5.3. Torque offset (60B2h) ............................................................................................................................. 228.

Modes of operation ............................................................................................................................................ 23
Supported operation modes ............................................................................................................................ 23
8.1.1. Supported drive modes (6502h) .............................................................................................................. 23
Switching operation modes............................................................................................................................. 23
8.2.1. Modes of operation (6060h) .................................................................................................................... 23ii
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8.2.2. Modes of operation display (6061h)........................................................................................................ 24
Profile position mode (PP).............................................................................................................................. 24
8.3.1. Related objects ........................................................................................................................................ 24
8.3.2. Controlword (6040h) ............................................................................................................................... 24
8.3.3. Statusword (6041h) ................................................................................................................................. 25
8.3.4. Target position (607Ah)........................................................................................................................... 25
8.3.5. Max profile velocity (607Fh) .................................................................................................................. 25
8.3.6. Profile velocity (6081h)........................................................................................................................... 25
8.3.7. Profile acceleration (6083h) .................................................................................................................... 25
8.3.8. Profile deceleration (6084h) .................................................................................................................... 25
8.3.9. Motion profile type (6086h) .................................................................................................................... 25
8.3.10. Max acceleration (60C5h) ..................................................................................................................... 26
8.3.11. Position option code (60F2h) ................................................................................................................ 26
8.3.12. Control in PP mode............................................................................................................................... 27
Cyclic synchronous position mode (CSP) ...................................................................................................... 31
8.4.1. Related objects ........................................................................................................................................ 31
8.4.2. Controlword (6040h) ............................................................................................................................... 31
8.4.3. Statusword (6041h) ................................................................................................................................. 31
8.4.4. Target position (607Ah)........................................................................................................................... 31
8.4.5. Position Offset (60B0h) ........................................................................................................................... 32
8.4.6. Interpolation time period (60C2h) ........................................................................................................... 32
8.4.1. Control in CSP mode .............................................................................................................................. 32
Interpolated position mode (IP) ...................................................................................................................... 33
8.5.1. Related objects ........................................................................................................................................ 33
8.5.2. Controlword (6040h) ............................................................................................................................... 33
8.5.3. Statusword (6041h) ................................................................................................................................. 33
8.5.4. Interpolation sub mode select (60C0h).................................................................................................... 34
8.5.5. Interpolation data record (60C1h) ........................................................................................................... 34
8.5.6. Interpolation time period (60C2h) ........................................................................................................... 34
8.5.7. Interpolation data configuration (60C4h) ................................................................................................ 34
8.5.8. Control in IP mode .................................................................................................................................. 34
Homing mode (HM) ....................................................................................................................................... 36
8.6.1. Related objects ........................................................................................................................................ 36
8.6.2. Controlword (6040h) ............................................................................................................................... 36
8.6.3. Statusword (6041h) ................................................................................................................................. 36
8.6.4. Home offset (607Ch) ............................................................................................................................... 37
8.6.5. Homing method (6098h) ......................................................................................................................... 37
8.6.6. Homing speeds (6099h) .......................................................................................................................... 42iii
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8.6.7. Homing acceleration (609Ah) ................................................................................................................. 42
Profile velocity mode (PV) ............................................................................................................................. 43
8.7.1. Related objects ........................................................................................................................................ 43
8.7.2. Controlword (6040h) ............................................................................................................................... 43
8.7.3. Statusword (6041h) ................................................................................................................................. 43
8.7.4. Velocity demand value (606Bh) .............................................................................................................. 43
8.7.5. Velocity actual value (606Ch) ................................................................................................................. 43
8.7.6. Velocity window (606Dh) ....................................................................................................................... 43
8.7.7. Velocity window time (606Eh) ................................................................................................................ 44
8.7.8. Velocity threshold (606Fh) ...................................................................................................................... 44
8.7.9. Velocity threshold time (6070h) .............................................................................................................. 44
8.7.10. Control in PV mode .............................................................................................................................. 44
Cyclic synchronous velocity mode (CSV)...................................................................................................... 45
8.8.1. Related objects ........................................................................................................................................ 45
8.8.2. Controlword (6040h) ............................................................................................................................... 45
8.8.3. Statusword (6041h) ................................................................................................................................. 45
8.8.4. Target velocity (60FFh) ........................................................................................................................... 45
8.8.5. Velocity offset (60B1h) ........................................................................................................................... 45
8.8.6. Control in CSV mode ............................................................................................................................. 46
Torque profile mode (TQ)............................................................................................................................... 47
8.9.1. Related objects ........................................................................................................................................ 47
8.9.2. Target torque (6071h) .............................................................................................................................. 47
8.9.3. Torque offset (60B2h) ............................................................................................................................. 47
8.9.4. Torque slope (6087h) ............................................................................................................................... 47
8.9.5. Control in TQ mode ................................................................................................................................ 47
Cyclic synchronous torque mode (CST) ....................................................................................................... 48
8.10.1. Related objects...................................................................................................................................... 48
8.10.2. Control in CST mode ............................................................................................................................ 48
9.

Synchronization mode ....................................................................................................................................... 49
SM2 synchronization ...................................................................................................................................... 49
DC synchronization ........................................................................................................................................ 49

10.

Other features ................................................................................................................................................ 50
Input / output ports........................................................................................................................................ 50
10.1.1. Related objects...................................................................................................................................... 50
10.1.2. Digital inputs (60FDh) .......................................................................................................................... 50
10.1.3. Digital outputs (60FEh)......................................................................................................................... 50
Touch probe function .................................................................................................................................... 51
10.2.1. Input signal specifications .................................................................................................................... 51
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10.2.2. Related objects...................................................................................................................................... 51
10.2.3. Touch probe function (60B8h) .............................................................................................................. 52
10.2.4. Touch probe status (60B9h) .................................................................................................................. 52
10.2.5. Touch probe position 1 positive value (60BAh).................................................................................... 52
10.2.6. Touch probe position 1 negative value (60BBh) ................................................................................... 52
10.2.7. Touch probe position 2 positive value (60BCh) .................................................................................... 52
10.2.8. Touch probe position 2 negative value (60BDh) ................................................................................... 53
10.2.9. Touch probe source (60D0h) ................................................................................................................. 53
10.2.10. Touch probe time stamp 1 positive value (60D1h) ............................................................................. 53
10.2.11. Touch probe time stamp 1 negative value (60D2h) ............................................................................. 53
10.2.12. Touch probe time stamp 2 positive value (60D3h) ............................................................................. 53
10.2.13. Touch probe time stamp 2 negative value (60D4h) ............................................................................ 53
10.2.14. Touch probe 1 positive edge counter (60D5h) .................................................................................... 53
10.2.15. Touch probe 1 negative edge counter (60D6h) ................................................................................... 53
10.2.16. Touch probe 2 positive edge counter (60D7h) .................................................................................... 54
10.2.17. Touch probe 2 negative edge counter (60D8h) ................................................................................... 54
Push operation .............................................................................................................................................. 54
10.3.1. Related objects...................................................................................................................................... 54
10.3.2. Positive torque limit value (60E0h), Negative torque limit value (60E1h) ........................................... 54
11.

Manufacturer specific area............................................................................................................................. 55
Object list ...................................................................................................................................................... 55
11.1.1. Position control system parameters ...................................................................................................... 55
11.1.2. Velocity control system parameters ...................................................................................................... 58

12.

Alarms / errors ............................................................................................................................................... 61

13.

Object dictionary list...................................................................................................................................... 62
Object dictionary structure............................................................................................................................ 62
Object list ...................................................................................................................................................... 62
13.2.1. CoE communication area...................................................................................................................... 62
13.2.2. Supported objects ................................................................................................................................. 68

14.

Torque-off function ........................................................................................................................................ 71
Overview ...................................................................................................................................................... 71
14.1.1. Basic operation ..................................................................................................................................... 71
14.1.2. Torque-off behavior in the CiA402 ...................................................................................................... 71
14.1.3. Return to the normal condition following torque-off signal detection ................................................. 71

15.

Specifications................................................................................................................................................. 72
Dimensions ................................................................................................................................................... 72
Electrical specifications ................................................................................................................................ 72
15.2.1. Main Specifications .............................................................................................................................. 72v
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15.2.2. Position control ..................................................................................................................................... 72
15.2.3. Speed control ........................................................................................................................................ 73
15.2.4. Torque control....................................................................................................................................... 73
15.2.5. Input / output ports ............................................................................................................................... 73
15.2.6. Input / output circuit ............................................................................................................................. 73
15.2.7. Motor torque characteristics ................................................................................................................. 75
15.2.8. Motor rating .......................................................................................................................................... 77vi
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0. Abbreviations and terms
ESC

EtherCAT Slave Controller

SII

Slave Information Interface

CoE

CANopen over EtherCAT

FoE

File over EtherCATPP

Profile position mode

PV

Profile velocity mode

TQ

Torque profile mode

CSP

Cyclic synchronous position mode

CSV

Cyclic synchronous velocity mode

CST

Cyclic synchronous torque mode

IP

Interpolated position mode

HM

Homing mode:

FIFOFirst In First Out

SM

Sync Manager

DC

Distributed Clock

Data sizes
BOOL

Boolean

U8

Unsigned integer 8

U16

Unsigned integer 16

U32

Unsigned integer 32

I8Signed integer 8

I16

Signed integer 16

I32

Signed integer 32

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1. Introduction
System overview
The DS1000A-EC is a motor driver designed for the Stages and actuator control, equipped with input ports forhome and limit sensors, and general-purpose input / output ports.
The EtherCAT CiA402 drive profile is supported, and control of various axes, such as for linear and rotationalmotion, is possible by performing the settings for those control axes.

About EtherCAT
EtherCAT is a form of open network communication which performs master-slave communication using realtime Ethernet technology developed by Beckhoff Automation GmbH.
It is a network method that can synchronize and control multiple devices with high accuracy, and it is suitable
for the coordination and control of the multiple axes of motion devices such as stages and actuators.

EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH,Germany.

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2. Safety precautions
The following precautions are the guidance for the correct and safe use of this product, thereby preventing harm
to our customers or other persons in its vicinity, and physical damage to objects during said use. Persons should
become thoroughly familiarized with them prior to using this product.
Precautionary notifications
Handling not in accordance with these instructions could
result in light to moderate injury or, in certain cases, even

WARNING serious injury or death. In addition, there is a risk of serious
damage to physical objects.
Handling not in accordance with these instructions may

CAUTION

result in light to moderate injury, or the property damage.

Definitions of the symbols
This symbol indicates “Prohibited.”Specific contents, either illustrated or written, or both, are followed by
the symbol;
This symbol indicates “obligatory.”
Contents must be followed.

WARNING・ Do not apply excessive stress to the cables; such as scratching, pulling, placing
heavy objects on or pinching them.
You are at the risk of electric shock, product malfunction, or fire.
・ Do not use in explosive or flammable atmosphere, corrosive atmosphere, wet
locations or in the vicinity of combustible materials.
You are at the risk of causing fire.
・ Do not disassemble or modify the product.
You are at the risk of causing injury, malfunction or damage to the equipment.
・ Wiring must be proceeded after that the drivers and motors are firmly attached at
the planned locations and orientation. You are at the risk of electric shock.
・ Wiring must be completed before supplying the electrical power.
You are the risk of electric shock.
・ The input voltage must be within the input rating of the driver.
You are at the risk of fire or electric shock.

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CAUTION
・ Do not insert fingers or objects into the product’s openings.
You are at the risk of breakage, electric shock or fire.
・ Do not hung by the cable or motor shaft during transportation.
You are at the risk of breakage or injury.
・ The operating environment must be the norm when installing the product.
You are at the risk of breakage or malfunction.
・ Connect the motor to the driver in the specified combination.
You are at the risk of fire or injury.
・ The applied direct current power supply for the driver must be that the primary
and the secondary sides are electrically isolated.
You are at the risk of electric shock.
・ Be sure that the motor current is shut down when touching and holding the motor
shaft by hand.
You are at the risk of injury.
・ Be aware of the all sharp edges, like the corners of the device.
You are at the risk of injury.

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3. Laws, regulations and standards
CE marking
This product is CE marked based on the EMC directive.
3.1.1. The EMC directive
This product was tested under following conditions. However, compatibility changes by condition of usage andcombination of devices used with. It is necessary to retest final products which all components are combinedfor confirming a compatibility.
Applied standards
EMI

EN55011 Group1 Class A
EN61000-6-4

EMS

EN61000-6-2

CautionThis product is not intended to use in a home environment. It may affect wireless devices around if this productis used in a home environment or it’s connected to power supply for home usage.
Measurement condition of the EMC directive
Cat.5e (Shielded)

EtherCAT
MasterNoise
FilterAC

EtherCAT
Other slaves

Cat.5e (Shielded)

Relay

I/O Cable

DC
Power
SupplyEncoder cable (Shielded)
Power cable
Motor cable
Sensor cable

Terminal block
Shield box

Motor
Motorized stage

The RoHS directive
No materials exceeding mass ratio specified by the RoHS directive (EU/2015/863) are not included in thisproduct.

5
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4. Setup
Names and functions of parts
Front view

Monitor output
Gain adjustment
DIP switches
Factory
adjustment
terminal(Not used)

Top view
EtherCAT Run LED
EtherCAT Error LED
EtherCAT Output Link/Activity LED
EtherCAT Input Link/Activity LED
Power LED
Alarm LED
Run LEDIn position LED

ID setting
DIP switches

EtherCAT OUT

EtherCAT IN

I/O connectors

Encoder connector
Motor connector
Main power supply
connector

Method for installation
4.2.1. Operating environment
Use the driver in the environment as following;

An atmosphere at no less than 0°C and no more than 50°C with humidity of 85% RH or less

A place with low vibration (0.5 G or less)

A place without corrosive gases, flammable gases, abrasives, oil mists, iron powder, chippings, etc.



A place with low pulse noise (if noise is unavoidable, add a noise filter to the power supply)

4.2.2. Mounting
Two mounting surfaces are at your discretion; vertically or horizontally.
Two M3 screws are used for mounting the driver case. For the horizontal or the vertical mounting, it has twoscrew holes with un-anodized area, which establishes electrical grounds for the driver case, to its housing toprotect the circuit. Additionally, be sure that the motor and housing frame ground are at the same electricalpotential.

6
rev.1.0.0

Horizontal mounting (mm)50 or more
20 or
more

20 or
more

Vertical mounting (mm)50 or more

50 or more

20 or
more

50 or more

4.2.3. Precautions when installing the motorInstall the motor where the ambient temperature is within the range 0 to 40°C.

Levels of heat radiation must be such as to maintain the motor surface temperature at 65°C or less.



Do not install in where significant amounts of water, lubricant, or conductive metal powder are present.
Fixing the motor in place
Motor type
STM28W100A
STM42W100A

Motor size
28 mm sq.
42 mm sq.

Screw
M2.5 × 4
M3 × 4Tightening torque
0.4 Nm
0.6 Nm7
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4.2.4. Grounding
Ground the driver case to prevent malfunction by electrical noise.
It is one method to connect the driver’s frame ground to the power supply connector (CNPS), and another is byconnecting the un-anodized area on the driver case to other conductive point or area. The grounding must be
single point grounding (SPG) with a ground wire sizing of AWG18 (0.75 mm2) or higher. Refer to the outline
drawing for the un-anodized areas.

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Connection example
Driver side+ 24 V

COM+

1

0V

COM-

2

IN1

3

IN2

4

IN3

5

IN4

6

IN5

7

IN6

8

IN7

9

TO

10

LM+

11

LM-

12

ORG

13

OUT1

14

OUT2

15

OUT3

16

OUT4

17

OUT5

18

OUT6

19

OUT7

20

Motorized
Stage

Positive
limit
sensorOriginsensorMotor

1.5 kΩ
6.8 kΩ

1.5 kΩ
6.8 kΩ

Diag. OUT 21

Negative
limit
sensorBrake+ 22
Brake+

Brake-

23

FG

24

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Connector pin arrangement
4.4.1. Power supply connector (CNPS)
No.

Signal name

Details1+24 V or +48 V

Main power supply - positive

2
3

0V
FG

Main power supply 0 V
Frame ground

Remarks+24 V ± 10%, Rated 2 A, Peak 3 A+48 V ± 10%, Rated 1 A, Peak 2 A
I/O power supply input

4.4.2. Input / output connector (CNIF)
1
2
3
4
5
6
7
8
9

Signalname
COM+
COMIN1
IN2
IN3
IN4
IN5
IN6
IN7

+24 V
0V
General-purpose input port 1
General-purpose input port 2
General-purpose input port 3
General-purpose input port 4General-purpose input port 5General-purpose input port 6
General-purpose input port 7

10TO

Torque Off

IN

11
12
13
14
15
16
17
18
19
20
21
22
23
24

+LM
-LM
ORG
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
OUT7
Diag OUT
BRAKE+BRAKEFG

Positive direction limit sensor input
Negative direction limit sensor input
Origin sensor input
General-purpose output port 1
General-purpose output port 2
General-purpose output port 3
General-purpose output port 4General-purpose output port 5General-purpose output port 6
General-purpose output port 7
Diagnostic output (Reserved)
Brake release output +Brake release output Shield

IN
IN
IN
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT

No.

Input /
output
IN
IN
IN
IN
IN
IN
IN
IN
IN

Details

Remarks
I/O power supply input + 24 V ± 10%
I/O power supply input

Opto-isolated

Opto-isolated, torque-off by releasing theterminal
Opto-isolated

Opto-isolatedSame potential as pin 1 (+ 24 V)
500 mA or less4.4.3. Motor connector (CNM)
Signal
name

No.
1
2
3
4

A
/A
B
/B

Details
Motor A phase
Motor /A phase
Motor B phase
Motor /B phase

4.4.4. Encoder connector
No.
1
2
3
4
5
6
7
8
9
10

Signal
name
+5 V
GND
A+
AB+
BZ+
ZNC
FG

Input /
output
OUT
OUT
IN
IN
IN
IN
IN
IN
-

Details
Encoder power supply +5 V
Encoder power supply GND
A phase +A phase B phase +B phase Z phase +Z phase No Connection
Shield10
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Connector type
Code

Use

CNPS

For power supply

CNIF

For interface

CNM

For motor

CNE

For encoder

CNPS

Housing:
Contact:
Housing:
Contact:
Housing:
Contact:
Housing:
Contact:

Type
PAP-03V-S
SPHD-001T-P0.5
PUDP-24V-S
SPUD-002T-P0.5
PAP-04V-S
SPHD-001T-P0.5
PUDP-10V-S
SPUD-002T-P0.5

CNM

CNE

Applicable wire size

Manufacturer

AWG#26-22

JST

AWG#28-24

JST

AWG#26-22

JST

AWG#28-24

JST

CNIF

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5. Communication specifications
EtherCAT communication specifications
Items
Physical Layer
Synchronization Mode /Communication Cycle
Sync Manager

Mail Box (CoE)

Device Profile

Specifications
100BASE-TX (IEEE802.3)
SM2 event synchronization mode: 1 ms or more, 1 ms unit *DC mode: 1 ms or more, 1 ms unit *SM0: Mailbox output
SM1: Mailbox input
SM2: Process data output
SM3: Process data input
Emergency Message
SDO Request
SDO Response
SDO Information
IEC 61800-7 CiA402 Drive Profile* For the synchronization cycle, the value should be sufficient for the intended operation. If the cycle is too long,
drive errors may become too large to perform expected operations.
For the cycle, 10 ms or less is recommended.

Device profile
5.2.1. CoE
CiA402 drive profile
Mode of operation
Profile position mode
Velocity mode
Profile velocity mode
Torque profile mode
Homing mode
Interpolated position mode
Cyclic synchronous position mode
Cyclic synchronous velocity mode
Cyclic synchronous torque mode
Cyclic synchronous torque mode with commutation angle

Abbreviation
pp
vl
pv
tq
hm
ip
csp
csv
cst
cstca

Supportsupported
not supported
supported
supported
supported
supported
supported
supported
supported
not supported

5.2.2. FoE
Firmware Download support
Refer to a master device manual for the download method.

Setting the node address
In addition to the method in which an address is automatically assigned from an EtherCAT master, the driver
has three methods to set a fixed node ID (Station Alias) by the equipped rotary ID switches.
Please note that, by the standards, each method has own unique conditions to reflect and to read the ID. You
may not combine a method with one and anther. Only one can be chosen out of the three.

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Rotary ID switch
ID_SWL (lower 4 bits)
ID_SWH (upper 4 bits)

5.3.1. Reading SII (EEPROM) settings via Configured Station Alias
This method reads a value at SII 0004h (Configured Station Alias), which may be set by a slave configuration
tool through 0012h (Configured Station Alias) in the ESC register.
Be sure to set the rotary ID switches illustrated above to 0 when using this method. If the rotary ID switches
point at rather than 0, the ESC register returns error because this setting clears 0000h upon the device slave statetransition from PreOP to SafeOP.
Please refer to a tool manual applied at a master side how to rewrite the SII address.
5.3.2. Reading the rotary ID switch value via Configured Station Alias
This method reads a value that is set by the rotary ID switches, at the 0012h (Configured Station Alias) in the
ESC register. By this method, a range of value can be from 0001h to 00FFh of 255 combinations.
5.3.3. Reading the rotary ID switch value via AL Status CodeThis method reads a value set by the rotary ID switches, at the AL Status Code (0134h). The range of a value
can be from 0001h to 00FFh of 255 combinations.

13
rev.1.0.0

Sequence flow from power-on to establishment of communication
The figure below shows the sequence flow from turning on the driver power until communication is enabled.

Power
1.6 s
μ-controller

EtherCAT
Link

Booting

2.6 s~ (Depends on a master and network topology)
Communication
Establishing
Depends on a timing of a transition command from a master

ESM state

Init

PreOp

SafeOpOp

SDO Tx/Rx available
ObjectCommunication

TxPDO available
RxPDO available

14
rev.1.0.0

6. CiA402 drive profile common specifications
State machine
Start
0Power-offor
reset

Not ready toswitch on
1
15
Switch on
disabled
2

10

Fault
7
13

Ready toswitch on

12

3

6
14
8

Switched on
4
Quick stop
active16

95Fault reaction
activeOperation
enabled11

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

Description
Executing initialization
Initialization complete
Main power can be turned on
Main power on
Operation possible
Executing quick stop
Stop processing due to occurrenceof alarm
Alarm operating

Fault reaction active
Fault

Motor energized
OFF
OFF
OFF
OFF
ON
ON

Parameter setting
Not possible
Possible
Possible
Possible
Possible
PossibleON

PossibleOFF

PossibleState machine state transitions
Controlword (6040h) controls the state machine.
6.2.1. Controlword (6040h)
15

14

13
ms

12

11

10
r

9
oms

8
h

7
fr

6

5
oms

4

3
eo

MSB

2
qs

1
ev

0
so
LSB

ms manufacturer-specific: a vendor-specific fixed setting (not used in the driver)r

reserved: not usedoms operation mode specific: used in the various operation modeshhalt: by setting to 1, this halts the motor according to Halt option code (605Dh).

Setting to 0 resumes the operation, except it is in the hm mode.
fr

fault reset:

please refer to “Controlword state transition commands”

eoenable operation:please refer to “Controlword state transition commands”
15
rev.1.0.0

qs

quick stop:

please refer to “Controlword state transition commands”

evenable voltage:please refer to “Controlword state transition commands”

soswitch on:please refer to “Controlword state transition commands”

Controlword state transition commands
Command
Shutdown
Switch on
Switch on + enable operation
Disable voltage
Quick stop
Disable operation
Enable operation
Fault reset

Bits of the Controlword
Bit3
Bit2
Bit1
X
1
1
0
1
1
1
1
1
X
X
0
X
0
1
0
1
1
1
1
1
X
X
X

Bit7
0
0
0
0
0
0
0
01

Bit0
0
1
1
X
X
1
1
X

Transitions
2, 6, 83
3+4
7, 9, 10, 12
7, 10, 11
5
4, 16
15

Table for operation mode specific
The oms bits usages at each operation mode are shown in the table below.
For specific behavior, refer to the details on each operation mode.
Op-mode

pv
tq
hm

Bit9
change on
set-point-

Bit6
absolute /relative-

Bit5change set
immediately
-

ip

-

-

-

csp
csv
cst

-

-

-

pp

Bit4
new set-point
start homing
enableinterpolation-

6.2.2. Statusword (6041h)
15

14

13

ms

12
oms

11
ila

10
tr

9
rm

8
ms

7
w

6
sod

MSB

5
qs

4
ve

3
f

2
oe

1
so

0
rtso
LSB

ms manufacturer-specific: not usedoms operation mode specific: used in the various operation modes
ila internal limit active: restricted by the internal limittrtarget reached: target position reached

rm remote: command received
wwarning:

sod switch on disabled:qs

quick stop:vevoltage enabled:ffault:

oe

operation enabled:soswitched on

rtso ready to switch on
16
rev.1.0.0

State coding
The table below shows the bit coding in the Statusword corresponds the each state in the State machine.
Statusword
xxxx xxxx x0xx 0000b
xxxx xxxx x1xx 0000b
xxxx xxxx x01x 0001b
xxxx xxxx x01x 0011b
xxxx xxxx x01x 0111b
xxxx xxxx x00x 0111b
xxxx xxxx x0xx 1111b
xxxx xxxx x0xx 1000b

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

17
rev.1.0.0

7. Basic parameters
Setting user units
This specifies coefficients to convert the device’s “Internal units” (encoder pulse unit in the driver) to “Userunits”. The position and speed are set or displayed based on the values set here. However, the unit for torque isin 0.1%.

User units

Internal units

Position scaling

Position encoder resolution (608Fh)
Polarity (607Eh)
Motor
encoder

Motor
Feed constant (6092h)
Gear ratio (6091h)

Gear box

Linear axis

Index

Sub-Index

607Eh
6080h

00h
00h

6081h

01h
02h

6091h

01h
02h

6092h

01h
02h
00h
00h

60C5h
60C6h

Range

Access

PDO

rpm

Data
Type
U8
U16

0, 1920 - 65535

rw
rw

No
RxPDO

count
rot

U32
U32

0 - 4294967295
0 - 4294967295

rw
rw

No
No

rot
rot
User/rot
rot
User/s2
User/s2

U32
U32
U32
U32
U32
U32

1 - 4294967295
1 - 4294967295
1 - 4294967295
1 - 4294967295
0 - 4294967295
0 - 4294967295

rw
rw
rw
rw
rw
rw

No
No
No
No
RxPDO
RxPDO

Name

Units

Polarity
Max motor speed
Position encoder resolution
Encoder Increments
Shaft revolutions
Gear ratio
Motor revolutions
Shaft revolutions
Feed constant
Feed
Shaft revolutions
Max acceleration
Max deceleration

7.1.1. Position encoder resolution (608Fh)
Subindex

Name

Unit

Range

01

Encoder incrementspulse

0 - 4294967295

02

Motor revolutionsrot

1 - 4294967295

Description
The scale of the encoder increments relative to thenumber of motor revolutions.
The number of motor revolutions relative to the scale ofthe encoder increment.

This sets the scale of the encoder increment relative to the number of motor revolutions.
To set it at 0 reads 232.
The driver holds default values reflecting the preset motor configuration. The user may not need to modify thefactory default.

18
rev.1.0.0

7.1.2. Gear ratio (6091h)
Subindex

Name

Unit

Range

01

Motor shaft revolutionsrot

1 - 4294967295

02

Driving shaft revolutionsrot

1 - 4294967295

Description
The number of motor revolutions relative to the numberof gear revolutions.
The number of gear revolutions relative to the numberof motor revolutions.

This sets the gear ratio for the external gearbox.
For example, if the drive shaft rotates once per 2 motor rotations, set the Motor shaft revolutions = 2 and theDriving shaft revolutions = 1.
7.1.3. Feed constant (6092h)
Subindex
01 Feed
02

Name

Unit

Shaft revolutions

Range

DescriptionUser

1 - 4294967295

rot

1 - 4294967295

The feed amount per revolution.
The number of revolutions of the rotating shaft relative
to the feed amount.

This sets the resolution of the Feed amount per axis revolutions. For example, if a ball screw has a lead of 1 mm,
set the Shaft revolution to 1 and the Feed to 1000, thus, 1 [mm/rot] ÷ 1000 × 1 [rot] = 1 [μm] as the user-specified
unit If the resolution is 0.1 μm, the set Feed is 10000.
Note that although the calculated resolution can be freely set as described above, the physical resolution binds
to the encoder resolution.
7.1.4. Polarity (607Eh)
7
Position polarity

6
Velocity Polarity

5-0
Reserved

MSB

LSB

This sets the polarities of the position and of the velocity.
Position polarity: Sets the polarity of the position. Setting to 1 gives reverse polarity.
Velocity polarity: Sets the polarity of the velocity. Setting to 1 gives reverse polarity. The polarity of the torqueis linked to the polarity of the velocity.
Basically, it is recommended to set the same value to the Position polarity and to the Velocity polarity.

Common objects
These are the objects that can be set and read in the all control modes.
Index
6064h
606Ch
6077h
6080h

SubIndex
00h
00h
00h
00h

Name

Units

Position actual value
Velocity actual value
Torque actual value
Max motor speed

User
User/s
0.1%
rpm

Data
Type
I32
I32
I32
U32

Range

Access

PDO-2147483648 - 2147483647-2147483648 - 2147483647-32768 - 32767
0 - 4294967295

ro
ro
ro
rw

RxPDO
RxPDO
RxPDO
No

7.2.1. Position actual value (6064h)
This indicates the current position. The unit is user-specified.
7.2.2. Velocity actual value (606Ch)
This indicates the current velocity. The unit is a user-specified/second.
19
rev.1.0.0

7.2.3. Torque actual value (6077h)
This indicates the current torque. The unit is in 0.1%.
7.2.4. Max motor speed (6080h)
This sets the maximum rotational speed of the motor. The unit is in rpm.
This register limits the maximum speed in each control mode. In the torque control mode, the speed is limited
either by this or 500 rpm; Whichever is lower.

Position control common settings
7.3.1. Related objects
Index

Sub-Index

6062h
6065h
6066h
607Ah

00h
00h
00h
00h

607Bh

01h
02h

607Dh

01h
02h
00h

60F4h

Name

Range

Access

PDO

User
User
User
User

Data
Type
I32
U32
U16
I32

-2147483648 - 2147483647
0 - 4294967295
0 - 65535-2147483648 - 2147483647

ro
rw
rw
rw

User
User
User
User
User

I32
I32
I32
I32
I32

-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 - 2147483647

rw
rw
rw
rw
ro

TxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
TxPDO

Units

Position demand value
Following error window
Following error time out
Target position
Position range limit
Min position range limit
Max position range limit
Software position limit
Min position limit
Max position limit
Following error actual value

7.3.2. Position demand value (6062h)
This indicates current target position at the controlled positioning. The unit is user-specified.
7.3.3. Following error window (6065h)
This sets a threshold value, at that it sets the Following error (bit 13) in the Statusword (6041h) to 1, of thedifference in the Position demand value (6062h) and the Position actual value (6064h). The unit is user-specified.
7.3.4. Following error time out (6066h)
This sets the duration time, before it sets the Following error (bit 13) to 1, while the difference in the Position
demand value (6062h) and the Position actual value (6064h) exceeds the value of the Following error window(6065h), The unit is in millisecond.
7.3.5. Target position (607Ah)
This sets the target position. The unit is user-specified.
7.3.6. Position range limit (607Bh)
Sub-index
Name01
Min position range limit
02
Max position range limit

Unit
User
User

Range
Description-2147483648 - 2147483647 The minimum value for cycling.
-2147483648 - 2147483647 The maximum value for cycling.

This sets the range for the maximum and minimum values for the positioning. If position information exceeds
values set in this register, the displayed position will automatically wrap around to that value opposite of theexceeded side. The unit is user-specified.
20
rev.1.0.0

Setting Example
If a rotary stage has the range of 0° to 359.9°at the increments of 0.1°
Min position range limit = 0 and Max position range limit = 3599
*In order to operate with the unit of 0.1°, a user-specified unit must be set, separately.
7.3.7. Software position limit (607Dh)
Sub-index
Name01
Min position limit
02
Max position limit

Unit
User
User

Range
Description-2147483648 - 2147483647 The lower limit at the range of movement-2147483648 - 2147483647 The upper limit at the range of movement

The software limits the range of movement.
If a set position goes beyond the set ranges, the positioning will be halt at the set range.
If the current position is outside of the set range, it operates only movement directed toward the inside of therange.
This function does not become effective before performing the homing operation.
Also, this function can be disabled to set the values equating to Min position limit > = Max position limit.
If using the Position range limit function, instead, the set values to the function should be the outside of theranges of the Position range limit, or disable it.
The unit is user-specified.
7.3.8. Following error actual value (60F4h)
This is the difference in the Position demand value (6062h) and the Position actual value (6064h). The unit isuser-specified.

Velocity control common settings
Index

Sub-Index

606Dh
606Eh
606Fh
6070h
60B1h
60B2h
60C5h
60C6h
60FFh

00h
00h
00h
00h
00h
00h
00h
00h
00h

Name
Velocity window
Velocity window Time
Velocity threshold
Velocity threshold time
Velocity offset
Torque offset
Max acceleration
Max deceleration
Target velocity

Units
User/s
1ms
User/s
1ms
User/s0.1%
User/s2
User/s2
User/s

Data
Type
U16
U16
U16
U16
I32
I16
U32
U32
I32

Range

AccessPDO

0 - 65535
0 - 65535
0 - 65535
0 - 65535-2147483648 - 2147483647-32768 - 32767
0 - 4294967295
0 - 4294967295-2147483648 - 2147483647

rw
rw
rw
rw
rw
rw
rw
rw
rw

RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO

7.4.1. Velocity demand value (606Bh)
This is the control velocity over the current time. The unit is a user-specified unit/s.
7.4.2. Velocity window (606Dh)
This sets the difference in the velocities, at which judges that the current velocity (Velocity actual value reaches
the current target velocity (Target velocity) + (Velocity offset).

21
rev.1.0.0

7.4.3. Velocity window time (606Eh)
This sets the duration time waiting to set the bit 10 in the Statusword to 1, while the current velocity reaches therange set in the Velocity window (606Dh). The unit is in millisecond (ms).
7.4.4. Velocity threshold (606Fh)
This specifies the velocity threshold which is considered to be stopped.
7.4.5. Velocity threshold time (6070h)
This sets the duration time waiting to set the bit 12 (speed) in the Statusword at 0, while the current velocity
exceeds the Velocity threshold (606Fh). The unit is in millisecond (ms).
7.4.6. Velocity offset (60B1h)
This sets the velocity offset for the target velocity. The unit is a user-specified/s.
7.4.7. Target velocity (60FFh)
This sets the target velocity. The unit is a user-specified/second.

Torque control common settings
The Torque control function controls the torque maintained at the specified value.
For no-load, or for light loads, the acceleration will automatically be according to the set torque, but the
maximum speed of the motor is limited to 500 rpm.
Index

Sub-Index

6071h
6072h
60B2h

00h
00h
00h

Name
Target torqueMax torque
Torque offset

Units
0.1%
0.1%
0.1%

Data
Type
I16
U16
I16

Range

AccessPDO-32768 - 32767
0 - 65535-32768 - 32767

rw
rw
rw

RxPDO
RxPDO
RxPDO

7.5.1. Target torque (6071h)
This sets the target torque. The unit is in 0.1%.
7.5.2. Max torque (6072h)
This sets the maximum torque value. The unit is in 0.1%.
7.5.3. Torque offset (60B2h)
This sets an offset for the target torque. The unit is in 0.1%.

22
rev.1.0.0

8. Modes of operation
Supported operation modes
The driver supports the following operation modes.
Modes of the Position control
pp: profile position mode
ip: interpolated position mode
csp: cyclic synchronous position mode
hm: homing mode
Modes of the Velocity control system
pv: profile velocity mode
csv: cyclic synchronous velocity mode
Modes of the Torque control system
tq: torque profile mode
cst: cyclic synchronous torque mode
8.1.1. Supported drive modes (6502h)
31 - 16
Manufacturer-specific

15 - 11
reserved

10
cstca

9
cst

8
csv

7
csp

6
ip

MSB

5
hm

4
r

3
tq

2
pv

1
vl

0
pp
LSB

The bits for the operation modes supported are displayed as 1.
The default value for this register is 000003EDh in the driver.

Switching operation modes
When switching operation modes, it is recommended to perform such switching at a state other than that at the
Operation enabled. If a mode setting is performed at the Operation enabled, the servo may be temporarily turned
off during the transition.
8.2.1. Modes of operation (6060h)
This specifies which operation mode to switch.
If an unsupported mode number is specified the setting is ignored.
Value-128 to -1
0
1
2
3
4
5
6

Mode of operation
Manufacturer-specific operation modes (not supported)
No mode change/no mode assigned
Profile position mode
Velocity mode (not supported)
Profile velocity mode
Torque profile mode
Reserved (Not used)
Homing mode23
rev.1.0.0

7
8
9
10
11
12 to 127Interpolated position mode
Cyclic sync position mode
Cyclic sync velocity mode
Cyclic sync torque mode
Cyclic sync torque mode with commutation angle (not supported)
Reserved (Not used)

8.2.2. Modes of operation display (6061h)
This displays a currently active operation mode.
The definitions of the displayed values are the same in the 6060h.

Profile position mode (PP)In the Profile position mode, the positioning to the specified position is performed according to the set velocity
and the set acceleration / deceleration.
8.3.1. Related objects
Index

Sub-Index

6040h
6041h
6062h
6064h
607Ah

00h
00h
00h
00h
00h

607Bh

01h
02h

607Dh

01h
02h
00h
00h
00h
00h
00h
00h
00h
00h
00h

607Eh
607Fh
6080h
6081h
6083h
6084h
6086h
60C5h
60F2h

Range

Access

PDO

User
User
User

Data
Type
U16
U16
I32
I32
I32

0 - 65535
0 - 65535-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 - 2147483647

rw
ro
ro
ro
rw

RxPDO
TxPDO
TxPDO
TxPDO
RxPDO

User
User
User
User
User
rpm
User/sUser/s2
User/s2
User/s2
-

I32
I32
I32
I32
U8
U32
U16
U32
U32
U32
U8
U32
U16

-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 - 2147483647
0, 1920 - 4294967295
0 - 65535
0 - 4294967295
0 - 4294967295
0 - 4294967295
0-3
0 - 4294967295
0 - 32767

rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw

RxPDO
RxPDO
RxPDO
RxPDO
No
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
No
RxPDO
RxPDO

Name

Units

Controlword
Statusword
Position demand value
Position actual value
Target position
Position range limit
Min position range
Max position range
Software position limit
Min position limit
Max position limit
Polarity
Max profile velocity
Max motor speed
Profile velocity
Profile acceleration
Profile deceleration
Motion profile typeMax acceleration
Position option code

8.3.2. Controlword (6040h)
15

14

13
ms

12

11

10
r

9
oms

8
h

7
fr

6

5
oms

4

3
eo

2
qs

MSB

1
ev

0
so
LSB

Operational instructions
The bit 9, 5 and 4 instruct the operations in PP mode.
Bit 9

Bit 5

Bit 4

0

0

01

X

1

01

1

0

01

Description
After completing the current target positioning, it proceeds the next target
positioning.
Transition to the next target positioning starts immediately.
The Current target positioning maintains the current profiled speed. Aftercompleting the current positioning, the new target positioning proceeds with a newset profiled speed.

24
rev.1.0.0

Setting operation states
The Bit 8 and the Bit 6 configure the operation states.
Bit
6
8

Value
0
1
0
1

Description
The position of the target is absolute positioning.
The position of the target is relative to positioning.
The target positioning proceeds on or will be processed.
The operation stops according to the set Halt option code (605Dh).

8.3.3. Statusword (6041h)
15

14
ms

13

12
oms

11
ila

10
tr

9
rm

8
ms

7
w

6
sod

5
qs

4
ve

3
f

2
oe

MSB

1
so

0
rtso
LSB

Display of operating state
In PP mode, the returned status is as following; Refer to 6.2.2 for other bits.
Bit

Value
0

10
1
0
12
1
13

0
1

Description
Halt = 0: Target position has not been reached.
Halt = 1: Axis is decelerating.
Halt = 0: Target position has been reached.
Halt = 1: Axis has stopped.
It has completed the previous targeting and is ready for a next
new target position input.
The previous set target positioning is being processed and thenext target position can be overwritten.
No Following error has occurred.
Following error has occurred.

8.3.4. Target position (607Ah)
This sets the target position. It reflects the target position by setting the new set-point (Bit 4) in the Controlword
at 0 → 1 and the operation begins.The unit is user-specified.
8.3.5. Max profile velocity (607Fh)
This sets the maximum value for the profile velocity. The unit is a user-specified unit/second.
The profile velocity is limited either by this setting, or by the Max motor speed (6080h); Whichever is smaller.
8.3.6. Profile velocity (6081h)
This sets the profile velocity. The unit is a user-specified unit/s.
8.3.7. Profile acceleration (6083h)
This sets the acceleration for the profile velocity. The unit is a user-specified unit/s2.
8.3.8. Profile deceleration (6084h)
This sets the deceleration for the profile velocity. The unit is a user-specified unit/s2.
8.3.9. Motion profile type (6086h)
This sets the acceleration / deceleration curve. To set it at 0 executes linear acceleration. To set it at 1 executes
sin2 curve acceleration. This profile type does not support the setting at 2.
25
rev.1.0.0

8.3.10. Max acceleration (60C5h)
This sets the maximum value for acceleration / deceleration. The unit is a user-specified unit/s2.
8.3.11. Position option code (60F2h)
The Position option code enables more detailed operation settings for operation conditions specified by theControlword.
15
ms

14

13
12
reserved

11109
ip option

8

7

6

5

rado

4

3

rro

2
cio

1

0
rop

MSB

LSB

ms

manufacturer specific: not used

ip option

reserved for interpolation position mode: not used

Rotary axis direction option (rado)
These are the configuration of the Positioning mode and operating directions for the rotating shaft.
Bit 7

Bit 6

0

0

0
1

1
0

1

1

Description
This is the same Positioning mode as for a linear actuator. Use
this setting when using a linear actuator. Only with this setting
is it possible to set a value that exceeds the Position range
limit.
In this mode, the rotation direction can only be CCW.
In this mode, the rotation direction can only be CW.
This mode performs positioning using the shortest path. If the
distance is the same for either directions, it operates in the CW
direction.

360=0
330

50
Bit 7 Bit 6
00210

Bit 7 Bit6
01

Bit 7 Bit 6
1
0

Bit 7 Bit 6
1
1

150

Rotating shaft positioning example
Request-response option (rro)This sets the new set-point bit (bit4) in the Countrolword either to be controlled on a master side with ahandshake executed as usual, or to automatically be released within the slave. If a normal handshake is not
executed, the set-point acknowledge bit (Statusword bit12) on the slave side is immediately cleared to 0 under
the specified conditions, regardless of the state of the new set-point bit.
Bit 5

Bit 4

Description

0
0

0
1

1

0

1

1

Performs the normal handshake operation.
Releases the new set-point bit upon the completion of a positioning.
Releases the new set-point bit as soon as being ready to accept the setting of a
new target position.
Reserved26
rev.1.0.0

Change immediately option (cio)This specifies the operation when the change immediately option bit (bit 5) in the Controlword is set to 1.
Note that this is not supported by the driver.
Bit 3

Bit 2

Description

0

0

0

1

1
1

0
1

The slave immediately starts a new positioning.
The slave continues with the current positioning and, uponreaching the position, starts to operate according to the new
set speed and acceleration.
Reserved
Reserved

Relative option (rop)This specifies the operation when the abs/rel bit (bit 6) in the Controlword is set to 1.
Bit 1

Bit 0

0

0

0

1

1

0

1

1

Description
This performs relative movement with respect to the previous
positioning target (Target position).
This performs relative movement with respect to the current
movement target value (Actual position demand value).
This performs relative movement with respect to the current
position (Position actual value).
Reserved

8.3.12. Control in PP mode
Basic control
1.

For motions, it sets maximum velocity in the Profile velocity (6081h), acceleration / deceleration in theProfile Acceleration (6083h) and the Profile Deceleration (6084h), respectively, a target position to theTarget position (607Ah) and, after at least one cycle apart, changes the new set-point (bit 4) in theControlword (6040h) from 0 to 1.

2.

The driver changes the set-point acknowledge (bit 2) in the Statusword (6041h) from 0 to 1 and then thedriver receives a new position values to begin the operation.

3.

The master re-sets the new set-point to 0 after confirming the change in the set-point acknowledge is 0.

4.

The driver confirms that the new set-point is 0, and then re-sets the set-point acknowledge to 0.

5.

The driver, after reaching a specified position, changes the target reached (bit 10) in theStatusword changes
from 0 to 1. Thus, a positioning is completed.

27
rev.1.0.0

Velocity

1

3
2

4

ProfileAcceleration(6083h)Profile Deceleration (6084h)

5ProfileVelocity(6081h)Time

Controlword
Target position

new set-point

Statusword
set-point
acknowledge

target reached

Setting the target position during the operation by not using a buffer
If a target position is updated during the operation while the bit 5 (change set immediately) in the Controlword(6040h) is 1, the driver interrupts a current positioning and starts a next positioning operation immediately.
1. After a master sets a new target position, it confirms that the set-point acknowledge (Statusword bit 12) is0, and then changes the bit 4 (new set-point) in the Controlword from 0  1.
2. The driver confirms the transition of the bit 4 (new set-point) in the Controlword from 0  1, at which time,
it starts a new operation based on the Target position (607Ah), Profile velocity (6081h), Profile acceleration(6083h) and Profile deceleration (6084h). Thereafter, it sets the bit 12 (set-point acknowledge) in the
Statusword (6041h) to 1.
3. The master confirms the change of the bit 12 (set-point acknowledge) in the Statusword (6041h) to 1, andthen sets the bit 4 (new set-point) in the Controlword (6040h) to 0.
4. The driver confirms that the bit 4 (new set-point) in the Controlword (6040h) is 0, and then it re-sets the bit
12 (set-point acknowledge) in the Statusword (6041h) to 0.

28
rev.1.0.0

Velocity

1

3
2

4

Time

Controlword
Target position

new set-point

Statusword
set-point
acknowledge

target reached

Setting the target position during operation byusing a buffer
If a target position is updated during operation while the bit 5 (change set immediately) in theControlword(6040h) is 0, a driver starts a next positioning operation, immediately after, it completes the current positionin.
1. A master sets a new target position, then, confirms that the set-point acknowledge (Statusword bit 12) is 0,
and then changes the bit 4 (new set-point) in the Controlword from 0  1.
2. The driver confirms the change of the bit 4 (new set-point) in the Controlword from 0  1, saves the current
Target position (607Ah) to the buffer while continuing its operation. Thereafter, sets the bit 12 (set-point
acknowledge) of Statusword (6041h) to 1.
3. The master confirms the change of the bit 12 (set-point acknowledge) in the Statusword (6041h) to 1, andsets the bit 4 (new set-point) in the Controlword (6040h) to 0.
4. After the completion of the current operation, the driver reads the new target position from the buffer andstarts the next operation. Simultaneously, the dirver confirms the buffer is emptied by being read the changeof the bit 4 (new set-point) in the Controlword (6040h) is 0, and then changes the bit 12 (set-point
acknowledge) in the Statusword (6041h) to 0.
During the operation described above, if the bit 9 (change on set-point) in the Controlword (6040h) is 1, asequenced operation will be performed without stopping, as the dotted line illustrated as below. However, if a
direction of a movement reverses for a sequenced positioing, a stop will occur at the first target position prior to
moving in the reverse direction.

29
rev.1.0.0

Velocity

1

3
2

4

Time

Controlword
Target position

new set-point

Statusword
set-point
acknowledge

target reached

Erasing a target position while in Halt.
While a master keeps the Halt (bit 8) in the Controlword (6040h) at 1, keeping an axis in halt, it sets the change
set immediately (bit 5) to 1 and then executes the New set-point, the driver erases a previous target position andhandles a current position as a target position, therefore, a driver stops at the current position even after the
master re-sets the Halt to 0.
Time

Controlword
Halt

Change set
Immediately

new set-point

Statusword
TargetReachedset-point
acknowledge
Set set-point toactual position

Drive in position
control on
actual position30
rev.1.0.0

Cyclic synchronous position mode (CSP)
In the Cyclic synchronous position mode, a master side performes track generation to instruct position data
periodically for a synchronous control of the slave device(s).
8.4.1. Related objects
Index
6040h
6041h
6062h
6064h
606Ch
6077h
607Ah

SubIndex
00h
00h
00h
00h
00h
00h
00h

607Bh

01h
02h

607Dh

01h
02h
00h
00h

607Eh
6080h
60C2h

01h
02h

Name

Units

Controlword
Statusword
Position demand value
Position actual value
Velocity actual value
Torque actual value
Target position
Position range limit
Min position range
Max position range
Software position limit
Min position limit
Max position limit
Polarity
Max motor speed
Interpolation time period
Interpolation time period value
Interpolation time index

User
User
User
0.1%
User
User
User
User
User
rpm
ms
-

Data
Type
U16
U16
I32
I32
I32
I32
I32
I32
I32
I32
I32
U8
I16
U8
I8

Range

AccessPDO

0 - 65535
0 - 65535-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 - 2147483647-1000 - 1000
-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 – 2147483647-2147483648 – 2147483647
0 or 192
0 - 4294967295
1 - 255
-3

rw
ro
ro
ro
ro
ro
rw
rw
rw
rw
rw
rw
rw
rw
rw

RxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
No
RxPDO
No
No

8.4.2. Controlword (6040h)
15

14

13
ms

12

11

10
r

9
oms

8
h

7
fr

6

5
oms

4

3
eo

2
qs

1
ev

MSB

0
so
LSB

Bit

Name

Value

7, 3-0
8

0
1
-

Halt

9, 6-410
15-11

Operation mode specificReserved
Manufacturer specificDescription
Refer to “Controlword state transition commands”
Allow operation
Stop operation
Not usedNot usedNot used

8.4.3. Statusword (6041h)
15

14

13

ms

12

11
ila

oms

10
tr

9
rm

8
ms

7
w

6
sod

5
qs

4
ve

3
f

MSB

12

1
so

0
rtso
LSB

Bit

15-14, 8

2
oe

Name
Drive follows the command value
Manufacturer specific

Value
0
1
-

Description
Target position command invalid
Target position command valid
Not used

8.4.4. Target position (607Ah)
This sets a target position. The unit is user-specified.
It constantly follows a specified position in a PDO communication cycle.
The difference in set positions is values which speed and acceleration are with taking into account to a motor isable to follow.
31
rev.1.0.0

If motion speed per cycle exceeds the Max motor speed (6080h), the tracking position is limited to that position
that can be reached at the Max motor speed.
8.4.5. Position Offset (60B0h)
This specifies an offset for the target position. The unit is user-specified.
8.4.6. Interpolation time period (60C2h)
SubNameindex
01 Interpolation time period value
02 Interpolation time index

Unit

Range

ms
-

1 - 255-3

Description
The mantissa part of the interpolation time period
The exponent part of the interpolation time period

The interpolation time period is set automatically. For the driver, the exponent part is fixed at -3, and the mantissashows ms.
8.4.1. Control in CSP mode
Basic control
When setting the CSP mode in the Modes of operation and changing the Operation enable state, the driver
operates by tracking target positions set by the addition of the Target position (607Ah) and Position offset(60B0h).
A mater side updats target positions by a PDO communication cycle.
When the Max motor speed (6080h) is set beyond a reachable position, the target position is limited to thereachable range to perform tracking operation.

Position

Position Actual Value(6064h)TargetPosition(607Ah)+Position
Offset(60B0h)Time
Cycle time32
rev.1.0.0

Interpolated position mode (IP)The Interpolated position mode is a positioning which interpolates intermediate positions based on position
information set in advance. The calculation for the interpolat intermediate data is performed in 1 ms cycle.
The two methods, FIFO or ring buffer, can be selected to storing and reading the interpolation data.
8.5.1. Related objects
Index
6040h
6041h
6062h
6064h
606Ch
6077h

SubIndex
00h
00h
00h
00h
00h
00h

607Bh

01h
02h

607Dh

01h
02h
00h
00h
00h

607Eh
6080h
60C0h
60C1h
60C2h

60C4h

01h
01h
02h
01h
02h
03h
04h
05h
06h

Name

Units

Controlword
Statusword
Position demand value
Position actual value
Velocity actual value
Torque actual value
Position range limit
Min position range
Max position range
Software position limit
Min position limit
Max position limit
Polarity
Max motor speed
Interpolation sub mode selectInterpolation data record
Interpolation target position
Interpolation time period
Interpolation time period value
Interpolation time index
Interpolation data configuration
Maximum buffer size
Actual buffer size
Buffer organization
Buffer position
Size of data record
Buffer clear

User
User
User
0.1%
User
User
User
User
rpm
User
ms
-

Data
Type
U16
U16
I32
I32
I32
I32
I32
I32
I32
I32
U8
I16
I16
I32
U8
I8
U32
U32
U8
U16
U8
U8

Range

AccessPDO

0 - 65535
0 - 65535-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 - 2147483647-1000 - 1000
-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 - 2147483647
0 or 192
0 - 4294967295-32768 - 32767-2147483648 - 2147483647
1 – 255-3
256
0 - 4294967295
0-1
0 - 256
4
0-1

rw
ro
ro
ro
ro
ro
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
ro
rw
rw
rw
rw
rw

RxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
RxPDO
RxPDO
RxPDO
RxPDO
No
RxPDO
No
RxPDO
No
No
No
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO

8.5.2. Controlword (6040h)
15

14

13
ms

12

11

10
r

9
oms

8
h

7
fr

6

5
oms

4

3
eo

2
qs

1
ev

MSB

0
so
LSB

Bit

Name

4

Enable interpolation

8

Halt

Value
0
1
0
1

Description
Interpolation disabledInterpolation enabled
Allow operation
Stop operation

8.5.3. Statusword (6041h)
15

14
ms

13

12
oms

11
ila

10
tr

9
rm

8
ms

7
w

6
sod

5
qs

4
ve

3
f

MSB

2
oe

1
so

0
rtso
LSB

Bit

Name

Value
0

10

Target reached

12

Drive follows the command value

1
0

Description
Halt = 0: Target position not reached
Halt = 1: Decelerating
Halt = 0: Target position reached
Halt = 1: Stopped
Target position command invalid

33
rev.1.0.0

Bit13
15-14, 8

Name

Value
1
0
1
-

Following error
Manufacturer specificDescription
Target position command valid
No position deviation error
Position deviation error occurrence
Not used

8.5.4. Interpolation sub mode select (60C0h)
This specifies calculation algorithm for the interpolation. The driver supports only linear interpolation (= 0).
8.5.5. Interpolation data record (60C1h)
This specifies interpolation position data.
Position information for writing to Sub-index 01h is set. In the case of SDO communication, data is added to thebuffer when there is an entry written to this register. When mapping to PDO communication, writing is
performed for each period in the communication cycle. The write position is always at the end in the case of
FIFO, and in the case of the ring buffer, writing is to the position specified by Buffer position.
8.5.6. Interpolation time period (60C2h)
Sub-index
01
02

Name
Interpolation time period
valueInterpolation time index

Unit

Range

ms

1

-

-3

Description
The mantissa part of the interpolation time period
The exponent part of the interpolation time period

This specifies the period to interpolate the position data. This setting is 1 ms.
8.5.7. Interpolation data configuration (60C4h)
SubNameindex
01 Maximum buffer size
02 Actual buffer size
03 Buffer organization
04 Buffer position
05 Size of data record
Buffer clear
06

Unit

Range

Byte

256
0 - 256
0-1
0 - 255
4-0-1

Description
The maximum size of the buffer
The actual size of the buffer
0: FIFO, 1: Ring buffer
The next free buffer position
The record data size in bytes
0: All buffer data is cleared, and access to the buffer isprohibited
1: Writing to the buffer is possible.

This makes settings for the interpolation position data buffer.
8.5.8. Control in IP mode
Basic control
This mode performs position control based on data stored in a buffer, while interpolating intermediate data. The
buffer type can be selected as either FIFO (first-in first-out) or ring buffer.
The Interpolation time period is fixed at 1 ms for this device.

34
rev.1.0.0

Position

Given interpolation position

Calculated position
Interpolation time period
Cycle timeTime

FIFO mode
In FIFO mode, writing is always to the tail end of the buffer, and reading from the buffer is performed
sequentially from the elements that were written first.
Operation ceases when the read data in the buffer catches up with the write data. For continuous operation
without stopping, the read and write cycles must match (writing is with the PDO communication cycle).
Write pointerRead pointerWrite pointerRead pointerWrite pointerRead pointerRing buffer mode
In Ring buffer mode, the interpolation operation is performed by sequentially reading over the specified buffer
size range. For writing to the buffer, it is possible to specify some arbitrary position in the buffer to rewrite whatis written there.
After reading up to the end, data will continue to be read from the beginning with continuous operation. This isused such as when repeating the same operations.
Write @ Buffer pos

Read pointer35
rev.1.0.0

Homing mode (HM)This mode sets the home position.
8.6.1. Related objects
Index

Sub-Index

Name

Units

6040h
6041h
6062h
6064h
607Ch
6098h

00h
00h
00h
00h
00h
00h

User
User
User
-

6099h

01h
02h
00h

Controlword
Statusword
Position demand value
Position actual value
Home offset
Homing method
Homing speeds
Speed during search for switch
Speed during search for zero
Homing acceleration

609Ah

User/sUser/sUser/s2

Data
Type
U16
U16
I32
I32
I32
I8
U32
U32
U32

Range

AccessPDO

0 – 65535
0 - 65535-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 - 2147483647-128 - 127
0 - 4294967295
0 - 4294967295
0 - 4294967295

rw
ro
ro
ro
rw
rw
rw
rw
rw

RxPDO
TxPDO
TxPDO
TxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO

8.6.2. Controlword (6040h)
15

14

13
ms

12

11

10
r

9
oms

8
h

7
fr

6

5
oms

4

3
eo

2
qs

1
ev

MSB

0
so
LSB

Bit

Name

4

start homing

8

Halt

Value
01
0
1

Description
Starts homing operation
Allow operation
Stops homing operation

8.6.3. Statusword (6041h)
15

14

13

ms

12

11
ila

oms

10
tr

9
rm

8
ms

7
w

6
sod

5
qs

4
ve

3
f

MSB

2
oe

1
so

0
rtso
LSB

Bit

Name

10

Target reached12

Homing attained

13

Homing error

Value
0
1
0
1
0
1

Description
Operating
HaltedHoming incomplete
Homing completed
No homing error
Homing error occurrence

Bit 13

Bit 12

Bit 10Description

0
0
0
0
1
1

0
0
1
1
0
0

0
1
0
1
0
1

Homing operating
Homing operation interrupted or not yet started
Homing operation completed but without reaching the target position
Homing operation completed successfully
Homing error occurred but operation is continuing
Homing error occurred and operation has halted

36
rev.1.0.0

8.6.4. Home offset (607Ch)
This offsets the zero position with respect to a detected home position.
When performing homing operation, the Home offset sets a value reflected by the Position demand value (6062h)
and Position actual value (6064h). Other changes do not affect a current position. Also, the Software position
limit (607Dh) sets the value based on the original home position regardless of this setting. Thus, the value of thecurrent position to which the software limits is applied to the value shifted by Home offset. Refer to the figure
below for the relationship between the software limit range, homing position and Home offset.

Min position limit

Max position limit

Home offset
Zero
Home
Position
Position(Enc. = 0)
Stroke area

8.6.5. Homing method (6098h)
This specifies the homing method.
The values that can be specified are -4--1, 1-14, 17-30, 33-35, and 37. If other values are set and homing is
performed, a homing error occurs, and 1 is returned to Statusword bit 13: Homing error.
Method 1: Homing on negative limit switch and index pulse
In this method, the limit switch is detected in the negative direction, the direction reverses, and home is set atthe closest index pulse (= encoder Z phase).

1
Index pulse

Homing speeds (6099h)
Speed during search for switch

Negative limit switch

Speed during search for zero37
rev.1.0.0

Method 2: Homing on positive limit switch and index pulse
In this method, the limit switch is detected in the positive direction, the direction reverses, and home is set at theclosest index pulse.

2
Index pulse

Negative limit switch

Method 3, 4: Homing on positive home switch and index pulse
In these methods, movement is in the positive direction if the home switch is not detected, and in the negative
direction if it is detected, with 3 and 4 setting home at the nearest index pulses to the home switch respectively
in the negative and positive directions.

3
3
4

4

Index pulse

Home switch38
rev.1.0.0

Method 5, 6: Homing on negative home switch and index pulse
In these methods, the movement will be toward negative direction if a home switch is not detected, and toward
the positive direction if detected, with 5 and 6 setting home at the nearest index pulses to the home switch
respectively toward the positive and negative directions.

5
5
6
6

Index pulse
Home switch

39
rev.1.0.0

Method 7 to 14: Homing on home switch and index pulse
These methods set the nearest index pulse position to detection / non-detection as home for both detection endsof the home switch. If a limit switch is detected in an initial moving direction, the moving direction will bereversed. Refer to the illustration below for moving directions and home setting positions corresponding to eachnumber.

8

10

7

9

7

10
8

9

7

9
8

10

Index pulse
Home switch
Positive limit switch

12

14
13

11

14

11
13

12
11

13
12

14

Index pulse
Home switch
Negative limit switch

40
rev.1.0.0

Method 17 to 30: Homing without index pulse
These methods respect each of the modes in Method 1 to 14, but take the edge of each switch as home, without
using the index pulse. The following figure illustrates the movement for 19 and 20 as reference examples.

19

19

20

20
Home switch

Method 33, 34: Homing on index pulse
These methods set the nearest index pulse as home.

33
34

Index pulse

Method 35, 37: Homing on current position
These methods set the current position as home.
Method 35 is now deprecated from the standard. Use Method 37 except, for instance, when compatibility withpast designs is required.

35
37

41
rev.1.0.0

Method -1, -2: Homing on torque limit and index pulse
After detecting a fixed torque in the positive direction (Method -2) or the negative direction (Method -1), an
index pulse in the opposite direction is detected and is set as home.

-1-2

Index pulse

Method -3, -4: Homing on torque limit
The point at which a fixed torque in the positive direction (Method -4), or the negative direction (Method -3), is
detected is set as home.

-3-4

8.6.6. Homing speeds (6099h)
Sub-index
Name01
Speed during search for switch
02
Speed during search for zero

Unit
User
User

Range
0 - 4294967295
0 - 4294967295

Description
This sets the speed prior to detection of the switch.
This sets the speed for moving to the home position.

8.6.7. Homing acceleration (609Ah)
This sets the acceleration for homing operation. The deceleration upon detection, by a sensor etc., will be as fora sudden stop regardless of this setting. The unit is a user-specified unit/s2.

42
rev.1.0.0

Profile velocity mode (PV)In the Profile velocity mode, the acceleration or deceleration of a slave device toward a set target velocity iscontrolled by using a pre-specified acceleration.
8.7.1. Related objects
Index
6040h
6041h
606Bh
606Ch
606Dh
606Eh
606Fh
6070h
607Fh
6080h
6083h
6084h
60B1h
60B2h
60C5h
60FFh

SubIndex
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h

Name

Units

Controlword
Statusword
Velocity demand value
Velocity actual value
Velocity window
Velocity window Time
Velocity threshold
Velocity threshold time
Max profile velocity
Max motor speed
Profile acceleration
Profile deceleration
Velocity offset
Torque offset
Max acceleration
Target velocity

User/sUser/sUser/s
1 ms
User/s
1 ms
User/srpm
User/s2
User/s2
User/s0.1%
User/s2
User/s

Data
Type
U16
U16
I32
I32
U16
U16
U16
U16
U32
U32
U32
U32
I32
I16
U32
I32

Range

AccessPDO

0 - 65535
0 - 65535-2147483648 - 2147483647-2147483648 - 2147483647
0 - 65535
0 - 65535
0 - 65535
0 - 65535
0 - 4294967295
0 - 4294967295
0 - 4294967295
0 - 4294967295-2147483648 - 2147483647-32768 - 32767
0 - 4294967295-2147483648 - 2147483647

rw
ro
ro
ro
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw

RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO

6
sod

5
qs

8.7.2. Controlword (6040h)
The Operation mode specific bit is not used in this mode.
8.7.3. Statusword (6041h)
15

14

13

ms

12
oms

11
ila

10
tr

9
rm

8
ms

7
w

4
ve

3
f

2
oe

MSB

Name

Value
0

Target reached
1

12

0
rtso
LSB

Bit
10

1
so

Speed

0
1

Description
Halt = 0: Target speed has not been reached
Halt = 1: Decelerating
Halt = 0: Target speed has been reached
Halt = 1: Stopped
Speed is not 0
Speed is 0

8.7.4. Velocity demand value (606Bh)
This indicates a current velocity control value. The unit is a user-specified unit/second.
8.7.5. Velocity actual value (606Ch)
This indicates a current velocity value. The unit is a user-specified unit/second.
8.7.6. Velocity window (606Dh)
If the absolute value of the difference in the Velocity actual value (606Ch) and the sum of the Target velocity(60FFh) and Velocity offset (60B1h) is less than this setting, Target reached (bit 10) of Statusword (6041h) is set
to 1 when Velocity window time (606Eh) elapses. The unit is a user-specified unit/second.
43
rev.1.0.0

8.7.7. Velocity window time (606Eh)
This sets the time interval from the instant that the absolute value of the difference between Velocity actual value(606Ch) and the sum of Target velocity (60FFh) and Velocity offset (60B1h) reaches Velocity window (606Dh)
or below, until the instant at which Target reached (bit 10) of Statusword (6041h) sets to 1. The unit is in
milliseconds.
8.7.8. Velocity threshold (606Fh)
When Velocity actual value (606Ch) exceeds this setting, and the Velocity threshold time (6070h) has elapsed,
the Speed (bit 12) of Statusword (6041h) is set to 1. The unit is a user-specified unit/second.
8.7.9. Velocity threshold time (6070h)
This sets the time interval from the instant when Velocity actual value (606Ch) exceeds the Velocity threshold(606Fh), until the speed (bit 12) of Statusword (6041h) sets to 1. The unit is in millisecond.
8.7.10. Control in PV mode
Basic control
In PV mode, the Target velocity (60FFh) and Velocity offset (60B1h) are used for target values to perform
velocity tracking using a specified profile acceleration.

Velocity

ProfileAcceleration(6083h)ProfileDeceleration(6084h)TargetVelocity(60FFh)+Velocity
Offset(60FFh)Time

44
rev.1.0.0

Cyclic synchronous velocity mode (CSV)The Cyclic synchronous velocity mode controls a motor by periodically updating target velocities from a masterside.
8.8.1. Related objects
Index
6040h
6041h
606Bh
606Ch
606Dh
606Eh
606Fh
6070h
60B1h
60FFh

SubIndex
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h

Name

Units

Controlword
Statusword
Velocity demand value
Velocity actual value
Velocity window
Velocity window Time
Velocity threshold
Velocity threshold time
Velocity offset
Target velocity

User/sUser/sUser/s
1 ms
User/s
1 ms
User/sUser/s

Data
Type
U16
U16
I32
I32
U16
U16
U16
U16
I32
I32

Range

AccessPDO

0 - 65535
0 - 65535-2147483648 - 2147483647-2147483648 - 2147483647
0 - 65535
0 - 65535
0 - 65535
0 - 65535-2147483648 - 2147483647-2147483648 - 2147483647

rw
ro
ro
ro
rw
rw
rw
rw
rw
rw

RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO

6
sod

5
qs

8.8.2. Controlword (6040h)
The Operation mode specific bit is not used in this mode.
8.8.3. Statusword (6041h)
15

14
ms

13

12

11
ila

oms

10
tr

9
rm

8
ms

7
w

4
ve

3
f

2
oe

MSB

Bit
12

1
so

0
rtso
LSB

Name

Value

Drive follows the command value

0
1

Description
Target velocity command invalid
Target velocity command valid

8.8.4. Target velocity (60FFh)
This sets the target velocity. The unit is a user-specified unit/s.
8.8.5. Velocity offset (60B1h)
This sets an offset value to be added to the target velocity. The unit is a user-specified unit/s.

45
rev.1.0.0

8.8.6. Control in CSV mode
Basic control
When CSV mode is set in Modes of operation, and the transition to the Operation enable state is made, the driver
operates by following the velocity set in Target velocity (60FFh). The target velocity is updated with the PDO
communication cycle from a master side.
If the velocity set exceeds Max motor speed (6080h), the operating velocity will be limited by that value.

Velocity

Velocity Actual Value(606Ch)TargetVelocity(60FFh)+Velocity
Offset(60FFh)Time
Cycle time46
rev.1.0.0

Torque profile mode (TQ)
In torque profile mode, torque control is performed according to a preset torque profile for a specified torquevalue.
8.9.1. Related objects
Index
6040h
6041h
6071h
6087h
60B1h
60B2h
60C5h
60FFh

SubIndex
00h
00h
00h
00h
00h
00h
00h
00h

Name
Controlword
Statusword
Target torque
Torque slope
Velocity offset
Torque offset
Max acceleration
Target velocity

Units
0.1%
0.1%/sUser/s0.1%
User/s2
User/s

Data
Type
U16
U16
I16
U32
I32
I16
U32
I32

Range

AccessPDO

0 - 65535
0 - 65535-32768 - 32767
0 - 4294967295-2147483648 - 2147483647-32768 - 32767
0 - 4294967295-2147483648 - 2147483647

rw
ro
rw
rw
rw
rw
rw
rw

RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO

8.9.2. Target torque (6071h)
This sets the target value for the torque. The unit is in 0.1%.
8.9.3. Torque offset (60B2h)
This offsets the target value with respect to Target torque (6071h). The Target torque value is the sum of Target
torque and this setting. The unit is in 0.1%.
8.9.4. Torque slope (6087h)
This sets the rate of change when making the torque transition to the target value. The unit is in 0.1%/s.
8.9.5. Control in TQ mode
Basic control
In TQ mode, torque tracking is performed at the torque change rate specified by Torque slope (6087h), with thetarget value set as the sum of the Target torque (6071h) and Torque offset (60B2h).
If the sum of the Target torque and the Torque offset exceeds ± 100.0%, the control torque is limited to ± 100.0%.

TorqueTorque slope(6087h)TargetTorque(6071h)+TorqueOffset(60B2h)Time

Although the load is lighter in respect to the set torque the acceleration will be set in respect to the difference inthe load and the set torque so that the driver can not stop it at the set torque. However the upper speed is limited
at the value lower of either 500 rpm or Max motor speed (6080h).
47
rev.1.0.0

Cyclic synchronous torque mode (CST)
Cyclic synchronous torque mode (CST) is a control mode that periodically follows specified torques.
8.10.1. Related objects
Index
6071h
6072h
60B2h

SubIndex
00h
00h
00h

Name
Target torqueMax torque
Torque offset

Units
0.1%
0.1%
0.1%

Data
Type
I16
U16
I16

Range

AccessPDO-32768 - 32767
0 - 65535-32768 - 32767

rw
rw
rw

RxPDO
RxPDO
RxPDO

8.10.2. Control in CST mode
Basic control
When the CST mode is set in Modes of operation, and the transition made to the Operation enable state, thisunit operates by following a torque target value set as the sum of Target torque (6071h) and Torque offset (60B2h).
The target velocity is updated with the PDO communication cycle from a master side.

TorqueTorque Actual Value(6077h)TargetTorque(6071h)+TorqueOffset(60B2h)Time
Cycle time

Although the load is lighter in respect to the set torque, the acceleration will be set in respect to the differencein the load and the set torque so that the driver can not stop it at the set torque. However, the upper speed islimited at the value lower of either 500 rpm or Max motor speed (6080h).

48
rev.1.0.0

9. Synchronization mode
The driver supports SM2 synchronization and DC synchronization.
The synchronization period can be specified from a minimum at 1 ms by 1 ms. Specifying a long period willcause a corresponding delay before actual operation, so it is recommended to use the shortest period within therange the system can handle.

SM2 synchronization
SM2 synchronization operates equipment with periodic communication acting as triggers from a master. Timeaccuracy is on the order of microseconds. In applications where multi-axis synchronization is required, it isrecommended that the DC synchronization mode described below is used.

DC synchronization
The driver supports DC synchronization mode. Synchronization time accuracy is on the order of nanoseconds.
Use of DC synchronous mode is recommended especially in the various cyclic modes.

49
rev.1.0.0

10. Other features
Input / output ports
10.1.1. Related objects
Index
60FDh
60FEh

SubIndex
00h
01h
02h

Name

Units

Digital inputs
Digital outputs
Physical Output
Bit mask

-

Data
Type
U32
U32
U32

Range

Access

PDO

00000000h - 007F000Fh
00000000h - 00FF0001h
00000000h - FFFFFFFFh

ro
rw
rw

TxPDO
RxPDO
RxPDO

10.1.2. Digital inputs (60FDh)
Digital inputs indicates the state of the input ports of the input / output interface.
31-23
reserved

22
IN7

…

16
IN1

15 - 4

3
interlock2
home sw

1
positive limit sw

0
negative limit sw

MSB

LSB

negative limit sw: indicates the status of the LM- sensor input. This returns 1 when a detection state.
positive limit sw: indicates the status of the LM+ sensor input. This returns 1 when a detection state.
home sw: indicates the status of the ORG sensor input. This returns 1 when a detection state.
interlock: returns 1 when the TO input is open.
IN1 to IN7: corresponding general-purpose input ports return 0 when open, and 1 when grounded.
10.1.3. Digital outputs (60FEh)
Digital outputs controls the output ports of the input / output interface.
Physical Output (Sub-index 01h)
This sets the state of the corresponding output ports.
31-24
reserved

22
OUT7

…

16
OUT1

15 - 1reserved

MSB

0
set brake
LSB

set brake: controls a brake output. A brake is enabled (output open) at 1, and released (energized) at 0. The initialvalue is 1: brake enabled.
OUT1 to OUT7: controls the corresponding general purpose output ports. The output is open at 0, andestablished at 1 (open collector output).
Bit mask (Sub-index 02h)This masks the Physical Output settings. When the Bit mask is 0, the current state is maintained regardless ofthe value of Digital outputs.
With the initial value of 00FF0000h, the brake control is masked. In a system that requires brake release, only
release the mask for brake control after taking precautions to check that the setting value for Physical Output at
the time of release is appropriate.

50
rev.1.0.0

Touch probe function
This mode uses the various the Digital input ports and sensor inputs as triggers to capture the current position.
Rising and falling edges of signals selected for Touch probe 1 and Touch probe 2 can variously be selected as
triggers. However, when the software encoder zero (a softwer defined position of a Z-phase pulse) is selected
as an input signal, latching is performed only at rising edges.
10.2.1. Input signal specifications
Use an input signal pulse width of 2.5 ms or more for each input.
As each input terminal implements negative logic, a rising edge means 24 V  0 V and a falling edge means 0
V  24 V.

≥ 2.5 ms
≥ 2.5 ms

10.2.2. Related objects
Index
60B8h
60B9h
60BAh
60BBh
60BCh
60BDh
60D0h

SubIndex
00h
00h
00h
00h
00h
00h

60D1h

01h
02h
00h

60D2h

00h

60D3h

00h

60D4h

00h

60D5h
60D6h
60D7h
60D8h

00h
00h
00h
00h

Name

Units

Touch probe function
Touch probe status
Touch probe position 1 positive value
Touch probe position 1 negative value
Touch probe position 2 positive value
Touch probe position 2 negative value
Touch probe source
Touch probe 1 source
Touch probe 2 source
Touch probe time stamp 1 positive value
Touch probe time stamp 1 negative
value
Touch probe time stamp 2 positive value
Touch probe time stamp 2 negative
value
Touch probe 1 positive edge counterTouch probe 1 negative edge counterTouch probe 2 positive edge counterTouch probe 2 negative edge counter

User
User
User
User
ns

Data
Type
U16
U16
I32
I32
I32
I32
I16
I16
U32

Range

AccessPDO

0 - 65535
0 - 65535-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 - 2147483647-32768 - 32767-32768 - 32767
0 - 4294967295

rw
ro
ro
ro
ro
ro
rw
rw
ro

RxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO
TxPDO

ns

U32

0 - 4294967295

ro

TxPDO

ns

U32

0 - 4294967295

ro

TxPDO

ns

U32

0 - 4294967295

ro

TxPDO

-

U16
U16
U16
U16

0 - 65535
0 - 65535
0 - 65535
0 - 65535

ro
ro
ro
ro

TxPDO
TxPDO
TxPDO
TxPDO

51
rev.1.0.0

10.2.3. Touch probe function (60B8h)
This performs touch probe function settings.
Bit
0
1

3, 2

4
5
6, 7
8
9

11, 1012
13
14, 15

Value
0
1
0
1
00
01
10
11
0
1
0
1
0
1
0
1
00
01
10
11
0
1
0
1
-

Definition
Switch off touch probe 1
Enable touch probe 1
Trigger first event
Continuous
Trigger with touch probe 1 input,
Trigger with zero impulse signal or position encoder,
Touch probe source defined by object 60D0h.1
Reserved
Switch off sampling at positive edge of touch probe 1
Enable sampling at positive edge of touch probe 1
Switch off sampling at negative edge of touch probe 1
Enable sampling at negative edge of touch probe 1
Not used
Switch off touch probe 2
Enable touch probe 2
Trigger first event
Continuous
Trigger with touch probe 2 input,
Trigger with zero impulse signal or position encoder,
Touch probe source defined by object 60D0h.2
Reserved
Switch off sampling at positive edge of touch probe 2
Enable sampling at positive edge of touch probe 2
Switch off sampling at negative edge of touch probe 2
Enable sampling at negative edge of touch probe 2
Not used

10.2.4. Touch probe status (60B9h)
This returns touch probe function status.
Bit
0
1
2
3-5
6, 7
8
9
10
11 – 13
14, 15

Value
0
1
0
1
0
1
0
1
0
1
0
1
-

Definition
Touch probe 1 is switched off
Touch probe 1 is enabled
Touch probe 1 no positive edge value stored
Touch probe 1 positive edge position stored
Touch probe 1 no negative edge value stored
Touch probe 1 negative edge position stored
Reserved
Not used
Touch probe 1 is switched off
Touch probe 1 is enabled
Touch probe 1 no positive edge value stored
Touch probe 1 positive edge position stored
Touch probe 1 no negative edge value stored
Touch probe 1 negative edge position stored
Reserved
Not used

10.2.5. Touch probe position 1 positive value (60BAh)
This retains the latched value at a rising edge in the Touch probe input 1. The unit is user-specified.
10.2.6. Touch probe position 1 negative value (60BBh)
This retains the latched value at a falling edge in the Touch probe input 1. The unit is user-specified.
10.2.7. Touch probe position 2 positive value (60BCh)
This retains the latched value at a rising edge in the Touch probe input 2. The unit is user-specified.
52
rev.1.0.0

10.2.8. Touch probe position 2 negative value (60BDh)
This retains the latched value at a falling edge in the Touch probe input 2. The unit is user-specified.
10.2.9. Touch probe source (60D0h)
SubNameindex
01 Touch probe 1 source
02 Touch probe 2 source

Unit

Range

-

-32768 - 32767-32768 - 32767

Description
Selecting touch probe 1 signal source
Selecting touch probe 2 signal source

When 10b is selected with bits 3 and 2 of Touch probe function (60B8h) and when 10b is selected with bits 11
and 10 of Touch probe function (60B8h), the signal selected with this setting is used as each touch probe inputs.
The table below provides details of the setting values.
Value

Definition-32768 - -8
-7
-6
-5
-4
-3
-2
-1
0
1
2
3
4
5
6
7 - 32767

Manufacturer-specific (Not used)
IN7
IN6
IN5
Interlock
ORG
LM+
LMReserved
IN1
IN2
IN3
IN4
Hardware Zero impulse signal of position encoder (Not supported)
Software Zero impulse signal of position encoder
Reserved

10.2.10. Touch probe time stamp 1 positive value (60D1h)
This indicates the time of latching for a rising edge at the touch probe 1 input. The unit is in ns.
10.2.11. Touch probe time stamp 1 negative value (60D2h)
This indicates the time of latching for a falling edge at the touch probe 1 input. The unit is in ns.
10.2.12. Touch probe time stamp 2 positive value (60D3h)
This indicates the time of latching for a rising edge at the touch probe 2 input. The unit is in ns.
10.2.13. Touch probe time stamp 2 negative value (60D4h)
This indicates the time of latching for a falling edge at the touch probe 2 input. The unit is in ns.
10.2.14. Touch probe 1 positive edge counter (60D5h)
This counts the number of times that a rising latch occurs for the touch probe 1 input when Continuous is selectedusing bit 1 of Touch probe function (60B8h). If the count value exceeds 65,535, it will return to 0.
10.2.15. Touch probe 1 negative edge counter (60D6h)
This counts the number of times that a falling latch occurs for the touch probe 1 input when Continuous isselected using bit 1 of Touch probe function (60B8h). If the count value exceeds 65,535, it will return to 0.
53
rev.1.0.0

10.2.16. Touch probe 2 positive edge counter (60D7h)
This counts the number of times that a rising latch occurs for the touch probe 2 input when Continuous is selectedusing bit 1 of Touch probe function (60B8h). If the count value exceeds 65,535, it will return to 0.
10.2.17. Touch probe 2 negative edge counter (60D8h)
This counts the number of times that a falling latch occurs for the touch probe 2 input when Continuous isselected using bit 1 of Touch probe function (60B8h). If the count value exceeds 65,535, it will return to 0.

Push operation
In position and speed type modes, push operation can be performed by limiting the torque value.
10.3.1. Related objects
Index
60E0h
60E1h

SubIndex
00h
00h

Name
Positive torque limit value
Negative torque limit value

Units
0.1%
0.1%

Data
Type
U16
U16

Range

AccessPDO

0 - 65535
0 - 65535

rw
rw

RxPDO
RxPDO

10.3.2. Positive torque limit value (60E0h), Negative torque limit value (60E1h)
These set the torque value limits for the CW and CCW directions respectively. The unit is in 0.1%.
When the value of either setting is 100.0% or less, push operation is enabled. If one side is 100.0% or less, theother side is treated as 100.0% even if it exceeds 100.0%.
If push operation is not to be performed, set both values together to more than 100.0% (initial value 65535).
If both values exceed 100.0%, there is no operational difference arising from values set.

54
rev.1.0.0

11. Manufacturer specific area
In the Manufacturer specific area for the driver, various settings related to motor control can be applied.

Object list
Index
2100h
2101h
2102h
2103h
2104h
2105h
2106h
2108h
210Dh
210Eh
210Fh
2110h
2111h
2112h
2113h
2117h
2118h
2119h
211Ah
211Ch
211Dh
2120h
2121h
2122h
2142h
2143h
2144h
2151h
2154h
2158h
2159h
215Ah
215Bh
215Ch
215Dh
215Eh
215Fh
2162h
2163h
2187h
218Ah
2224h
2225h

SubIndex
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h

Name
PKp
PKv
PTv
PKd
PDv
PKvp
Ff
FullCountValue
OpenModeSwitch
CloseToOpenSpeed
AutoCrntDwnEnable
AutoCrntDwnRate
AutoCrntDwnTime
OpenModeCrntRate
CloseToOpenTime
HoldAccuratePos
CorrectSpeed
PosTolerance
CorrectHightSpeed
CrntBoostRate
NumOfCorrectPos
VKv
VTv
VKvp
TrqLmtTime
TrqUpEnable
TrqUpTime
FullTrqTime
ProContSwitch
SelMon1
SelMon2
SelLedDrvLogicLmtP
DrvLogicLmtM
DrvLogicLmtCond
SelRegBrake
SelHighSpeed
DrvLogicOrg
LpfSpeed
TrqLimitPress
MoveSttSet
Proportion gain dip switch
Integral gain dip switch

Units
%
pulse
rpm
0.1%
ms
0.1%
ms
pps
pulse
pps
%
ms
ms
ms
pulse
-

Data
Type
U16
U16
U16
U16
U16
U16
U16
U32
U16
U16
BOOL
U16
U16
U16
U16
BOOL
U16
U16
U32
U16
U16
U16
U16
U16
U16
BOOL
U16
U16
U16
U16
U16
U16
U16
U16
U16
U16
U16
U16
U16
U32
U16
U16
U16

Range

AccessPDO

0 - 65535
0 - 65535
0 - 65535
0 - 65535
0 - 200 - 65535
0 - 100
1 - 2147483647
0-2
0 - 30000-1
0 - 1000
50 - 5000
0 - 1000
10 - 5000
0-1
10 - 500
0 - 100
10 - 300000
100 - 150
1 - 10000
0 - 65535
0 - 65535
0 - 65535
0 - 10000
0-1
0 - 10000
1 - 10000
0-1
0-2
0-2
0-1
0-1
0-1
0-2
0-1
0-1
0-1
0-3
0 - 4294967295
0-1
0 - 150 - 15

rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
ro
ro

No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No

11.1.1. Position control system parameters
Position loop gain / PKp (2100h)
The higher the gain, the better the trackability, and the higher the positioning speed. It causes overshooting or
hunching if it is set too high.
Base proportional gain / PKv (2101h)
This is the base proportional gain when the rotary switch is “0”. Increase the gain according to the degree ofload inertia. Be sure to set a value equal to the factory setting or higher.
55
rev.1.0.0

Base integration time constant / PTv (2102h)This is the base integration time constant when the rotary switch is “0”. Increase the load stiffness if it is low.
Also, when the inertia is large, there is an effect of suppressing hunting, but the positioning settling time will
become longer.
Velocity feedback gain / PKd (2103h)
A high setting increases the damping effect and shortens the positioning settling time, but an excessively highsetting may result in vibration.
Differential compensation gain / PDv (2104h)
It is recommended that this parameter is not changed. Higher levels may cause vibration.
Proportional gain / PKvp (2105h)A higher value reduces positional deviation upon stopping, but the motor may vibrate.
Feed-forward / Ff (2106h)
Although increasing this setting can reduce positional deviation during rotation, hunting may occur with rapid
acceleration and deceleration. Positional deviation during operation becomes zero at 100%.
Positioning operating mode / OpenModeSwitch (210Dh)
This sets the operating mode when in the Positioning mode.
0: Always closed loop
1: Open loop at or below set velocity
2: Always open loop
Positioning operating mode switching speed (210Eh)
Sets the switching speed between closed loop and open loop when the setting for the Positioning operating modeis 1. The unit is in motor speed (rpm).
Automatic current-down setting (210Fh)
This sets whether to perform current-down automatically at open loop transition.
0: disabled
1: enabled
Automatic current-down current value (2110h)This sets the electric current value during automatic current-down operation. The setting is in the unit of 0.1%,
and the electric current value set is that for performing current-down over the range of 0 to 100% for the electric
current value under normal circumstances.

56
rev.1.0.0

Automatic current-down transition time (2111h)
This is the time elapsed from transitioning to open mode until current-down is performed. The unit is in
millisecond (ms).
Electric Current when in open mode (2112h)This sets the electric current value during open mode drive. The unit is in 0.1% and the value is set over therange of 0 to 100%.
Open mode transition time on motor stop (2113h)
When the setting for positioning operating mode (210Dh) is 1, and the positioning operating mode switching
speed (210Eh) is set to 0, this sets the time from when the motor stops until switching to open loop. The unit isat milliseconds (ms) and it can be set in the range of 10 to 5000 ms.
Position correction when in open control (2117h)
This sets whether to perform position correction when in open loop control.
0: Position correction not performed
1: Position correction performed
Position correction velocity (2118h)
This sets the velocity when performing position correction. The unit is in pps and it can be set in the range of 10
to 500 pps.
Position correction allowance when in open loop control (2119h)This sets the tolerance for position correction at open loop. Position correction operation is performed if thissetting is exceeded. The unit is in pulse and it is set in the range of 0 to 100 pulses.
Position correction speed when in full-time open mode (211Ah)
This sets the position correction speed when the motor angle deviates by 1.8 ° or more in full-time open mode.
The unit is in pps and it is set in the range of 10 to 300000 pps.
Acceleration / deceleration electric current increase ratio when in full-time open mode (211Ch)
This sets the ratio for increasing the current when accelerating / decelerating in full-time open mode. The unit
is in % and it is set in the range of 100 to 150%.
Position correction limit count (211Dh)
This sets the limit count for position correction operation. If the limit count is exceeded, a position correction
error alarm will occur. It is set in the range of 1 to 10000 counts.

57
rev.1.0.0

11.1.2. Velocity control system parameters
Base proportional gain (2120h)
This is the base proportional gain when the rotary switch is “0”. Increase the gain according to the degree ofload inertia. Be sure to set a value equal to the factory setting or higher.
Base integration time constant (2121h)This is the base integration time constant when the rotary switch is “0”. Increase the load stiffness if it is low.
This also has the effect of suppressing hunting even when the inertia is large.
Proportional gain (2122h)
When raised the motor may vibrate.
Torque limit detection time (2142h)This sets the torque limit detection time. The unit is in millisecond (ms) and it can be set in the range of 0 to
10000 ms.
Torque-up setting (2143h)This sets whether to enable the torque-up function.
0: Torque-up disabled
1: Torque-up enabled
Torque-up time (2144h)
This sets the torque-up time. The unit is in millisecond (ms) and it can be set in the range of 0 to 10000 ms.
Torque loop error detection time (2151h)
This sets the loop error detection time for the torque value. The unit is in millisecond (ms) and it is set in therange of 500 to 10000 ms.
Monitor output terminal 1 setting (2156h)
This selects the signal to be output to monitor output terminal 1.
0: Command speed
1: Motor speed
2: Command torque
Monitor output terminal 2 setting (2157h)
This selects the signal to be output to monitor output terminal 2.
0: Motor speed
1: Motor torque2: Position deviation
3: In-position58
rev.1.0.0

LED (INP) display selection (215Ah)
This selects the in-position LED display content.
When in position control
0: In-position
1: Push limit
When in velocity control
0: Velocity reached
1: No display
Torque control
0, 1: Torque matched
Positive direction limit switch logic setting (215Bh)
This sets the active level of the positive direction limit switch signal.
0: Active H
1: Active L
Negative direction limit switch logic setting (215Ch)
This sets the active level of the negative direction limit switch signal.
0: Active H
1: Active L
Limit input signal stop condition setting (215Dh)
This sets the limit stop function for the positive and negative limit switches.
0: Limit switch stop function disabled
1: Deceleration stop after detecting limit switch
2: Sudden stop after detecting limit switch
Regenerative brake setting (215Eh)
This sets the regenerative braking operation when the servo is off.
0: Brake off
1: Brake on
Low heat generation / high speed mode selection (215Fh)
This switches between the low heat generation mode and high speed mode.
0: Low heat generation mode
1: High speed mode59
rev.1.0.0

Home switch logic setting (2162h)This sets the active level for a home switch signal.
0: Active H
1: Active L
Velocity feedback signal LPF setting (2163h)
This sets the Velocity feedback signal low pass filter setting. Filter OFF for 0, range is 0 to 3.

60
rev.1.0.0

12. Alarms / errors
Error
Code

Description

5530h EEPROM errors
7500h

Internal
communication error

8312h Initialization error
ff01h

Loop error

Cause

Countermeasures

Error has occurred in EEPROM data

Repair measures necessary

An error has occurred with
communication within the device

Repair measures necessary

Load exceeds motor maximum rating

Reduce the load

Overload

Reduce the load
Set the maximum frequency of thecommand pulse at or below the maximum
motor rotation frequency
Reduce the load to the continuous rated
torque or below
Set the maximum frequency of thecommand pulse at or below the maximum
motor rotation frequency
Reduce the acceleration and deceleration
Set the command pulse to the maximum
rotation speed of the motor or below.
Re-adjust proportional gain

During position control, the motor speed
does not track the command pulse
Overload

ff02h

Full countDuring position control, the motor speed
does not track the command pulse

ff03hOverspeedMotor speed error

ff04h

Gain adjustment fault

ff05h

Overvoltage

ff08h

Position correction
error

Position correction not complete

If settling takes time due to the loadconditions, increase the number of position
corrections

ff80h

ESM error

Transited any other ESM state from OP
state while in operation enabled.

Keep OP state while in operation enabled.

Motor vibrates abnormally due toimproper adjustment
This also occurs when a command is
input without acceleration or deceleration
The voltage of the internal power supply
increased abnormally due toregeneration

Perform command pulse acceleration /deceleration
Add a regenerative unit (option)61
rev.1.0.0

13. Object dictionary list
Object dictionary structure
Index
0000h to 0FFFh
1000h to 1FFFh
2000h to 23FFh
2400h to 5FFFh
6000h to 6FFFh
6800h to 9FFFh

ObjectData Type Area
CoE Communication Area
Manufacturer Specific Area

Description
CoE Communication Area
Various motor parameters (axis 0)
Not used
Drive profile (axis 0)
Not used

Profile Area (Axis 0)
Profile Area (Axis 1 to 7)

Object list
13.2.1. CoE communication area
SubNameIndex
1000h 00h Device type1001h 00h Error register1008h 00h Manufacturer device name1009h 00h Manufacturer hardware version
100A 00h Manufacturer software version
Identity object
01h Vendor ID
1018h 02h Product code
03h Revision number
04h Serial number- Receive PDO mapping
00h Number of entries
01h 1st output object to be mapped
02h 2nd output object to be mapped
03h 3rd output object to be mapped
04h 4th output object to be mapped
1600h
05h 5th output object to be mapped
06h 6th output object to be mapped
07h 7th output object to be mapped
08h 8th output object to be mapped
09h 9th output object to be mapped
0Ah 10th output object to be mapped- Receive PDO mapping
00h Number of entries
01h 1st output object to be mapped
02h 2nd output object to be mapped
03h 3rd output object to be mapped
04h 4th output object to be mapped
1601h05h 5th output object to be mapped
06h 6th output object to be mapped
07h 7th output object to be mapped
08h 8th output object to be mapped
09h 9th output object to be mapped
0Ah 10th output object to be mapped- Receive PDO mapping
00h Number of entries
01h 1st output object to be mapped
02h 2nd output object to be mapped
03h 3rd output object to be mapped
04h 4th output object to be mapped1602h
05h 5th output object to be mapped
06h 6th output object to be mapped
07h 7th output object to be mapped
08h 8th output object to be mapped
09h 9th output object to be mapped
0Ah 10th output object to be mapped- Receive PDO mapping
00h Number of entries
1603h
01h 1st output object to be mapped
02h 2nd output object to be mapped
Index

Units
-

Data
InitialType
value
U16 00040192h
U8
0
STR DS1000A-EC
STR
V1.00
STR Vn.nn/m.mm
U32 00000973h
U32 00004A39h
U3200000001
U32
00000000
U85
U32 60400010h
U32 60600008h
U32 607A0020h
U32 60810020h
U32 60FE0120h
U32 00000000h
U32 00000000h
U32 00000000h
U32 00000000h
U32 00000000h
U8
4
U32 60400010h
U32 60600008h
U32 60FF0020h
U32 60FE0120h
U32 00000000h
U32 00000000h
U32 00000000h
U32 00000000h
U32 00000000h
U32 00000000h
U8
5
U32 60400010h
U32 60600008h
U32 60FF0020h
U32 60710010h
U32 60FE0120h
U32 00000000h
U32 00000000h
U32 00000000h
U32 00000000h
U32 00000000h
U86
U32 60400010h
U32 60600008h

Range
0 - FFh-0 - 1000000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
0 - 1000000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
0 - 1000000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
0 - 1000000000 - FFFFFFFFh
00000000 - FFFFFFFFh

Access PDO
ro
ro
ro
ro
ro
ro
ro
ro
ro
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw

No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No

62
rev.1.0.0

SubName
Index
03h 3rd output object to be mapped
04h 4th output object to be mapped
05h 5th output object to be mapped
06h 6th output object to be mapped
07h 7th output object to be mapped
08h 8th output object to be mapped
09h 9th output object to be mapped
0Ah 10th output object to be mapped- Transmit PDO mapping
00h Number of entries
01h 1st input object to be mapped
02h 2nd input object to be mapped
03h 3rd input object to be mapped
04h 4th input object to be mapped
1A00h
05h 5th input object to be mapped
06h 6th input object to be mapped
07h 7th input object to be mapped
08h 8th input object to be mapped
09h 9th input object to be mapped
0Ah 10th input object to be mapped- Transmit PDO mapping
00h Number of entries
01h 1st input object to be mapped
02h 2nd input object to be mapped
03h 3rd input object to be mapped
04h 4th input object to be mapped
1A01h
05h 5th input object to be mapped
06h 6th input object to be mapped
07h 7th input object to be mapped
08h 8th input object to be mapped
09h 9th input object to be mapped
0Ah 10th input object to be mapped- Transmit PDO mapping
00h Number of entries
01h 1st input object to be mapped
02h 2nd input object to be mapped
03h 3rd input object to be mapped
04h 4th input object to be mapped
1A02h
05h 5th input object to be mapped
06h 6th input object to be mapped
07h 7th input object to be mapped
08h 8th input object to be mapped
09h 9th input object to be mapped
0Ah 10th input object to be mapped- Transmit PDO mapping
00h Number of entries
01h 1st input object to be mapped
02h 2nd input object to be mapped
03h 3rd input object to be mapped
04h 4th input object to be mapped
1A03h
05h 5th input object to be mapped
06h 6th input object to be mapped
07h 7th input object to be mapped
08h 8th input object to be mapped
09h 9th input object to be mapped
0Ah 10th input object to be mapped- Sync manager 2 PDO assignment
00h Number of assigned PDOs
1C12h
PDO mapping object Index assigned
01h
RxPDO
- Sync manager 3 PDO assignment
00h Number of assigned PDOs
1C13h
PDO mapping object index assigned
01h
TxPDO
Sync manager 2 synchronization
01h Synchronization type1C32h 02h Cycle time
03h Shift time
04h Synchronization types supported
Index

-

Data
Type
U32
U32
U32
U32
U32
U32
U32
U32
U8
U32
U32
U32
U32
U32
U32
U32
U32
U32
U32
U8
U32
U32
U32
U32
U32
U32
U32
U32
U32
U32
U8
U32
U32
U32
U32
U32
U32
U32
U32
U32
U32
U8
U32
U32
U32
U32
U32
U32
U32
U32
U32
U32
U8

-

U16

-

-

-

U16

ns
ns
-

U16
U32
U32
U16

Units

Initialvalue
607A0020h
60FF0020h
60710010h
60FE0120h
00000000h
00000000h
00000000h
00000000h
6603F0010h
60410010h
60610008h
60640020h
606C0020h
60FD0020h
00000000h
00000000h
00000000h
00000000h
5603F0010h
60410010h
60610008h
606C0020h
60FD0020h
00000000h
00000000h
00000000h
00000000h
00000000h
6603F0010h
60410010h
60610008h
60640020h
60770010h
60FD0020h
00000000h
00000000h
00000000h
00000000h
7603F0010h
60410010h
60610008h
60640020h
606C0020h
60770010h
60FD0020h
00000000h
00000000h
00000000h
1
1600h
1A00h
0
0
0
0

Range

Access PDO

00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
0 - 1000000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
0 - 1000000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
0 - 1000000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
0 - 1000000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
00000000 - FFFFFFFFh
0-1

rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw

No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No

1600h - 1603h

rw

No

-

-

-

1A00h - 1A03h

rw

No

0 - 65535
0 - 4294967295
0 - 4294967295
0 - 65535

rw
ro
ro
ro

No
No
No
No

63
rev.1.0.0

SubName
Index
05h Minimum cycle time
06h Calc and copy time
07h Minimum delay time
08h Get cycle time
09h Delay time
0Ah Sync0 cycle time
0Bh SM-event missed
0Ch Cycle time too small
0Dh Shift time too short
0Eh
Reserved-1Fh
20h Sync Error
Sync manager 2 synchronization
01h Synchronization type02h Cycle time
03h Shift time
04h Synchronization Types supported
05h Minimum cycle Time
06h Calc and copy Time
07h Minimum delay Time
1C33h 08h Get cycle Time09h Delay time
0Ah Sync0 cycle time
0Bh SM-event missed
0Ch Cycle time too small
0Dh Shift time too short
0Eh
Reserved-1Fh
20h Sync error
2100h 00h PKp
2101h 00h PKv
2102h 00h PTv
2103h 00h PKd
2104h 00h PDv
2105h 00h PKvp
2106h 00h Ff
2108h 00h FullCountValue
210Dh 00h OpenModeSwitch
210Eh 00h CloseToOpenSpeed
210Fh 00h AutoCrntDwnEnable
2110h 00h AutoCrntDwnRate
2111h 00h AutoCrntDwnTime
2112h 00h OpenModeCrntRate
2113h 00h CloseToOpenTime
2117h 00h HoldAccuratePos
2118h 00h CorrectSpeed2119h 00h PosTolerance
211Ah 00h CorrectHighSpeed
211Ch 00h CrntBoostRate
211Dh 00h NumOfCorrectPos
2120h 00h VKv
2121h 00h VTv
2122h 00h VKvp
2142h 00h TrqLmtTime
2143h 00h TrqUpEnable
2144h 00h TrqUpTime
2151h 00h FullTrqTime
2154h 00h ProContSwitch
2158h 00h SelMon12159h 00h SelMon2
215Ah 00h SelLed
215Bh 00h DrvLogicLmtP
215Ch 00h DrvLogicLmtM
215Dh 00h DrvLogicLmtCond
215Eh 00h SelRegBrake
215Fh 00h SelHighSpeed
2162h 00h DrvLogicOrg
2163h 00h LpfSpeed
2224h 00h Proportion gain dip switch
Index

ns
ns
ns
ns
ns
-

Data
Type
U32
U32
U32
U16
U32
U32
U16
U16
U16

Initialvalue
1000000
125000
0
0
0
0
0
0
0

0 - 4294967295
0 - 4294967295
0 - 4294967295
0-1
0 - 4294967295
0 - 4294967295
0 - 65535
0 - 65535
0 - 65535

ro
ro
ro
rw
ro
rw
ro
ro
ro

No
No
No
No
No
No
No
No
No

-

-

-

-

-

-

ns
ns
ns
ns
ns
ns
ns
-

BOOL
U16
U32
U32
U16
U32
U32
U32
U16
U32
U32
U16
U16
U16

0
0
0
0
1000000
125000
0
0
0
0
0
0
0

0 - 65535
0 - 65535
0 - 4294967295
0 - 4294967295
0 - 65535
0 - 4294967295
0 - 4294967295
0 - 4294967295
0-1
0 - 4294967295
0 - 4294967295
0 - 65535
0 - 65535
0 - 65535

ro
rw
ro
ro
ro
ro
ro
ro
rw
ro
rw
ro
ro
ro

No
No
No
No
No
No
No
No
No
No
No
No
No
No

-

-

-

-

-

-

%
pulse
rpm
0.1%
ms
0.1%
ms
pps
pulse
pps
%
ms
ms
ms
-

Bool
U16
U16
U16
U16
U16
U16
U16
I32
U8
U16
U8
U16
U16
U16
U16
U8
U16
U8
U32
U8
U16
U16
U16
U16
U16
U16
U16
U16
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U16

*
*
*
*
*
*
0
2147483647
0
0
0
500
50
100
100
1
75
0
10000
100
100
*
*
*
100
0
100
1000
0
0
0
0
1
1
2
0
1
1
0
-

0 - 65535
0 - 65535
0 - 65535
0 - 65535
0 - 65535
0 - 200 - 65535
0 - 100
1 - 2147483647
0-2
0 - 50000-2
0 - 1000
50 - 5000
0 - 1000
10 - 5000
0-1
10 - 500
0 - 100
10 - 300000
100 - 150
1 - 10000
0 - 65535
0 - 65535
0 - 65535
0 - 10000
0-1
0 - 10000
500 - 10000
0-1
0-2
0-2
0-1
0-1
0-1
0-2
0-1
0-1
0-1
0-3
0 - 15

ro
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
ro

No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No

Units

Range

Access PDO

64
rev.1.0.0

SubName
Index
2225h 00h Integral gain dip switch
603Fh 00h Error Code
6040h 00h Controlword
6041h 00h Statusword
605Ah 00h Quick stop option code
605Bh 00h Shutdown option code
605Ch 00h Disable operation option code
605Dh 00h Halt option code
605Eh 00h Fault reaction option code
6060h 00h Modes of operation
6061h 00h Modes of operation display
6062h 00h Position demand value
6063h 00h Position actual internal value
6064h 00h Position actual value
6065h 00h Following error window
6066h 00h Following error time out
6067h 00h Position window
6068h 00h Position window time
606Bh 00h Velocity demand value
606Ch 00h Velocity actual value
606Dh 00h Velocity window
606Eh 00h Velocity window time
606Fh 00h Velocity threshold
6070h 00h Velocity threshold time
6071h 00h Target torque6072h 00h Max torque6074h 00h Torque demand
6077h 00h Torque actual value
607Ah 00h Target position
Position range limit
607Bh 01h Min position range
02h Max position range
607Ch 00h Home offset
Software position limit
607Dh 01h Min position limit
02h Max position limit
607Eh 00h Polarity
607Fh 00h Max profile velocity
6080h 00h Max motor speed
6081h 00h Profile velocity6082h 00h End velocity6083h 00h Profile acceleration
6084h 00h Profile deceleration
6085h 00h Quick stop deceleration
6086h 00h Motion profile type6087h 00h Torque slope
6088h 00h Torque profile type
Position encoder resolution
608Fh 01h Encoder increments
02h Motor revolutions
Gear ration
6091h 01h Motor revolutions
02h Shaft revolutions
Feed constant6092h 01h Feed
02h Shaft revolutions
6098h 00h Homing method
Homing speed
6099h 01h Speed during search for switch
02h Speed during search for zero
609Ah 00h Homing acceleration
60B0h 00h Position offset
60B1h 00h Velocity offset
60B2h 00h Torque offset
60B8h 00h Touch probe function
60B9h 00h Touch probe status
60BAh 00h Touch probe position 1 positive value
60BBh 00h Touch probe position 1 negative value
60BCh 00h Touch probe position 2 positive value
Index

Units
User
pulse
User
User
ms
User
ms
User/sUser/sUser/sms
User/s
ms
0.1%
0.1%
0.1%
0.1%
User
User
User
User
User
User/srpm
User/sUser/sUser/s2
User/s2
User/s2
0.1%
pulse
rot
rot
rot
User/rot
rot
User/sUser/sUser/s2
User
User/s
0.1%
User
User
User

Data
Type
U16
U16
U16
U16
I16
I16
I16
I16
I16
I8
I8
I32
I32
I32
U32
U16
U32
U16
I32
I32
U16
U16
U16
U16
I16
U16
I16
I16
I32
I32
I32
I32
I32
I32
U8
U32
U32
U32
U32
U32
U32
U32
I16
U32
I16
U32
U32
U32
U32
U32
U32
I8
U32
U32
U32
I32
I32
I16
U16
U16
I32
I32
I32

Initial
value
0
0
0
2
0
0
1
0
0
0
0
0
0
1000
40
4
26
0
0
0
0
0
0
0
1000
0
0
0
0
0
0
0
0
0
50000
3000
2000
0
20000
20000
10000000
0
1000
0
*
1
1
1
1000
1
0
2000
200
20000
0
0
0
0
0
0
0
0

Range
0 - 15
0 - 65535
0 - 65535
0 - 65535-2 - 7
0-1
0-1
1-3
0-2
-128 - 127-128 - 127-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 - 2147483647
0 - 4294967295
0 - 65535
0 - 4294967295
0 - 65535-2147483648 - 2147483647-2147483648 - 2147483647
0 - 65535
0 - 65535
0 - 65535
0 - 65535-32768 - 32767
0 - 65535-32768 - 32767-32768 - 32767-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 - 2147483647
0 - 192
0 - 4294967295
0 - 4294967295
0 - 4294967295
0 - 4294967295
0 - 4294967295
0 - 4294967295
0 - 4294967295-32768 - 32767
0 - 4294967295-32768 - 32767
0 - 4294967295
0 - 4294967295
0 - 4294967295
0 - 4294967295
0 - 4294967295
0 - 4294967295-128 - 127
0 - 4294967295
0 - 4294967295
0 - 4294967295-2147483648 - 2147483647-2147483648 - 2147483647-32768 - 32767
0 - 65535
0 - 65535-2147483648 - 2147483647-2147483648 - 2147483647-2147483648 - 2147483647

Access PDO
ro
ro
rw
ro
rw
rw
rw
rw
rw
rw
ro
ro
ro
ro
rw
rw
rw
rw
ro
ro
rw
rw
rw
rw
rw
rw
ro
ro
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
ro
ro
ro
ro

No
TxPDO
RxPDO
TxPDO
No
No
No
No
No
RxPDO
TxPDO
TxPDO
TxPDO
TxPDO
RxPDO
RxPDO
RxPDO
RxPDO
TxPDO
TxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
TxPDO
TxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
No
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
No
No
No
No
No
No
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
RxPDO
TxPDO
TxPDO
TxPDO
TxPDO

65
rev.1.0.0

SubName
Units
Index
60BCh 00h Touch probe position 2 negative value
User
60C0h 00h Interpolation sub mode selectInterpolation data record
60C1h
01h Interpolation target position
User
Interpolation time period
60C2h 01h Interpolation time period valuems
02h Interpolation time index
Interpolation data configuration
01h Maximum buffer size
02h Actual buffer size
60C4h 03h Buffer organization
04h Buffer position
05h Size of data record
06h Buffer clear
60C5h 00h Max acceleration
User/s2
60C6h 00h Max deceleration
User/s2
Touch probe source
60D0h 01h Touch probe 1 source
02h Touch probe 2 source
60D1h 00h Touch probe time stamp 1 positive valuens
60D2h 00h Touch probe time stamp 1 negative valuens
60D3h 00h Touch probe time stamp 2 positive valuens
60D4h 00h Touch probe time stamp 2 negative valuens
60D5h 00h Touch probe 1 positive edge counter
60D6h 00h Touch probe 1 negative edge counter
60D7h 00h Touch probe 2 positive edge counter
60D8h 00h Touch probe 2 negative edge counter
60E0h 00h Positive torque limit value
60E1h 00h Negative torque limit value
Supported homing methods
01h Supported homing method 1
02h Supported homing method 2
03h Supported homing method 3
04h Supported homing method 4
05h Supported homing method 5
06h Supported homing method 6
07h Supported homing method 7
08h Supported homing method 8
09h Supported homing method 9
0Ah Supported homing method 10
0Bh Supported homing method 11
0Ch Supported homing method 12
0Dh Supported homing method 13
0Eh Supported homing method 14
0Fh Supported homing method 15
10h Supported homing method 16
11h Supported homing method 17
60E3h 12h Supported homing method 18
13h Supported homing method 19
14h Supported homing method 20
15h Supported homing method 21
16h Supported homing method 22
17h Supported homing method 23
18h Supported homing method 24
19h Supported homing method 25
1Ah Supported homing method 26
1Bh Supported homing method 27
1Ch Supported homing method 28
1Dh Supported homing method 29
1Eh Supported homing method 30
1Fh Supported homing method 31
20h Supported homing method 32
21h Supported homing method 33
22h Supported homing method 34
23h Supported homing method 35
24h Supported homing method 36
60F2h 00h Position option code
60F4h 00h Following error actual value
User
60FAh 00h Control effort
Index

Data
InitialRange
Access PDO
Type
value
I32
0
-2147483648 - 2147483647
ro TxPDO
I16
0-32768 - 32767
rw
No
I32
0
-2147483648 - 2147483647
rw RxPDO
U81
1 - 255
rw
No
I8
-3
-3
rw
No
U32
256
ro
No
U32
0
0 - 256
rw RxPDO
U80
0-1
rw RxPDO
U16
0
0 - 256
rw RxPDO
U8
4
4
rw RxPDO
U80
0-1
rw RxPDO
U32 4294967295
0 - 4294967295
rw RxPDO
U32 4294967295
0 - 4294967295
rw RxPDO
I16
1-32768 - 32767
rw
I16
2-32768 - 32767
rw
U32
0
0 - 4294967295
ro TxPDO
U32
0
0 - 4294967295
ro TxPDO
U32
0
0 - 4294967295
ro TxPDO
U32
0
0 - 4294967295
ro TxPDO
U16
0
0 - 65535
ro TxPDO
U16
0
0 - 65535
ro TxPDO
U16
0
0 - 65535
ro TxPDO
U16
0
0 - 65535
ro TxPDO
U1665535
0 - 65535
rw RxPDO
U1665535
0 - 65535
rw RxPDO
I8
1
ro
No
I8
2
ro
No
I8
3
ro
No
I8
4
ro
No
I8
5
ro
No
I8
6
ro
No
I8
7
ro
No
I8
8
ro
No
I8
9
ro
No
I8
10
ro
No
I8
11
ro
No
I8
12
ro
No
I8
13
ro
No
I8
14
ro
No
I8
17
ro
No
I8
18
ro
No
I8
19
ro
No
I8
20
ro
No
I8
21
ro
No
I8
22
ro
No
I8
23
ro
No
I8
24
ro
No
I8
25
ro
No
I8
26
ro
No
I8
27
ro
No
I8
28
ro
No
I8
29
ro
No
I8
30
ro
No
I8
33
ro
No
I8
34
ro
No
I8
35
ro
No
I8
37
ro
No
I8
-1
ro
No
I8
-2
ro
No
I8
-3
ro
No
I8
-4
ro
No
U16
0
0 - 65535
rw RxPDO
I32
0-2147483648 - 2147483647
ro TxPDO
I32
0-2147483648 - 2147483647
ro TxPDO

66
rev.1.0.0

SubName
Index
60FCh 00h Position demand internal value
60FDh 00h Digital inputs
Digital outputs
60FEh 01h Physical output
02h Bit mask
60FFh 00h Target velocity
6502h 00h Supported drive modes
Index

Units
User/s
-

Data
Type
I32
U32
U32
U32
I32
U32

InitialRange
Access PDOvalue
0-2147483648 - 2147483647
ro TxPDO
000000000h - 007F000Fhro TxPDO
000000000h - 00FF0001h
rw RxPDO
00FF0001h
00000000h - FFFFFFFFh
rw RxPDO
0-2147483648 - 2147483647
rw RxPDO
00003EDh
00000000h - FFFFFFFFh
ro TxPDO* Initial value depends on the motor type67
rev.1.0.0

13.2.2. Supported objects
The table below shows that the driver supports the object list defined with the ETG6020.
Index

Name

Category

Supported

1000h
1001h
1018h
6007h
603Fh
6040h
6041h
6042h
6043h
6044h
6046h
6048h
6049h
604Ah
604Bh
604Ch
605Ah
605Bh
605Ch
605Dh
605Eh
6060h
6061h
6062h
6063h
6064h
6065h
6066h
6067h
6068h
6069h
606Ah
606Bh
606Ch
606Dh
606Eh
606Fh
6070h
6071h
6072h
6073h
6074h
6075h

Device type
Error register
Identity object
Abort connection option code
Error code
Controlword
Statusword
vl target velocity
vl velocity demandvl velocity actual value
vl velocity min max amountvl velocity accelerationvl velocity decelerationvl velocity quick stop
vl set-point factor
vl dimension factor
Quick stop option code
Shutdown option code
Disable operation option code
Halt option code
Fault reaction option code
Modes of operation
Modes of operation display
Position demand value
Position actual internal value
Position actual value
Following error window
Following error time out
Position window
Position window time
Velocity sensor actual value
Sensor selection code
Velocity demand value
Velocity actual value
Velocity window
Velocity window time
Velocity threshold
Velocity threshold timeTarget TorqueMax torqueMax current
Torque demand
Motor rated current

M
M
M
O
O
M
M
C
C
C
C
C
O
O
O
O
O
O
O
O
O
M
M
O
O
C
C
C
O
O
O
O
O
O
O
O
O
O
C
C
O
O
O

Yes
Yes
Yes
No
Yes
Yes
Yes
No
No
No
No
No
No
No
No
No
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No
No
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No
Yes
No

6076h

Motor rated torque

O

No

6077h
6078h
6079h
607Ah
607Bh
607Ch
607Dh
607Eh
607Fh
6080h
6081h
6082h
6083h
6084h
6085h
6086h
6087h
6088h
608Fh
6090h
6091h

Torque actual value
Current actual value
DC link circuit voltage
Target position
Position range limit
Home offset
Software position limit
Polarity
Max profile velocity
Max motor speed
Profile velocity
End velocity
Profile acceleration
Profile deceleration
Quick stop deceleration
Motion profile type
Torque slope
Torque profile type
Position encoder resolution
Velocity encoder resolution
Gear ration

C
O
O
C
C
R
C
O
O
O
C
O
C
O
O
O
C
O
O
O
O

Yes
No
No
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No
Yes

Remarks

No independent main power

VL mode is not supported.
VL mode is not supported.
VL mode is not supported.
VL mode is not supported.
VL mode is not supported.
VL mode is not supported.
VL mode is not supported.
VL mode is not supported.
VL mode is not supported.

No velocity sensor
No velocity sensor

Not servo motor
Not servo motor
Absolute torque value control
is not supported.
Not servo motor
Not servo motor

No velocity encoder68
rev.1.0.0

Index
6092h
6098h
6099h
609Ah
60A3h
60A4h
60B0h
60B1h
60B2h
60B8h
60B9h
60BAh
60BBh
60BCh
60BDh
60C0h
60C1h
60C2h
60C4h
60C5h
60C6h
60D0h
60D1h
60D2h
60D3h
60D4h
60D5h
60D6h
60D7h
60D8h
60D9h
60DAh
60E0h
60E1h
60E3h
60E4h
60E5h
60E6h
60E7h
60E8h
60E9h
60EAh

Name

Category

Supported

Feed constantHoming method
Homing speed
Homing acceleration
Profile jerk use
Profile jerk
Position offset
Velocity offset
Torque offset
Touch probe function
Touch probe status
Touch probe position 1 positive value
Touch probe position 1 negative value
Touch probe position 2 positive value
Touch probe position 2 negative value
Interpolation sub mode selectInterpolation data record
Interpolation time period
Interpolation data configuration
Max acceleration
Max deceleration
Touch probe source
Touch probe time stamp 1 positive value
Touch probe time stamp 1 negative value
Touch probe time stamp 2 positive value
Touch probe time stamp 2 negative value
Touch probe 1 positive edge counterTouch probe 1 negative edge counterTouch probe 2 positive edge counterTouch probe 2 negative edge counter
Supported synchronization functions
Synchronization Function settings
Positive torque limit value
Negative torque limit value
Supported homing methods
Additional position actual value
Additional velocity actual value
Additional position encoder resolution - encoder
increments
Additional velocity encoder resolution - Encoder
increments per second
Additional gear ratio
Additional feed constant - Feed

O
C
O
O
O
O
O
O
O
C
C
C
C
O
O
O
O
O
O
O
O
C
O
O
O
O
O
O
O
O
O
O
C
C
C
O
O

Yes
Yes
Yes
Yes
No
No
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No
No

O

No

O

No

O
O

No
No

Commutation angle

C

No

O

No

60ECh
60EDh
60EEh

Additional position encoder resolution - motor
revolutions
Additional velocity encoder resolution
Additional gear ratio - Shaft revolutions
Additional feed constant - Shaft revolutions

O
O
O

No
No
No

60EFh

Motor resolution

O

No

60F2h
60F4h
60F8h
60FAh
60FCh
60FDh
60FEh
60FFh
6200h
…62FFh
6402h
6403h
6404h
6405h
6502h
6503h
6600h
…67EFhPosition option code
Following error actual value
Max slippage
Control effort
Position demand internal value
Digital inputs
Digital outputs
Target velocity
Profile 452
PLCopen motion control
Motor Type
Motor catalogue number
Motor manufacturer
http motor catalogue address
Supported drive modes
Drive catalogue number

O
C
O
O
O
O
O
C

Yes
Yes
No
No
Yes
Yes
Yes
Yes

O

No

O
O
O
O
M
O

No
No
No
No
Yes
No

Safety drive profile

O

No

60EBh

Remarks

Jerk control is not supported.
Jerk control is not supported.

No additional sensor
No additional sensor
No additional sensor
No additional sensor
No additional sensor
No additional sensor
CSTCA mode is notsupported.
No additional sensor
No additional sensor
No additional sensor
No additional sensor
Controlled by encoder
resolution.

Not induction motor

Unsupported profile
Designated motor used.
Designated motor used.
Designated motor used.
Designated motor used.
Designated motor used.
Not FSoE device

69
rev.1.0.0

Index67FFh

Name
Device profile number(for multiple device module)

Category

SupportedO

No

Remarks
Non multiple device

Category M: Essential
Category O: Option
Category R: Recommended
Category C: Required according to supported features70
rev.1.0.0

14. Torque-off function
Overview
This machine is equipped with a torque-off input (TO input) as a function to enable stopping without losing thecurrent position when some stop, such as due to an emergency stop switch, is performed.
14.1.1. Basic operation
The torque-off input is assigned to the pin No. 10 of the input / output connector (CNIF).
The driver operates normally if the input is connected at 0 V.
When this input is open or no I/O supply voltage is supplied, a torque-off condition is detected and the motor
current will be shut off.
If the torque-off function is not to be used, connect the input to 0 V at the I/O power supply.
14.1.2. Torque-off behavior in the CiA402
When a torque off signal is detected, the Interlock (bit 3) of the Digital Input (60FDh) changes from 0 to 1.
Simultaneously, the state of the CiA402 shifts to Switch on disabled.
14.1.3. Return to the normal condition following torque-off signal detection
Perform the following steps to recover from a state in which the torque-off signal has been detected.
1.

Release the torque-off signal (connect CNIF pin No. 10 to 0 V)

2.

Use Controlword (6040h) to transition from Switch on disabled to Operation enabled sequentially via Readyto switch on and Switched on (see 6.2.1)

71
rev.1.0.0

15. Specifications
Dimensions

Un-anodized area

121 (Mounting dimensions)Electrical specifications
15.2.1. Main Specifications
Item
Main power supply
voltage
Drive system
PWM frequency
PWM ripple frequency
Control method
Adaptive load inertia

Details
DC24 V
DC48 V
PWM
20 kHz40 kHzPosition control
Within 20 times the motor inertia

Remarks
Rated 2 A, Peak 3 A
Rated 1 A, Peak 2 A

Details1) Always closed
2) Open at set speed or below,
closed at set speed or above3) Always open
28 mm sq. Motor: 9600 ppr
42 mm sq. Motor: 16000 ppr
Encoder resolution ±1 pulse

Remarks
When set to open, micro step
drive is used, so position
accuracy at encoder resolution is
not guaranteed

15.2.2. Position control
Item
Position mode
Encoder resolution
Position accuracy

72
rev.1.0.0

Maximum frequency forinternal commands
Feed-forward
Positioning completion
range
Full count error

The maximum frequency atwhich actual operation is possible
depends on the motor pairing

880 kpps
0 to 100%
0 to ±1000 pulses
1 to ±2147483647

15.2.3. Speed control
Item

Details

Remarks
There are additional restrictions
depending on the motor rating

Maximum speed

3000 rpm

Velocity control ratio

500: 1 or more

Minimum speed: 6 rpm

Details
0 to 100.0%, 0.1% unit
Max 500 rpm

Remarks
Ratio to rated torque15.2.4. Torque control
Item
Torque resolution
Speed limit

15.2.5. Input / output ports
Item
Input / output power
supply voltage
Digital input signal
Digital output signal
TO
Diag. out (Reserved)
Sensor input signal
Brake release output
Monitor terminal

Details

Remarks

DC 24 V ± 10%
7 points of input
7 points of output
1 point of input
1 point of output
1) +LM: CW side limit signal
2) -LM: CCW side limit signal
3) ORG: Origin sensor signal
MOSFET 500 mAmax
Motor speed, command speed,command torque, motor torque,position deviation, in-position

Opto-isolated
Opto-isolated
Opto-isolated
Opto-isolated
Opto-isolated

Analog 5 V standard

15.2.6. Input / output circuit
Input circuit diagram
For relay contacts
1

+24 V

1.5 kΩ
3 to 100V

If

6.8 kΩ

PS2801-M or equivalent

1.5 mA≤If≤6 mA

For open collector output
1

+24 V

1.5 kΩ
3 to 10If

6.8 kΩ

PS2801-M or equivalent

1.5 mA≤If≤6 mA
0V

73
rev.1.0.0

Output circuit diagram
For relay connection+24 V

14 to 21

Ic
Vce

2

0V

Ic≤10 mA, Vce≤30 V

PS2802-1 or equivalent

For photocoupler connections
+24 V

Ic

14 to 21

Vce
0V

2
Ic≤10 mA, Vce≤30 V

PS2802-1 or equivalentNote) Determine the limiting resistance value in consideration of the saturation voltage (1 Vtyp, Ic = 10 mA) for
the output photocoupler.

74
rev.1.0.0

15.2.7. Motor torque characteristics
Motor type STM28W100A
Torque characteristics for power supply voltage of 24 V
160

High speed mode
Low energy mode
Continuous rated torque (106mNm)

140

Toeque (mNm)

120
100
80
60
40
20
0
0

500

1000

1500
2000
Speed (rpm)Torque characteristics for power supply voltage of 48 V
160
140

2500

3000

3500

High speed mode
Low energy mode
Continuous rated torque (106mNm)

Torque(mNm)

120
100
80
60
40
20
0
0

500

1000

1500
2000
Speed (rpm)

2500

3000

3500

75
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Motor type STM42W100A
Torque characteristics for power supply voltage of 24 V
400

High speed mode
Low energy mode
Continuous rated torque (300mNm)

350

Torque (mNm)

300
250
200
150
100
50
0
0

500

1000

1500
2000
Speed (rpm)

2500

3000

3500

Torque characteristics for power supply voltage of 48 V
400

High speed mode
Low energy mode
Continuous rated torque (300mNm)

350

Torque (mNm)

300
250
200
150
100
50
0
0

500

1000

1500
2000
Speed (rpm)

2500

3000

3500

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rev.1.0.0

15.2.8. Motor rating
High-speed mode (standard)
Motor typeContinuous rated
torque

STM28W100A

106 mNm

STM42W100A

300 mNm

Rated speed
800 rpm (24 V)
1800 rpm (48 V)
500 rpm (24 V)
1100 rpm (48 V)

Maximum rotation
speed

Encoder pulse

3000 rpm

9600 ppr

3000 rpm

16000 ppr

Note) the rated speed is the speed at which continuous rated torque is guaranteed.
Low heat generation mode
Motor typeContinuous rated
torque

STM28W100A

106 mNm

STM42W100A

300 mNm

Rated speed
800 rpm (24 V)
1800 rpm (48 V)
500 rpm (24 V)
1100 rpm (48 V)

Maximum rotation
speed
2400 rpm (24 V)
3000 rpm (48 V)
1500 rpm (24 V)
2800 rpm (48 V)

Encoder pulse
9600 ppr
16000 ppr

Note) the rated speed is the speed at which continuous rated torque is guaranteed.

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rev.1.0.0