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ASDA-A3

12.4.2 List of objects

12

OD 1XXXh communication object group

Index

1000h

1001h

1003h

1005h

1006h

100Ch

100Dh

1010h

1011h

1014h

1016h

1017h

1018h

1029h

1200h

Object code

VAR

VAR

ARRAY

VAR

VAR

VAR

VAR

ARRAY

ARRAY

VAR

ARRAY

VAR

RECORD

ARRAY

RECORD

1400h - 1403h RECORD

1600h - 1603h RECORD

1800h - 1803h RECORD

1A00h - 1A03h RECORD

Name

Device type

Error register

Pre-defined error field

COB-ID SYNC message

Communication cycle period

Guard time

Life time factor

Store parameters

Restore parameters

COB-ID emergency message

Consumer heartbeat time

Producer heartbeat time

Identity object

Error behavior

Server SDO parameter

Receive PDO communication

parameter

Receive PDO mapping parameter

Transmit PDO communication

parameter

Transmit PDO mapping parameter

Note: only 1001h can be mapped to PDO.

Data type

UNSIGNED32

UNSIGNED8

UNSIGNED32

UNSIGNED32

UNSIGNED32

UNSIGNED16

UNSIGNED8

UNSIGNED32

UNSIGNED32

UNSIGNED32

UNSIGNED32

UNSIGNED16

UNSIGNED32

UNSIGNED8

SDO parameter

UNSIGNED16/32

UNSIGNED32

UNSIGNED16/32

UNSIGNED32

Access

RO

RO

RW

RO

RW

RW

RW

RW

RW

RO

RW

RW

RO

RW

RO

RW

RW

RW

RW

OD 2XXXh servo parameter group

Index Object code

Name

2XXXh

VAR

Parameter Mapping

Data type

Access Mappable

INTEGER16/32 RW

Y

OD 6XXXh communication object group

Index Object code

Name

603Fh

VAR

Error code

6040h

VAR

Controlword

6041h

VAR

Statusword

605Bh

VAR

Shutdown option code

6060h

VAR

Modes of operation

6061h

VAR

Modes of operation display

6062h

VAR

Position demand value [PUU]

6063h

VAR Position actual internal value [Pulse]

6064h

VAR

Position actual value [PUU]

6065h

VAR

Following error window

6067h

VAR

Position window

6068h

VAR

Position window time

606Bh

VAR

Velocity demand value

606Ch

VAR

Velocity actual value

606Dh

VAR

Velocity window

606Eh

VAR

Velocity window time

Data type

UNSIGNED16

UNSIGNED16

UNSIGNED16

INTEGER16

INTEGER8

INTEGER8

INTEGER32

INTEGER32

INTEGER32

UNSIGNED32

UNSIGNED32

UNSIGNED16

INTEGER32

INTEGER32

UNSIGNED16

UNSIGNED16

Access Mappable

RO

Y

RW

Y

RO

Y

RW

Y

RW

Y

RO

Y

RO

Y

RO

Y

RO

Y

RW

Y

RW

Y

RW

Y

RO

Y

RO

Y

RW

Y

RW

Y

12-32

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