Definitions:
•<index> : A signed
•<access> : A value describing how the object may be accessed (RW = read/ write, RO =
•<size> : The size of the
•<unit> : The physical unit (e.g. ms, counts per second etc.).
6.1.1CoE communication area
The first set of objects specify general communication settings.
Table 6.4 Device type object
0x1000 | Device type |
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Access: RO |
| Range: N/A | Size: 4 bytes | Unit: N/A |
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Default: | 0x00030192 |
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Description: | The primary CoE functional profile is | |||
| Bits 0 to 15 (Device profile number): 402 (0x192) |
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| Bit 16 (Frequency converter): x |
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| Bit 17 (Servo drive): y |
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| Bit 18 (Stepper motor): 0 |
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| Bit 24 (DC drive - manufacturer specific : z |
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| Bits 25 to 31 (Manufacturer specific): 0 |
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| This value will depend on the drive operating mode and/or type. On a Unidrive SP in open- | |||
| loop or | |||
| 17 and 24 will be cleared. On a Unidrive SP in Servo mode or a Digitax ST, bit 17 will be | |||
| set, while bits 16 and 24 will be cleared. |
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Table 6.5 Identity object |
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0x1018 | Identity object |
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Access: RO |
| Range: N/A | Size: 1 byte | Unit: N/A |
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Default: | 4 |
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Description: | The number of the last |
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Access: RO |
| Range: N/A | Size: 4 bytes | Unit: N/A |
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Default: | 0x000000F9 |
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Description: | This contains the EtherCAT Technology Group vendor ID for Control Techniques | |||
| (0x000000F9). |
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Access: RO |
| Range: N/A | Size: 4 bytes | Unit: N/A |
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Default: | See Pr MM.01. |
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Description: | This has the value of the option ID code. |
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Access: RO |
| Range: N/A | Size: 4 bytes | Unit: N/A |
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Default: | High word: Pr MM.02. Low word: Pr MM.51. |
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Description: | Contains the option module software version number (the major and minor version | |||
| parameter are placed in the high word of this object, and the | |||
| low word). |
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Access: RO |
| Range: N/A | Size: 4 bytes | Unit: N/A |
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Default: | See Pr MM.35. |
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Description: | Contains the option hardware serial number. |
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20 | |
www.controltechniques.com | Issue Number: 2 |