17Bb Series User Manual

The contents of this manual may be subject to change before the official product release.

1. Product Introduction

1.1 Product Description

The mini17Bb is a linear servo motor with an integrated motor drive, combining a BLDC motor and an inductive linear encoder in a single housing.

Precise position and velocity control can be achieved using the CANopen (CiA 402) protocol without an external drive. Up to 127 nodes can be connected to a single bus, making it easy to configure multi-axis synchronous control systems.

Key features:

• BLDC motor
• Integrated inductive linear encoder
• Built-in drive (no external servo drive required)
• Compliant with the CANopen CiA 402 profile
• High-precision FOC (Field Oriented Control) current control
• Profile Position Mode (PP Mode) support
• Built-in software position limit and following error detection
• High-speed control loop based on the STM32G4 series

1.2 Product Specifications

1.2.1 Electrical Specifications

Item	Specification
Rated Voltage	24V DC
Operating Voltage Range	12 - 34V DC
Rated Current	650 mA
Maximum Current	1600 mA
Communication Interface	CAN
Supported Baudrate	125kbps, 250kbps, 500kbps, 1Mbps
Node-ID Range	1 - 127

1.2.2 Mechanical Specifications

17Bb Servo Series Detailed Specifications

Stroke	Rated Load (@450mA / Duty 100%)	Rated Load (@650mA / Duty 50%)	Max. Speed (No Load)	Model / Communication (CAN / RS-485)	Size (L×W×H / mm)	Weight	Gear Ratio
30mm	45N	65N	115 mm/s	17Bb-65CF-30W	L130 × W28 × H63	485gf	5:1
	88N	125N	60 mm/s	17Bb-125CF-30W			10:1
	200N	280N	28 mm/s	17Bb-280CF-30W			22:1
	320N	460N	18 mm/s	17Bb-460CF-30W			36:1
	520N	750N	11 mm/s	17Bb-750CF-30W			58:1
	720N	1000N	7.2 mm/s	17Bb-1000CF-30W			83:1
60mm	45N	65N	115 mm/s	17Bb-65CF-60W	L166 × W28 × H63	580gf	5:1
	88N	125N	60 mm/s	17Bb-125CF-60W			10:1
	200N	280N	28 mm/s	17Bb-280CF-60W			22:1
	320N	460N	18 mm/s	17Bb-460CF-60W			36:1
	520N	750N	11 mm/s	17Bb-750CF-60W			58:1
	720N	1000N	7.2 mm/s	17Bb-1000CF-60W			83:1
100mm	45N	65N	115 mm/s	17Bb-65CF-100W	L216 × W28 × H63	645gf	5:1
	88N	125N	60 mm/s	17Bb-125CF-100W			10:1
	200N	280N	28 mm/s	17Bb-280CF-100W			22:1
	320N	460N	18 mm/s	17Bb-460CF-100W			36:1
	520N	750N	11 mm/s	17Bb-750CF-100W			58:1
	720N	1000N	7.2 mm/s	17Bb-1000CF-100W			83:1
150mm	45N	65N	115 mm/s	17Bb-65CF-150W	L270 × W28 × H63	720gf	5:1
	88N	125N	60 mm/s	17Bb-125CF-150W			10:1
	200N	280N	28 mm/s	17Bb-280CF-150W			22:1
	320N	460N	18 mm/s	17Bb-460CF-150W			36:1
	520N	750N	11 mm/s	17Bb-750CF-150W			58:1
	720N	1000N	7.2 mm/s	17Bb-1000CF-150W			83:1

2. Safety Precautions

Read this manual carefully before using the product. Failure to follow the safety instructions may result in product damage or personal injury.

2.1 Safety Symbols

Symbol	Meaning
⛔ DANGER	Failure to follow this instruction may result in death or serious injury.
⚠ WARNING	Failure to follow this instruction may result in injury or product damage.
ℹ CAUTION	Important information that should be understood before use.

2.2 Electrical Precautions

• ⚠ Never apply a voltage outside the permitted operating voltage range. Excessive voltage may damage the drive IC.
• ⚠ Always verify the power polarity (+/-). Reverse connection may damage the product.
• ℹ Check the CAN cable connection before applying power.
• ℹ Install 120Ω termination resistors at both ends of the CAN bus.

2.3 Mechanical Precautions

• ⚠ Do not apply an external force exceeding the rated thrust to the rod. Doing so may damage the encoder scale or internal mechanism.
• ⚠ Do not forcibly push or pull the rod. Doing so may damage the internal BLDC motor coil.
• ℹ Set the software position limit (0x607D) to prevent commands outside the available stroke range.
• ℹ Continuous overload conditions may increase internal temperature and shorten product life.

2.4 Handling Precautions

• ℹ Do not drop the product or subject it to impact.
• ℹ Avoid use in high-temperature, high-humidity, or excessively dusty environments.
• ℹ Do not disassemble or modify the product. Doing so will void the warranty.

3. Hardware Installation

3.1 Connector Pin Map

The mini17Bb provides power and CANopen communication through a single connector.

※ Viewed from the mating face (Front View)

Pin No.	Signal	Color	Description
1	VCC	White	Power positive (+)
2	GND		Power negative (-), CAN GND
3	I/O		Future support
4	I/O		Future support
5	I/O		Future support
6	I/O		Future support
7	RS485		Future support
8	RS485		Future support
9	CAN_H	Orange	CAN High
10	CAN_L	Orange dotted	CAN Low

3.2 CAN Network Configuration

CANopen uses an ISO 11898-based two-wire differential signal (CAN_H / CAN_L).

3.2.1 Recommended Wiring: Daisy-Chain Connection

For CANopen communication, a daisy-chain (linear bus) topology is recommended, in which the communication line is connected continuously from one node to the next.

• Wiring structure: The communication line starts from the master controller, enters the IN port of the first motor (Node), and then continues from its OUT port to the IN port of the next motor.
• Termination resistor location: Install 120Ω termination resistors only at the two ends of the network: the first device (typically the master) and the last connected device.

To prevent signal reflections during bidirectional communication, install 120Ω (1/4W or higher) terminating resistors at both ends of the CANopen bus. Do not install termination resistors on intermediate nodes. A twisted-pair shielded cable is recommended for noise immunity, and the shield should be grounded at a single point on the master-controller side only.

3.2.2 Maximum Cable Length by Communication Speed

The total cable length of the CANopen network is physically limited by the selected baudrate. Higher communication speeds are more sensitive to propagation delay and signal attenuation. Select an appropriate baudrate based on the total network length.

Recommended Stub Length by Baudrate

Baudrate	Maximum Length of a Single Stub	Total Cumulative Stub Length
1 Mbps	0.3 m (30 cm)	1.5 m or less
500 kbps	1.2 m	6.0 m or less
250 kbps	2.4 m	12.0 m or less
125 kbps	4.8 m	24.0 m or less

※ Maximum single stub length: maximum cable length from a T-connector to one motor (node).
※ Total cumulative stub length: sum of the lengths of all stub cables in the network.

Stub Cable Length Limitation for T-Connector Wiring: A stub branching from a T-connector to an individual controller can cause high-frequency signal reflections, so it should be kept as short as possible. For stable communication, comply with the maximum allowable lengths shown above.

Termination Resistance by Communication Speed

• This table assumes fewer than 64 connected nodes (motors, controllers, etc.).
• The values are based on CiA 303-1.
• Select termination resistance, cable, and communication speed according to the bus length.

Bus Length [m]	Resistance per Unit Length [mΩ/m]	Wire Cross-Section [mm²]	Termination Resistance [Ω]	Bit Rate	Notes / Recommendation
0 to 40	70	0.25 to 0.34	124	1000 kbps (at 40m)	Strictly follow noise shielding and daisy-chain wiring rules
40 to 300	<60	0.24 to 0.6	150 to 300	≤500 kbps (at 100m)	Recommended standard speed for industrial applications (Default)
300 to 600	<40	0.5 to 0.6	150 to 300	<100 kbps (at 500m)	Easier to secure stability with many connected devices
600 to 1000	<26	0.75 to 0.8	150 to 300	<50 kbps (at 1km)	For long-distance control networks

• Recommended cable parameters: 120Ω characteristic impedance, specific line delay 5ns/m.
• A 120Ω termination resistor is normally used for short CAN networks. For long-distance networks, follow the recommended values in the CiA 303-1 table above to reduce voltage drop.
• The table represents maximum wiring length according to the number of bus nodes and conductor cross-sectional area.

3.2.3 Communication Speed and Node-ID Setting

The communication speed and Node-ID can be changed in software through the internal Object Dictionary parameters.

1. Parameter indexes

   • Node-ID: Index 0x2001
   • Baudrate: Index 0x2002

2. Procedure for changing and applying the communication speed

Network parameters such as baudrate do not take effect immediately after the value is changed. Follow these three steps:

1. Write: Use SDO (Service Data Object) communication from the master to write the desired baudrate setting value to the relevant index (for example, 1Mbps = 0, 500kbps = 1).
2. Save to non-volatile memory: Execute Index 0x1010 (Store Parameters) so the changed value remains after power is removed.
3. Reset: Power-cycle the controller or execute the NMT Reset Node command. The new baudrate is applied after reset.

For the exact input mapping values (Data Value) for each communication speed and detailed SDO setting protocol, refer to Section 9.2, Manufacturer Specific Parameters.

4. CANopen Communication Overview

CANopen is a higher-layer communication protocol developed to improve interoperability between industrial devices based on CAN (Controller Area Network), which is widely used in automotive systems. It is maintained by CiA (CAN in Automation).

The basic concept of CANopen is that every device contains a standardized data structure called an Object Dictionary. Real-time control data is transferred through PDOs (Process Data Objects) using a Producer-Consumer structure with minimal protocol overhead, while configuration data is read and written through SDOs (Service Data Objects).

4.1 SDO (Service Data Object)

SDO is mainly used for configuration and larger data transfers.

4.1.1 Key Features

• Direct access to the Object Dictionary: The client directly reads or writes specific entries in the server's Object Dictionary.
• Client-server structure: SDO creates a one-to-one communication channel. The device owning the Object Dictionary is the server, and the client always initiates communication.
• Multiplexer: The client specifies data using the Object Dictionary Index and Sub-index.
• Abort: Either the client or server may abort communication as required.

4.1.2 Data Transfer Mechanism

SDO is designed to transfer large data blocks without being limited to a single CAN frame.

• Segmented transfer: Data may be divided into multiple segments and transmitted sequentially after an initialization phase.
• Expedited Transfer: When the data size is 4 bytes or less, the data can be transmitted directly during the initialization phase without segmentation.

4.2 PDO (Process Data Object)

PDO is used for the most important real-time data transfer in a control system.

4.2.1 Key Features

• Real-time performance: PDO transmits process data without additional protocol overhead, providing fast and efficient communication.
• Producer-Consumer structure: The device transmitting a PDO acts as a producer (TPDO), while the receiving device acts as a consumer (RPDO).
• TPDO (Transmit-PDO): Used when the device sends data.
• RPDO (Receive-PDO): Used when the device receives data.

4.2.2 Mapping and Parameter Structure

Each PDO is defined through two parameter groups:

• PDO Mapping: Defines which application data and data types are included in the PDO. Variable PDO mapping can be modified through SDO communication.
• PDO Communication Parameter: Defines how the PDO communicates, including transmission type and timing.

4.3 SDO and PDO Comparison

Item	SDO	PDO
Main Purpose	Device setup, diagnostics, larger data transfer	Real-time process/control data
Communication Speed	Slower due to initialization/segmentation	Very fast, minimal overhead
Data Size	Not limited to one PDO frame	Normally up to 8 bytes
Communication Structure	Client-Server (1:1)	Producer-Consumer
Operation	Started by client request	Triggered according to mapping/event conditions
Object Dictionary	Direct Index/Sub-index access	Data grouped according to PDO mapping

5. NMT State Machine

5.1 NMT State Diagram

After power-up, a CANopen device is managed by the NMT (Network Management) state machine.

NMT State	Description	PDO	SDO	EMCY
Initialization	Parameter loading and internal initialization	✗	✗	✗
Pre-Operational	Configuration state; parameters can be set using SDO	✗	✓	✓
Operational	Operating state; all communication objects active	✓	✓	✓
Stopped	Stopped state; only NMT messages are received	✗	✗	✗

5.2 CiA 402 Drive State Machine

A CANopen CiA 402 servo drive is controlled through 6040h (Controlword) and 6041h (Statusword).

Controlword State Transition Summary

Target Transition	Bit 3	Bit 2	Bit 1	Bit 0	Controlword
Shutdown (→ Ready to Switch On)	-	1	1	0	0x0006
Switch On (→ Switched On)	0	1	1	1	0x0007
Enable Operation (→ Operation Enabled)	1	1	1	1	0x000F
Disable Voltage	-	-	0	-	0x0000
Quick Stop	-	0	1	-	0x0002
Fault Reset	0→1 rising edge				0x0080

6. Drive and Operation Mode Guide

The mini17Bb linear servo motor can operate only after passing through the internal CiA 402 state machine after power-up. This section explains the basic sequence for enabling the motor and moving it to a target position.

6.1 Drive Enable Sequence

To place the motor in the Operation Enabled state, 0x6040 (Controlword) must be changed sequentially.

Step	Target State	0x6040 Value	Description
1	Shutdown	0x0006	Prepares the drive power stage (Ready to Switch On)
2	Switch On	0x0007	Enables power for motor operation (Switched On)
3	Enable Operation	0x000F	Fully enables the drive so it can execute commands

After each step, read 0x6041 (Statusword) and verify that the drive has reached the intended state before sending the next command.

6.2 Profile Position (PP) Mode

Profile Position (PP) Mode is commonly used for point-to-point positioning. The master sets the target position, velocity, acceleration, and deceleration parameters, and the drive's internal profile generator calculates a smooth motion profile.

1. Main Motion Parameters

Index	Parameter	Description	Note
0x6060	Modes of Operation	Selects the operation mode	Set to 1 (PP Mode)
0x6081	Profile Velocity	Sets maximum travel velocity	Required
0x6083	Profile Acceleration	Sets acceleration	Required
0x6084	Profile Deceleration	Sets deceleration	Required
0x607A	Target Position	Final target position	Set before motion command

2. PP Mode-Specific Controlword (0x6040)

In PP Mode, Bits 4, 5, 6, and 9 of 0x6040 have specific meanings.

• Bit 4 (New Set-point): A 0→1 rising edge starts motion toward the target position stored in 0x607A.
• Bit 5 (Change Set Immediately):
  • 0: Move to the new target after completing the current move.
  • 1: Interrupt the current move and immediately change the trajectory toward the new target.
• Bit 6 (Absolute / Relative):
  • 0: Absolute positioning.
  • 1: Relative positioning from the current position.
• Bit 9 (Change of Setpoint): When Bit 5 = 0, determines whether the next target is executed continuously without stopping after the current move.

3. Operation Methods

1. Single set point — Future support

   • Stop after reaching the target and wait for the next command.
   • Setting: Bit 4 = 1, Bit 5 = 0, Bit 9 = 0

2. Change immediately

   • When a new position command is received during motion, the existing target is discarded and the trajectory is immediately changed.
   • Setting: Bit 4 = 1, Bit 5 = 1

3. Set of Set point — Future support

   • When a new position command is received during motion, complete the current target and continue to the next target without stopping.
   • Setting: Bit 4 = 1, Bit 5 = 0, Bit 9 = 1

4. Step-by-Step Motion Sequence

1. Set 0x6060 = 1 to enter PP Mode.
2. Set the required motion profile values in 0x6081, 0x6083, 0x6084, and 0x607A.
3. Verify that the drive is in Operation Enabled state (Controlword 0x000F).
4. Send 0x001F to the Controlword to activate Bit 4 and start motion (absolute positioning example).
5. Verify that Statusword Bit 12 (Set-point Acknowledge) becomes 1.
6. Return the Controlword to 0x000F (Bit 4 = 0) to prepare for the next command.
7. When the motor reaches the target within the specified tolerance, Statusword Bit 10 (Target Reached) becomes 1.

7. Error Handling and Diagnostics

7.1 Error Check and Recovery

When an error occurs during servo operation, the drive immediately stops and enters the Fault state, and an EMCY message is transmitted. The current fault state can be checked through Bit 3 (Fault) of 0x6041 (Statusword), and the detailed cause can be read from 0x603F (Error Code).

Fault Reset: After identifying and correcting the physical cause of the error, change Bit 7 (Fault Reset) of 0x6040 from 0 to 1 (for example, send 0x0080).

7.2 Main Error Codes

7.2.1 CiA 301 Error Code

Error Code	Name	Error	Condition
0x0000	ERROR NONE	No error

7.2.2 CiA 402 Error Code

Error Code	Name	Error	Condition
0x0000	ERROR NONE	No error	Normal state
0x3110	DC Link Over Voltage	Overvoltage	Input voltage remains above VOLTAGE_OVER_LIMIT (34.0V) for 25ms or longer
0x3120	DC Link Under Voltage	Undervoltage	Input voltage remains below VOLTAGE_UNDER_LIMIT (10.0V), but above the power-off threshold (1.0V), for 25ms
0x2310	Over Current	Overcurrent	Phase current exceeds the hardware limit or Max Current × 1.5, or excessive power-supply current is detected for 7.5ms or longer
0x5000	Hardware Failure	Hardware failure	The motor driver (DRV8316) detects a critical fault and the nFault pin remains Low for approximately 25ms
0x8611	Position Following Error	Following error	Difference between Target Position and Actual Position exceeds the configured window for longer than the configured timeout

8. Current Monitoring and Stall Protection

If the motor is mechanically blocked, motor current may increase up to the configured limit as the drive attempts to maintain the required torque. Prolonged stall conditions may increase motor and drive temperature and reduce product life. Use appropriate protection settings such as Following Error detection.

8.1 Real-Time Current Monitoring

0x6078 (Current Actual Value) provides the actual motor phase current in mA. This is not the DC line current consumed from the power supply; it represents the effective motor current generating torque and can be used to monitor load variation and mechanical friction.

8.2 Obstacle Collision and Stall Protection

If the servo motor hits an obstacle and stalls before reaching the target position, motor back-EMF decreases and a temporary high-current condition can occur.

When the mini17Bb detects a stall condition, internal protection control limits voltage and current to protect the hardware. A high-frequency motor-coil noise (whine) may occur during protection and can be part of the normal protection mechanism. To avoid prolonged stall conditions, appropriately configure Following Error (0x6065) detection so the controller can stop when abnormal motion is detected.

9. Object Dictionary

9.1 Communication Area (CiA 301)

Object Dictionary Quick Reference

Index (Hex)	Object Name	Description
1000h	Device Type	CiA-defined device type (actuator example: 0x00000192)
1001h	Error Register	Current error-state register
1003h	Pre-defined Error Field	Stores error history
1008h	Manufacturer Device Name	Manufacturer device name
1009h	Manufacturer Hardware Version	Hardware version
100Ah	Manufacturer Software Version	Firmware version
1010h	Store Parameters	Parameter save command
1011h	Restore Default Parameters	Restore default parameters
1017h	Producer Heartbeat Time	Heartbeat generation period in ms
1018h	Identity Object: Vendor ID	Official vendor ID
1018h	Identity Object: Product Code	Manufacturer-assigned product code
1018h	Identity Object: Revision Number	Product revision number
1018h	Identity Object: Serial Number	Product serial number
1014h	COB-ID EMCY	EMCY COB-ID (Node-ID + 0x80)
1200h	SDO Server Parameter	SDO server communication parameter
1400h	1st Receive PDO Parameter	RPDO1 communication parameter
1401h	2nd Receive PDO Parameter	RPDO2 communication parameter
1402h	3rd Receive PDO Parameter	RPDO3 communication parameter
1403h	4th Receive PDO Parameter	RPDO4 communication parameter
1600h	1st Receive PDO Mapping	RPDO1 mapping
1601h	2nd Receive PDO Mapping	RPDO2 mapping
1602h	3rd Receive PDO Mapping	RPDO3 mapping
1603h	4th Receive PDO Mapping	RPDO4 mapping
1800h	1st Transmit PDO Parameter	TPDO1 communication parameter
1801h	2nd Transmit PDO Parameter	TPDO2 communication parameter
1802h	3rd Transmit PDO Parameter	TPDO3 communication parameter
1803h	4th Transmit PDO Parameter	TPDO4 communication parameter
1A00h	1st Transmit PDO Mapping	TPDO1 mapping
1A01h	2nd Transmit PDO Mapping	TPDO2 mapping
1A02h	3rd Transmit PDO Mapping	TPDO3 mapping
1A03h	4th Transmit PDO Mapping	TPDO4 mapping

For more information on CiA 301, refer to http://www.canopener.org/.

9.2 Manufacturer Specific Parameters

The range 0x2000 to 0x2FFF is reserved for mini17Bb manufacturer-specific parameters.

9.3 Drive Profile (CiA 402)

CiA 402 Object Dictionary Quick Reference

Index	Sub-index	Object Name	Description
6061h	00h	Modes of Operation Display	Current operation mode
6062h	00h	Position Demand Value	Position-controller target position
6063h	00h	Position Actual Internal Value	Internal position value
6064h	00h	Position Actual Value	Actual position in user units
6065h	00h	Following Error Window	Allowable following-error window
6066h	00h	Following Error Timeout	Allowable following-error duration
6067h	00h	Position Window	Position target tolerance
6068h	00h	Position Window Time	Minimum duration inside Position Window
606Ch	00h	Velocity Actual Value	Current servo velocity
6072h	00h	Max Torque	Maximum motor torque
6073h	00h	Max Current	Maximum motor current
6076h	00h	Motor Rated Torque	Rated motor torque
6077h	00h	Torque Actual Value	Current motor torque
6079h	00h	DC Link Circuit Voltage	Power monitoring in 0.1V units
607Ah	00h	Target Position	Final target position for PP control
607Dh	00h	Software Position Limit (Number of entries)	Number of software position limit entries
607Dh	01h	Min Position Limit	Minimum target position
607Dh	02h	Max Position Limit	Maximum target position
607Fh	00h	Max Profile Velocity	Maximum PP-mode velocity
6080h	00h	Max Motor Speed	Maximum linear speed
6081h	00h	Profile Velocity	PP-mode profile velocity
6083h	00h	Profile Acceleration	PP-mode profile acceleration
6084h	00h	Profile Deceleration	PP-mode profile deceleration
6085h	00h	Quick Stop Deceleration	Deceleration used for Quick Stop
60F4h	00h	Following Error Actual Value	Real-time following error
60FCh	00h	Position Demand Internal Value	Internal demanded position
60FDh	00h	Digital Inputs	Digital input state
60FEh	00h	Digital Outputs	Digital output state
6502h	00h	Supported Drive Modes	Supported operation modes

10. Object Dictionary Details

10.1 Communication Profile (CiA 301)

Objects in the 0x1000 range are defined by the CiA 301 Communication Profile.

0x1000: Device Type

What is the 0x1000 Device Type? This object is like the device's "ID card." By reading this value, the master can immediately recognize that "this device is a servo drive that follows the CiA 402 standard." The 32-bit value includes the device profile number and additional functional information.

This value is set as a fixed value in the firmware by the developer according to the CiA standard for the device type.

• Value structure:
  • Lower 16 bits: Device profile number. Because a servo drive follows the CiA 402 profile, this value is 402 (hexadecimal: 0x0192).
  • Upper 16 bits: Additional information (manufacturer-specific function information). If there is no special information, this is set to 0x0000.
• Example final setting value (servo drive): 0x00000192

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x1000	Device Type	UINT32	-	0x00000192	-	RO	No	-	No

0x1001: Error Register

What is the 0x1001 Error Register? It is a standard 8-bit (1-byte) object that summarizes the current error state of a CANopen device (node) at a glance. The master (for example, a PLC or controller) can read this object through SDO communication to quickly determine what type of error has occurred in the device.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x1001	Error Register	USINT	-	0x00	-	RO	No	-	No

Bit Definition

Bit No.	Name	Description
Bit 0	Generic Error	Set to 1 when any type of error listed below occurs. (Error summary bit)
Bit 1	Current	Indicates a motor-current-related error such as overcurrent. (Required for servo motors)
Bit 2	Voltage	Indicates a power-voltage-related error such as overvoltage or undervoltage. (Required for servo motors)
Bit 3	Temperature	Indicates a temperature-sensor-related error such as overheating. (Required for servo motors)
Bit 4	Communication Error	Indicates a CAN communication supervision error such as Heartbeat or Guarding failure.
Bit 5	Device Profile Specific	Indicates an error defined by a specific profile such as CiA 402 (motion control).
Bit 6	Reserved	Not used and always 0.
Bit 7	Manufacturer Specific	Indicates a manufacturer-defined error not included in the standard.

0x1003: Pre-defined Error Field

The Pre-defined Error Field is an array-type object that stores the history of errors that have occurred in the device.

This object is filled by recording error codes sequentially whenever errors occur and is very useful for diagnosing past problems with the equipment.

While the Error Register shows the device's current error state, the 0x1003 Error Field is a log storage area that records the past errors experienced by the device in sequence. It is important for remote diagnostics and maintenance because it allows the user to trace what happened and in what order when a problem occurred. This object has an array structure, and each index has the following meaning:

• 0x1003:00 (Sub-index 0): Number of stored errors (UNSIGNED8)
  • Reading this value shows how many errors are currently recorded. It may also indicate the maximum number of errors that can be stored.
• 0x1003:01 to 0x1003:n (Sub-index 1 to n): Actual error codes (UNSIGNED32)
  • The 32-bit standard error codes that occurred in the device are stored in the order of occurrence. The first error is recorded in 0x1003:01 and the second in 0x1003:02.

0x1008: Manufacturer Device Name

Device Name is an object that stores a human-readable string name used to identify the device.

Its main purpose is for use in CANopen network configuration tools or monitoring software. When a tool scans the network, it reads each device's 0x1008 object and can display an easy-to-understand name such as "X-Axis Servo Drive" instead of simply "Node 3." This is very convenient when configuring the system or diagnosing problems.

Index	Description	Object	Data Type	Access	PDO Mapping	Change Condition	Save	Default
0x1008	Device Name	VARIABLE	STRING	RO	No	N/A	No	(Product name)

0x1009: Manufacturer Hardware Version

Hardware Version is a human-readable string object that indicates the physical PCB (circuit-board) revision or hardware specification of the device. It is very important for tracking problems that occur only with a particular hardware version or for accurately identifying a customer's product specification during technical support.

Index	Description	Object	Data Type	Access	PDO Mapping	Change Condition	Save	Default
0x1009	Hardware Version	VARIABLE	STRING	RO	No	N/A	No	(Version)

0x100A: Manufacturer Software Version

Software Version is a human-readable string object that indicates the version of the firmware currently running in the device.

Index	Description	Object	Data Type	Access	PDO Mapping	Change Condition	Save	Default
0x100A	Software Version	VARIABLE	STRING	RO	No	N/A	No	(Version)

0x1010: Store Parameters

Store Parameters is an object used to command the device to permanently save its current settings (parameters) to non-volatile memory such as EEPROM or Flash.

The save operation is executed by writing the code meaning "save" (0x65766173) to a specific Sub-index. (ASCII values: s=0x73, a=0x61, v=0x76, e=0x65)

This object performs exactly the same role as a software Save button. When a user changes various parameters such as motor gain values or communication periods through SDO communication, those changes are first stored temporarily in RAM. If the device is power-cycled at this point, the RAM contents disappear and the changes are lost.

When a save command is issued to object 0x1010, the device copies the current settings in RAM to non-volatile memory (NVM) for permanent storage. As a result, the last saved settings are retained even after the device is rebooted.

Index	Description	Data Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x1010	Store Parameters
0x1010:0	Number of entries		-	4	-	RO	No	N/A	No
0x1010:1	Store all parameters		0x0 to 0xFFFFFFFF	0	-	RW	No	N/A	No
0x1010:2	Store communication parameters		0x0 to 0xFFFFFFFF	0	-	RW	No	N/A	No
0x1010:3	Store CiA402 parameters		0x0 to 0xFFFFFFFF	0	-	RW	No	N/A	No
0x1010:4	Store drive specific parameters		0x0 to 0xFFFFFFFF	0	-	RW	No	N/A	No

0x1017: Producer Heartbeat Time

Producer Heartbeat Time sets how often the device sends a heartbeat signal to the network to indicate that it is alive.

At each interval set here, the device transmits a heartbeat message containing its NMT state (Pre-Operational, Operational, Stopped, etc.) to the network. By receiving this message periodically, the master controller can determine that the device is connected and operating normally.

If the master does not receive the heartbeat message within the expected time, it can determine that a problem has occurred in the servo drive and take emergency action such as safely stopping the system.

Index	Description	Data Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x1017	Producer heartbeat time	UINT16	-	0	ms	RW	No	-	-

• A Heartbeat value of 0 means that the function is disabled.

0x1018: Identity Object

The Identity Object is a record-type object that collects the device's key identification information, including manufacturer ID, product code, version, and serial number. A network management tool can read this object to determine at once which company's product the device is, as well as its version and serial number.

Index	Description	Data Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x1018	Identity Object
0x1018:0	Number of entries	UINT8	-	4	-	RO	No	-	No
0x1018:1	Vendor ID	UINT32	-		-	RO	No	-	No
0x1018:2	Product code	UINT32	-		-	RO	No	-	No
0x1018:3	Revision number	UINT32	-		-	RO	No	-	No
0x1018:4	Serial number	UINT32	-		-	RO	No	-	No

0x1400-0x1403: Receive PDO 1-4 Communication Parameter

Object 0x1400 defines the communication method of the first Receive PDO (RPDO) received by the device. An RPDO is a high-speed data packet containing real-time control commands such as target position, velocity, and Controlword. This object defines which CAN ID is used to receive the packet and at what timing (synchronous/asynchronous) it is processed.

PDO (Process Data Object) is a core CANopen mechanism for high-speed exchange of real-time data. While SDO is 1:1 communication for configuration, PDO is closer to 1:N broadcast communication for real-time control.

Object 0x1400 defines the "envelope" information of the first command packet (RPDO1). In other words, it sets the "destination address (CAN ID)" written on the envelope and the "delivery method (synchronous/asynchronous)." The data contained in the RPDO—the "letter contents"—are defined separately in the corresponding 0x1600 (1st Receive PDO Mapping) object.

Index	Description	Data Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x1400	1st receive PDO Parameter
0x1400:0	Number of entries		-	5	-	RO	No	-	No
0x1400:1	COB-ID used by RPDO	INT32	-	NODEID + 0x200	-	RW	No	-	Yes
0x1400:2	Transmission type	UINT8	-	254	-	RW	No	-	Yes
0x1400:5	Event Time	UINT16	-		-	RW	No	-	Yes

Main Setting Details

• COB-ID (0x1400:01)
  • The default ID rule is 0x200 + Node-ID. For example, the first RPDO receive ID of a servo with Node-ID=5 is 0x205. The master must transmit the RPDO using this ID.
• Transmission Type (0x1400:02)
  • 1 to 240 (synchronous): RPDO data are processed whenever a SYNC message is received. A value of 1 means process every SYNC, while 5 means process every 5th SYNC. This is used for precise simultaneous control.
  • 254 or 255 (asynchronous): RPDO data are processed immediately when the RPDO message is received, regardless of the SYNC signal.
• Operating Flow (for a servo with Node-ID = 5)
  1. Mapping setting (0x1600): First define which data are contained in RPDO1. For example, map Controlword (0x6040) and Target Position (0x607A) in object 0x1600.
  2. Communication setting (0x1400):
     • Set 0x1400:01 (COB-ID) to the default value 0x205.
     • Set 0x1400:02 (Transmission Type) to 1 so that the data are processed at every SYNC.

0x1600-0x1603: 1st-4th Receive PDO Mapping

Object 0x1600 is the "blueprint" or "table of contents" that defines which data are contained in the first Receive PDO (RPDO1) and in what order. If 0x1400 is the RPDO "envelope," 0x1600 describes the "contents" inside it.

An RPDO sent by the master is simply a block of 1 to 8 bytes of data. The device therefore needs an "interpretation method" to know what the data mean, and 0x1600 provides that function. For example, if the master sends a 6-byte RPDO, the 0x1600 mapping object can define the contents as follows: "Of these 6 bytes, the first 2 bytes are the Controlword, and the last 4 bytes are the Target Position."

Index	Description	Data Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x1600	1st receive PDO mapping
0x1600:0	Number of entries		-	0	-	RO	No	-	No
0x1600:1-8	Mapping entry	UINT32	0 to 0xFFFFFFFF		-	RW	No	-	Yes

RPDO1 Default Mapping

In the initialized state, RPDO1 is mapped as follows.

Sub-index	Mapped Object	Size (Bits)	Description
1	0x6040:00 (Controlword)	16	Drive control command
2	0x607A:00 (Target Position)	32	Target position command

0x1800-0x1803: 1st-4th Transmit PDO Parameter

Object 0x1800 defines the communication method of the first Transmit PDO (TPDO) used by the device to transmit its own status or data to the network. A TPDO is a high-speed data packet containing real-time status reports such as actual position, velocity, and Statusword. This object defines which CAN ID is used to transmit the packet and under what condition (synchronous/asynchronous/event-based) it is sent.

TPDO (Transmit PDO) is a PDO used by the device to transmit its own internal data. From the servo drive's point of view, it acts as a status-report packet sent to the master, effectively saying, "My current position is here, and my current state is this."

Object 0x1800 defines the "envelope" information of this first status-report packet (TPDO1). In other words, it defines the "sending address (CAN ID)" and "transmission condition (Transmission Type)" written on the envelope. The data contained in the TPDO—the "report contents"—are defined separately in the corresponding 0x1A00 (1st Transmit PDO Mapping) object.

Index	Description	Data Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x1800	1st transmit PDO Parameter
0x1800:0	Number of entries		-	6	-	RO	No	-	No
0x1800:1	COB-ID used by TPDO	INT32	-	NODEID + 0x180	-	RW	No	-	Yes
0x1800:2	Transmission type	UINT8	-	254	-	RW	No	-	Yes
0x1800:3	Inhibit Time	UINT16	0 to 0xFFFF		-	RW	No	-	Yes
0x1800:5	Event timer	UINT16	0 to 0xFFFF				No		Yes
0x1800:6	SYNC start value	UINT8	0 to 0xFF	-	-	RW	No	-	Yes

Main Setting Details

• COB-ID (0x1800:01): The first TPDO transmit ID of a servo with Node-ID=5 is 0x185.
• Transmission Type (0x1800:02):
  • 1 to 240 (synchronous): Transmitted every Nth SYNC according to the SYNC signal.
  • 254, 255 (asynchronous/event-based): Transmitted immediately whenever the value of mapped data changes. This is useful when the servo position continuously changes.
• Inhibit Time (0x1800:03): During event-based (asynchronous) transmission, this prevents the bus from becoming overloaded by overly frequent transmissions. For example, if 100 is set, at least 10ms (100 × 100µs) must pass after one transmission before the next transmission is allowed.
• Event Timer (0x1800:05): During event-based transmission, this is used when the device should report status periodically even when the data values do not change. For example, if 100 is set, the TPDO is transmitted at least once every 100ms even if the position value does not change, indicating that the device is still alive.

Operating Flow (for a servo with Node-ID = 5)

1. Mapping setting (0x1A00): First map Statusword (0x6041) and Actual Position (0x6064) to TPDO1.
2. Communication setting (0x1800):
   • Set COB-ID to 0x185.
   • Set Transmission Type to 254 (event-based).
   • Set Inhibit Time to 100 (10ms).
3. Real-time operation:
   • The servo motor's Actual Position (0x6064) changes.
   • This "event" triggers TPDO transmission.
   • The device checks whether 10ms has passed since the last transmission. If so, it transmits a message containing the current Statusword and Actual Position data using CAN ID 0x185.
   • The master receives the message and monitors the servo's current state in real time.

0x1A00: 1st Transmit PDO Mapping

Object 0x1A00 is the "content blueprint" or "report format" that defines which data are contained in the first Transmit PDO (TPDO1) and in what order. If 0x1800 defines the TPDO's "transmission conditions," 0x1A00 determines the "report contents" contained in it.

When the servo drive sends a TPDO according to the conditions configured in 0x1800, an "interpretation method" is needed to understand what the data mean, and 0x1A00 provides that function.

For example, if the servo transmits a 6-byte TPDO, the 0x1A00 mapping object tells the master: "Of these 6 bytes, the first 2 bytes are the servo Statusword and the last 4 bytes are the servo Actual Position."

Only with this mapping information can the master correctly interpret the received data and accurately determine the servo's current state and position.

Index	Description	Data Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x1A00	1st transmit PDO mapping
0x1A00:0	Number of entries		-	2	-	RO	No	-	No
0x1A00:1-8	Mapping entry	UINT32	0 to 0xFFFFFFFF		-	RW	No	-	Yes

TPDO1 Default Mapping

In the initialized state, TPDO1 is mapped as follows.

Sub-index	Mapped Object	Size (Bits)	Description
1	0x6041:00 (Statusword)	16	Drive status indication
2	0x6064:00 (Position Actual Value)	32	Current actual position

10.2 Drive Profile (CiA 402)

Objects in the 0x6000 range are defined by the CiA 402 drive profile.

0x603F: Error Code

What is the 0x603F Error Code? This object specifically identifies the last error that caused the device to enter a particular state. While 0x6041 (Statusword) or 0x1001 (Error Register) may broadly indicate a "voltage error," 0x603F specifies exactly whether it is an "overvoltage" or "undervoltage" error. This value is included in the emergency message (EMCY) and reported to the master in real time.

This value is set automatically by the firmware when an internal error is detected, and the user reads it to determine the cause of the problem. The value is standardized according to the CiA 402 profile.

Index	Description	Data Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x603F	Error Code	UINT16	-	0	-	RO	Yes	-	No

• Main standard error-code table

Error Code	Meaning	Description
0x0000	No Error	Normal state with no current error.
0x2310	Over Current	Overcurrent exceeding the permissible value was detected during motor operation.
0x3110	Over Voltage	The input voltage exceeded the permitted maximum value (overvoltage).
0x3120	Under Voltage	The input voltage fell below the minimum value required for system operation (undervoltage).
0x4210	Over Temperature	The temperature inside the device or motor driver exceeded the permitted limit.
0x5000	Hardware Failure	A driver hardware fault, such as an nFault-pin error, was detected.
0x8611	Following Error	The error between the motor's actual position and target position (position following error) exceeded the allowable range.

0x6040: Controlword

The Controlword controls the CiA 402 state machine and commands actions such as enabling operation, stopping, and fault reset.

• 0x6040: Master → Servo (command)
• 0x6041: Servo → Master (status)

Bit	Function	Description
0	Switch On	Controls transition to Ready to Switch On
1	Enable Voltage	Enables main power/drive voltage
2	Quick Stop	0 = Quick Stop, 1 = normal operation
3	Enable Operation	Enables motor torque/control
4 to 6	Mode-specific	See PP Mode definition
7	Fault Reset	0→1 rising edge resets fault
8	Halt	Mode-specific
9	-
10	-
11 to 15	-

Bits 0 to 3: Drive State Control

Command	Bit 3	Bit 2	Bit 1	Bit 0
Shutdown	-	1	1	0
Switch On	0	1	1	1
Switch On + Enable Operation	1	1	1	1
Disable Voltage	-	-	0	-
Quick Stop	-	0	1	-
Disable Operation	0	1	1	1
Enable Operation	1	1	1	1

PP Mode

Bit	Function	Value	Description
4	New Set-point	0→1	Apply a new position command on rising edge
5	Change Set Immediately	0	Complete current motion before moving to the new position
		1	Interrupt current motion and move to the new position immediately
6	Absolute / Relative	0	Absolute positioning
		1	Relative positioning
7	Fault Reset	0→1	Clear fault on rising edge
8	Halt	0	Normal operation
		1	Decelerate and stop at current position

0x6041: Statusword

The Statusword indicates the current drive state.

Bit	Description	Meaning
0	Ready to Switch On	Drive-state bit
1	Switched On	Drive-state bit
2	Operation Enabled	Drive-state bit
3	Fault	Drive-state bit
4	Voltage Enabled	Drive-state bit
5	Quick Stop	Drive-state bit
6	Switch On Disabled	Drive-state bit
7	Warning	Warning state
8	Reserved	Reserved
9	Remote	Remote control state
10	Operation Mode Specific	PP Mode: Target Reached
11	Internal Limit Active	Software position limit
12 to 13	Operation Mode Specific	PP Mode-specific
14	ABS Position Valid	Not supported
15	Reserved	Reserved

Bits 0 to 7: Drive State

Bit7	Bit6	Bit5	Bit4	Bit3	Bit2	Bit1	Bit0	Drive State	Value
-	0	-	-	0	0	0	0	Not Ready to Switch On	0x00
-	1	-	-	0	0	0	0	Switch On Disabled	0x40
-	0	1	-	0	0	0	1	Ready to Switch On	0x21
-	0	1	-	0	0	1	1	Switched On	0x23
-	0	1	-	0	1	1	1	Operation Enabled	0x27
-	0	0	-	0	1	1	1	Quick Stop Active	0x07
-	0	-	-	1	1	1	1	Fault Reaction Active	0x0F
-	0	-	-	1	0	0	0	Fault	0x08

PP Mode Bits 10, 12 and 13

Bit	State	Value	Description
10	Target Reached	0	Target not reached / decelerating when Halt is active
		1	Target reached / velocity is zero when Halt is active
12	Set-point Acknowledge	0	Waiting for a new set-point
		1	New set-point accepted
13	Following Error	0	No following error
		1	Following error

Bit 11: Internal Limit Active

Bit	State	Value	Description
11	Internal Limit Active	0	Software position limit inactive or 0x607D not used
		1	Software position limit active

0x605A: Quick Stop Option Code

What is the 0x605A Quick Stop Option Code? There are several ways to stop the drive, and "Quick Stop" means one of them: a rapid stop. This object selects specifically how the Quick Stop is performed—for example, whether the motor is stopped in a controlled manner using a specified deceleration or whether power is removed immediately.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x605A	Quick Stop Option Code	UINT	0 to 6	2	-	RW	No	Always	Yes

Detailed Settings

Value	Stop Method	State After Stop	Description
0	Immediate power off	Switch On Disable
1	Normal deceleration (uses 0x6084)	Switch On Disable
2	Quick Stop deceleration (uses 0x6085)	Switch On Disable
5	Normal deceleration (uses 0x6084)	Quick Stop Active
6	Quick Stop deceleration (uses 0x6085)	Quick Stop Active

0x605B: Shutdown Option Code

What is the 0x605B Shutdown Option Code? Shutdown is the normal procedure for transitioning the drive from the Operation Enabled state to the Ready to Switch On state. This object selects how that procedure is performed—for example, whether the motor decelerates to a stop or power is removed immediately.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x605B	Shutdown Option Code	INT	0 to 1	0	-	RW	No	Always	Yes

Detailed Settings

Sets the behavior when the servo drive performs Shutdown (Operation Enabled state → Ready to Switch On state).

Value	Description
0	Disabled
1	Decelerate to stop, move to Switch On Disable state, Ready state

The most common and safest method is to set this value to 1, so that the motor is stopped in a controlled manner before the drive is disabled.

0x605C: Disable Operation Option Code

What is the 0x605C Disable Operation Option Code? Disable Operation is the normal procedure for stopping motion control while returning from the Operation Enabled state to the Switched On state without removing power. This object selects how that procedure is performed—for example, whether the motor decelerates to a stop or control is stopped immediately.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x605C	Disable Operation Option Code	INT	0 to 1	1	-	RW	No	Always	Yes

Detailed Settings

Sets the option code for the Disable Operation state (Operation Enabled state → Switched On state).

Value	Description
0	Drive function disabled
1	Decelerate to stop, move to Switch On Disable state, not Ready state

0x605D: Halt Option Code

What is the 0x605D Halt Option Code? Halt is a command used in a specific operation mode (for example, Profile Position Mode) to interrupt an ongoing motion and maintain a stopped state. This object selects how that "pause" is performed—for example, whether to stop using normal deceleration or a faster deceleration.

The command is executed through Bit 8 (Halt) of the Controlword (0x6040).

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x605D	Halt Option Code	INT	0 to 4	0	-	RW	No	Always	Yes

Detailed Settings

Sets the operating method when moving from the Operation Enabled state to the Switched On state.

Value	Description
1	Decelerate to stop, Operation Enabled state
2	Decelerate to stop using Quick Stop deceleration time, Operation Enabled state
3	Decelerate to stop using torque limitation, Operation Enabled state

0x605E: Fault Reaction Option Code

What is the 0x605E Fault Reaction Option Code? This object defines in advance how the drive reacts to an unexpected Fault condition in order to protect itself or ensure system safety. For example, when overcurrent is detected, it determines whether motor power is removed immediately or whether the motor is stopped by controlled deceleration before power is removed.

When a Fault occurs, the drive performs the stop operation according to the method configured here and then transitions to the Fault state.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x605E	Fault Reaction Option Code	INT	0	0	-	RW	No	Always	Yes

Detailed Settings

Sets the operating method used during a Fault action for drive-system protection.

Value	Description
0	Servo-drive function disabled. The motor remains in free-run state.

0x6060: Modes of Operation

The master writes this object before starting operation to tell the drive how subsequent commands should be interpreted—for example, as position commands or velocity commands. The parameters used by the drive and its control behavior vary significantly depending on the selected operation mode.

The currently active mode can be verified through 0x6061 (Modes of Operation Display).

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x6060	Modes of Operation	SINT	0 to 10	0	-	RW	Yes	Always	Yes

Detailed Settings

Before operating the drive, the master writes the numeric value corresponding to the required operation mode to this object via SDO.

Value	Name	Definition	Support
0	-	No mode assigned	-
1	Profile Position Mode (PP)	Moves to the target position using an acceleration/deceleration profile	Supported
3	Profile Velocity Mode (PV)	Maintains the target velocity using an acceleration/deceleration profile	Not supported
4	Profile Torque Mode (PT)	Maintains the target torque	Not supported
6	Homing Mode (HM)	Performs a homing operation	Not supported
8	Cyclic Synchronous Position Mode (CSP)	Tracks a new target position synchronously every communication cycle	Future support
9	Cyclic Synchronous Velocity Mode (CSV)	Tracks a new target velocity synchronously every communication cycle	Not supported
10	Cyclic Synchronous Torque Mode (CST)	Tracks a new target torque synchronously every communication cycle	Not supported

0x6061: Modes of Operation Display

This object indicates the operation mode currently applied by the drive. When the master requests a mode by writing to 0x6060, the drive processes the request and then updates 0x6061 with the mode that is actually active. The master can read this value to confirm that the mode change was successfully applied.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x6061	Modes of Operation Display	SINT	-	-	-	RO	Yes	-	No

0x6062: Position Demand Value

This read-only object represents the real-time demanded position generated by the drive's Trajectory Generator after position-limit processing. It is the position command that is passed internally to the position controller.

The difference between this value and 0x6064 (Position Actual Value) is the Following Error, which is an important indicator of servo tracking performance.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x6062	Position Demand Value	INT32	-	-	µm	RO	Yes	-	No

0x6064: Position Actual Value

This object provides the most fundamental servo feedback value: the answer to "where is the actuator actually positioned now?" It represents the current measured position of the actuator.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x6064	Position Actual Value	INT32	-	-	µm	RO	Yes	-	No

0x6065: Following Error Window

Following error is the difference between the position the drive is required to reach—Position Demand Value (0x6062)—and the position where the actuator is actually located—Position Actual Value (0x6064).

This object defines how large that difference may become while still being considered normal. If the actual following error exceeds the configured window, the drive can determine that a mechanical problem or control abnormality exists and report an excessive following-error condition.

This value is used when evaluating Following Error in Statusword Bit 13 (0x6041.13).

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x6065	Following Error Window	UINT32	0 to 0x3FFFFFFF	6000	µm	RW	No	Always	Yes

0x6066: Following Error Timeout

If 0x6065 defines "how much position error is acceptable," 0x6066 defines "how long that excessive error may continue before it is treated as a problem." This allows temporary errors caused by momentary shock or vibration to be ignored while persistent abnormal conditions are detected as faults.

This value defines the timeout used when evaluating Following Error in Statusword Bit 13 (0x6041.13).

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x6066	Following Error Timeout	UINT16	0 to 65535	0	ms	RW	No	Always	Yes

0x6067: Position Window

Because it is physically difficult for a motor to stop at an infinitely exact target coordinate, this object defines a tolerance band around the target position within which the drive may consider the target to have been reached.

For example, if Target Position is 10000 and Position Window is set to 10, an actual position from 9990 to 10010 is considered to be inside the target window. If the position remains inside this window for the duration specified by 0x6068 (Position Window Time), Statusword Bit 10 (0x6041.10, Target Reached) is set to 1 to indicate completion to the master.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x6067	Position Window	UINT32	0 to 0x3FFFFFFF	100	µm	RW	No	Always	Yes

0x6068: Position Window Time

This object works together with 0x6067 (Position Window) as a settling-time criterion. While 0x6067 determines how close the actuator must be to the target, 0x6068 determines how long it must remain within that range. This prevents the drive from declaring Target Reached when the actuator merely passes through the target region and ensures that the completion signal is generated only after the actuator has settled.

When the actual position remains inside the Position Window (0x6067) for the duration specified by Position Window Time (0x6068), Statusword Bit 10 (0x6041.10) is set to 1.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x6068	Position Window Time	UINT16	0 to 65535	0	ms	RW	No	Always	Yes

0x606C: Velocity Actual Value

This object is comparable to a speedometer: it indicates how fast the actuator is actually moving at the present moment. The firmware continuously calculates this value from changes in the position sensor. It is a standard feedback object commonly mapped to a PDO.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x606C	Velocity Actual Value	INT32	-	-	µm/s	RO	Yes	-	No

0x6072: Maximum Torque

This object sets an upper torque limit to protect the motor and mechanical system. Regardless of the operation mode, the drive limits the motor so that it does not exceed the torque specified by this object.

In the CiA 402 profile, torque-related objects such as 0x6071, 0x6072, and 0x6077 use relative values rather than direct physical units such as N·m or N.

• Unit: 1 = 0.1% (therefore 1000 = 100%)
• Reference: Motor Rated Torque (0x6076) corresponds to 1000 (100%)
• Example: If Max Torque (0x6072) is set to 2000, the allowed torque limit is 200% of the rated motor torque.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x6072	Maximum Torque	UINT	0 to 2000	1000	0.1%	RW	Yes	Always	No

0x6073: Max Current

This object limits the maximum current that may be supplied to the motor, helping protect the motor against damage caused by excessive current. The value is expressed as a relative percentage of Motor Rated Current (0x6075) in 0.1% units.

• Unit: 1 = 0.1% (therefore 1000 = 100%)
• Reference: Motor Rated Current (0x6075) corresponds to 1000 (100%)

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x6073	Max Current	UINT	0 to 2000	1000	0.1%	RW	Yes	Always	Yes

0x6076: Motor Rated Torque

This object is a key reference parameter used by the drive for torque control. Other torque-related settings, such as 0x6071 (Target Torque) and 0x6072 (Max Torque), are interpreted relative to this value.

It represents the rated torque of the motor installed in the product and is configured in the firmware.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x6076	Motor Rated Torque	UINT32	-	-	mNm	RO	No	Always	No

0x6077: Torque Actual Value

This object indicates the torque currently being produced by the motor. The value is typically calculated from the actual motor current. By receiving this object through TPDO, the master can monitor the motor load in real time.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x6077	Torque Actual Value	INT	-	-	0.1%	RO	Yes	-	-

0x6079: DC Link Circuit Voltage

This object reports the voltage of the drive's main DC power circuit. It can be used to check the stability of the supplied voltage and to diagnose the cause of overvoltage or undervoltage errors (0x3110 / 0x3120).

The DC-link voltage derived from the main power input is displayed in units of 0.1V.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x6079	DC Link Circuit Voltage	UINT	-	-	0.1V	RO	Yes	-	No

0x607A: Target Position

This object is the final destination command for position control. The master writes the desired position to this object through RPDO or SDO, and the drive's trajectory generator creates a motion profile from the current position to the target.

It is used as the target position in PP (Profile Position) and CSP (Cyclic Synchronous Position) modes. In PP Mode, the Controlword setting determines whether the value is interpreted as an absolute or relative position; in CSP Mode it is always used as an absolute position.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x607A	Target Position	INT32	- to 2147483647	0	um	RW	Yes	Always	No

0x607D: Software Position Limit

This object defines the software-limited position range. The drive checks new target positions against these limits every control cycle. The minimum position limit defines the reverse-side boundary, while the maximum position limit defines the forward-side boundary.

The software limits constrain the permissible range used by the demanded and actual position handling and help prevent position commands outside the usable stroke.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x607D:0	Number of entries	USINT	-	2	-	RO	No	-	No
0x607D:1	Min Position Limit	INT32	0 to individual spec	0	µm	RW	No	Always	Yes
0x607D:2	Max Position Limit	INT32	0 to individual spec	Individual spec	µm	RW	No	Always	Yes

0x607F: Max Profile Velocity

Defines the maximum profile velocity in PP Mode.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x607F	Max Profile Velocity	UINT32	0 to 0x7FFFFFFF	Individual spec	µm/s	RW	Yes	Always	Yes

0x6080: Max Motor Speed

Represents the maximum speed of the linear servo motor rod.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x6080	Max Motor Speed	UINT32	-	-	µm/s	RO	Yes	Always	Yes

0x6081: Profile Velocity

This object defines how fast the actuator should move in Profile Position Mode. The drive's trajectory generator uses this value together with Profile Acceleration (0x6083) and Profile Deceleration (0x6084) to generate the motion profile.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x6081	Profile Velocity	UINT32	0 to 0x7FFFFFFF	200000	µm/s	RW	Yes	Always	Yes

0x6083: Profile Acceleration

This object defines how quickly the actuator increases speed in PP Mode. A higher value results in faster acceleration, but may also increase mechanical load and vibration. Set an appropriate value according to the characteristics of the mechanism.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x6083	Profile Acceleration	UINT32	0 to 0x7FFFFFFF	Individual spec	µm/s²	RW	Yes	Always	Yes

0x6084: Profile Deceleration

This object defines how quickly the actuator reduces speed during normal deceleration. A higher value produces faster deceleration and a more abrupt stop. This parameter is used for normal stopping behavior.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x6084	Profile Deceleration	UINT32	0 to 0x7FFFFFFF	Individual spec	µm/s²	RW	Yes	Always	Yes

0x6085: Quick Stop Deceleration

This object defines a separate deceleration value for situations requiring a rapid stop, independently of the normal Profile Deceleration (0x6084). When Quick Stop Option Code (0x605A) is set to 2, this value is applied during a Quick Stop command.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x6085	Quick Stop Deceleration	UINT32	0 to 0x7FFFFFFF	Individual spec	µm/s²	RW	Yes	Always	Yes

0x60F4: Following Error Actual Value

This object shows in real time the difference between 0x6062 (Position Demand) and 0x6064 (Actual Position). Monitoring this value allows direct evaluation of servo-control-system performance. If this value exceeds 0x6065 (Following Error Window), an error occurs.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x60F4	Following Error Actual Value	INT32	-	-	µm	RO	Yes	-	No

0x6502: Supported Drive Modes

This object acts as a capability map for the drive. By reading it, the master can determine in advance which values are valid for 0x6060 (Modes of Operation). Each bit indicates whether a particular drive mode is supported.

Index	Name	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x6502	Supported Drive Modes	UINT32	-	0x0000001	-	RO	No	-	No

The supported modes are indicated as follows:

Bit	Supported Mode	Value
0	PP (Profile Position)	1: Supported
1	VI (Velocity)	0: Not Supported
2	PV (Profile Velocity)	0: Not Supported
3	PT (Torque Profile)	0: Not Supported
4	Reserved	0: Not Supported
5	HM (Homing)	0: Not Supported
6	IP (Interpolated Position)	0: Not Supported
7	CSP (Cyclic Synchronous Position)	0: Not Supported
8	CSV (Cyclic Synchronous Velocity)	0: Not Supported
9	CST (Cyclic Synchronous Torque)	0: Not Supported
10 to 31	Reserved	0

10.3 Manufacturer Specific Parameters

Objects in the 0x2000 range are manufacturer-specific parameters.

0x2001: Node ID

The 0x2001 Node ID uniquely identifies the current device on the CANopen network. The master uses this ID to target a specific servo drive for SDO communication and PDO communication. Duplicate Node-IDs on the same network will cause communication conflicts, so each device must be assigned a unique value.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2001	NODE ID	USINT	1 - 127	1	-	RW	No	Stop	Yes

0x2002: CAN Baudrate

The 0x2002 CAN Baudrate object sets the CANopen communication speed. All connected master and slave devices must use exactly the same baudrate for normal communication.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2002	CAN Baudrate	UINT32	0 - 3	1	-	RW	No		Yes

0x2011: Position Deadband

The 0x2011 Position Deadband object works with the Position Window to provide a hysteresis tolerance used when determining departure/restart or state transitions after the target has been reached. It helps prevent status flags from chattering or repeatedly toggling near the boundary and provides a clear criterion for determining when the actuator has left the target region.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2011	Position Deadband	UINT32	0 - 1000	5	µm	RW	No	Always	Yes

0x2012: Gear Backlash Compensation

The 0x2012 Gear Backlash Compensation object compensates for mechanical clearance (backlash) that occurs when the direction of motion changes in the gearbox or ball-screw drive system. It compensates for the lost-motion region during direction reversal to improve positioning accuracy.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2012	Gear Backlash Compensation	UINT	0 - 5000	0	µm	RW	No	Stop	Yes

0x2013: Stroke Calibration Min

The 0x2013 Stroke Calibration Min object is a hardware reference-offset parameter that defines the start point (zero point) used to calculate Actual Position from the raw linear-encoder count and helps define the valid measurement range.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2013	Stroke Calibration Min	UINT	0 - 5000	0	pulse	RW	No	Stop	Yes

0x2014: Stroke Calibration Max

The 0x2014 Stroke Calibration Max object is a hardware reference-offset parameter that determines the start point (zero point) used for Actual Position calculation among the raw count values of the linear encoder and specifies the valid range.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2014	Stroke Calibration Max	UINT	0-5000	0	pulse	RW	No	Stop	Yes

0x2021: Position P Gain

The 0x2021 Position P Gain is the proportional gain of the position-control loop. It generates a velocity command proportional to the error between target position and actual position. A larger value produces faster response, but an excessive value can cause overshoot or vibration.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2021	Position P Gain	UINT32	0 - 100000	1000	-	RW	No	Always	Yes

0x2022: Position I Gain

The 0x2022 Position I Gain is the integral gain of the position-control loop. It accumulates small steady-state position errors so that the actuator can converge more precisely to the target position.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2022	Position I Gain	UINT32	0 - 10000	10	-	RW	No	Always	Yes

0x2023: Position D Gain

The 0x2023 Position D Gain is the derivative gain of the position-control loop. It damps the rate of change of position error, helping reduce overshoot and improve dynamic stability.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2023	Position D Gain	UINT32	0 - 10000	50	-	RW	No	Always	Yes

0x2024: Velocity P Gain

The 0x2024 Velocity P Gain is the proportional gain of the velocity-control loop. It generates a current (torque) command proportional to the difference between target velocity and actual velocity.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2024	Velocity P Gain	UINT32	0 - 100000	500	-	RW	No	Always	Yes

0x2025: Velocity I Gain

The 0x2025 Velocity I Gain is the integral gain of the velocity-control loop. It accumulates velocity-tracking error and helps maintain a constant velocity even when the load changes.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2025	Velocity I Gain	UINT32	0 - 10000	20	-	RW	No	Always	Yes

0x2026: Velocity D Gain

The 0x2026 Velocity D Gain is the derivative gain of the velocity-control loop. It helps moderate the response to sudden velocity changes and reduces mechanical shock.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2026	Velocity D Gain	UINT32	0 - 10000	0	-	RW	No	Always	Yes

0x2027: Current P Gain

The 0x2027 Current P Gain is the proportional gain of the current (torque) control loop. It is part of the innermost and fastest control loop and is used to track the commanded motor current.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2027	Current P Gain	UINT32	0 - 100000	2000	-	RW	No	Always	Yes

0x2028: Current I Gain

The 0x2028 Current I Gain is the integral gain of the current (torque) control loop. It removes steady-state current-control error.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2028	Current I Gain	UINT32	0 - 10000	100	-	RW	No	Always	Yes

0x2029: Current D Gain

The 0x2029 Current D Gain is the derivative gain of the current (torque) control loop. It is generally kept at the default value of 0 to avoid instability caused by high-frequency current components.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2029	Current D Gain	UINT32	0 - 10000	0	-	RW	No	Always	Yes

0x2031: Encoder Position LPF

The 0x2031 Encoder Position LPF is the low-pass filter setting used to reduce high-frequency noise in the encoder position-feedback signal.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2031	Encoder Position LPF	UINT	1 - 1000	100	Hz	RW	No	Always	Yes

0x2032: Velocity LPF Alpha

The 0x2032 Velocity LPF Alpha is a filter coefficient applied to the velocity-feedback and velocity-control calculation path to reduce velocity ripple.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2032	Velocity LPF Alpha	UINT	1 - 1000	100	-	RW	No	Always	Yes

0x2033: UKF Q Noise Covariance

The 0x2033 UKF Q Noise Covariance defines the process-noise covariance used by the Unscented Kalman Filter (UKF) algorithm. It represents uncertainty in the system model and the expected process-noise level.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2033	UKF Q Noise Covariance	UINT	0 - 1000	10	-	RW	No	Always	Yes

0x2034: UKF R Noise Covariance

The 0x2034 UKF R Noise Covariance defines the measurement-noise covariance used by the Unscented Kalman Filter (UKF) algorithm. It represents the reliability and noise level of the sensor measurements.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2034	UKF R Noise Covariance	UINT16	0 - 1000	10	-	RW	No	Always	Yes

0x2041: Overload Check Base

The 0x2041 Overload Check Base defines the time or accumulation reference used to determine whether the motor is in an overload condition. It is used to distinguish short transient peak loads from sustained overload.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2041	Overload Check Base	UINT32	0 - 60000	1000	ms	RW	No	Always	Yes

0x2042: Overload Warning Level

The 0x2042 Overload Warning Level defines the current/load-rate threshold at which the drive determines an overload condition and generates a warning or trip.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2042	Overload Warning Level	UINT32	0 - 10000	80	%	RW	Yes	Always	Yes

0x2071 - 0x207A: User Parameter 1 to 10

The 0x2071 to 0x207A User Parameters are general-purpose user-defined registers provided for temporarily or permanently storing application-specific settings or data during system integration.

Index	Description	Type	Setting Range	Default	Unit	Access	PDO Mapping	Change Condition	Save
0x2071 - 0x207A	User Parameter 1 - 10	UINT32	-	0	-	RW	No	Always	Yes