5.2 Object Dictionary
The following tables describe all objects reachable via SDO or PDO. (i.p. = in preparation).
Abbreviations:
U
= UNSIGNED
RO
= Read only
INT
= INTEGER
RW
= Read and Write
VisStr = Visible String
WO
= Write only
const = Constant
5.2.1 Float Scaling
The scaling applied to objects which match floating-point parameters in WorkBench/Telnet
are listed in the column "Float Scaling."
For example, index 607Ah is listed as 1:1 - this means that commanding a value of 1000 in
SDO 607Ah is equivalent to entering MT.P 1000.000 in WorkBench. On the other hand, index
3598h is listed as 1000:1 - this means that commanding a value of 1000 in SDO 3598h is equi-
valent to entering IL.KP 1.000 in WorkBench.
A few parameters are listed as variable (var), because the scaling depends on other settings.
5.2.2 Effectiveness of PDO set-points
Some objects are having effect only in the state machine state "Operation Enabled", which is
controlled by the DS402 control word. They are marked with an asterisk (*) at the PDO map-
ping.
5.2.3 Communication SDOs
Index
Sub-
index
Data
Type
Float
Scale
Access PDO
map.
Description
ASCII object
0
U32
RO
no
Device type
—
0
U8
RO
no
Error register
—
0
U32
RO
yes Manufacturer-specific status register
—
ARRAY
Pre-defined error field
—
0
U8
RW
no
Number of errors
—
1 to 10
U32
RO
no
standard error field
—
0
U32
RW
no
COB—ID SYNC message
—
0
U32
RW
no
Communication cycle period
—
0
VisStr
const
no
Manufacturer device name
—
0
VisStr
const
no
Manufacturer hardware version
—
0
VisStr
const
no
Manufacturer software version
—
0
U16
RW
no
Guard time
—
0
U8
RW
no
Lifetime factor
—
ARRAY
Save parameters
—
0
U8
RO
no
highest sub-index
—
1
U32
RW
no
Saves the drive parameters from the
RAM to the NV.
DRV.NVSAVE
ARRAY
Load parameters
—
0
U8
RO
no
highest sub-index
—
1
U32
RW
no
Loads default parameters to the RAM.
DRV.RSTVAR
0
U32
RW
no
COB—ID for the Time Stamp
—
0
U32
RW
no
COB—ID for the Emergency Object
—
AKD EtherCAT | 5 Appendix
Kollmorgen | kdn.kollmorgen.com | October 2017
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