AC Servo Drives

Σ -V Series
USER'S MANUAL
CANopen Network Module
SGDV-OCB01A

To properly use the product, read this manual thoroughly

and retain for easy reference, inspection and maintenance.
Ensure the end user receives this manual.

Please check [Link] for up-to-date versions.

5

MANUAL NO. YEU SIEP C720829 20A

Copyright © 2012 YASKAWA EUROPE GmbH
All rights reserved. No part of this publication may be reproduced, stored in a
retrieval system, or transmitted, in any form, or by any means, mechanical,
electronic, photocopying, recording, or otherwise, without the prior written
permission of Yaskawa. No patent liability is assumed with respect to the use of
the information contained herein. Moreover, because Yaskawa is constantly
striving to improve its high-quality products, the information contained in this
manual is subject to change without notice. Every precaution has been taken in
the preparation of this manual. Nevertheless, Yaskawa assumes no
responsibility for errors or omissions. Neither is any liability assumed for
damages resulting from the use of the information contained in this publication.
About this manual

This manual describes the operation of the SGDV-OCB01A CANopen network

module with the S-V Series servo drive. For a more complete understanding of
the S-V Series capabilities and features, refer to the related manuals.

Be sure to refer to this manual and perform operations correctly.

Keep this manual in a location where it can be accessed for reference

whenever required.

This manual contains the following chapters:

Chapter 1: Introduces the product specification and technical data.

Chapter 2: Describes the installation and configuration of the hardware
and communication.
 Chapters 3 - 5: Describes the communication, PDOs and SGDV objects.
Chapter 6: Describes the device control.
Chapters 7 - 13: Describes the motion related objects in various modes of
operation and the profile motion parameters.
Chapter 14: I/O: Describes how to read and set analog or digital inputs/
outputs.
Chapter 15: Describes error messages and error handling.
Chapter 16: Provides examples.
Chapter 17: Describes the data types.
Chapter 18: Lists the SGDV-OCB01A objects based on EDS.

 IMPORTANT explanations
The following icon is displayed for explanations requiring special attention.

• Indicates important information that should be memorized,

as well as precautions, such as alarm displays, that do not
IMPORTANT involve potential damage to equipment.

iii
  Notation used in this manual
In this manual, the names of reverse signals (ones that are valid when low)
are written with a forward slash (/) before the signal name, as shown in the
following example:

Example

S-ON = /S-ON

 Manuals related to the Sigma-5 series

Refer to the following manuals as required.
Selecting Ratings Panels Trial Maintenance
Models and and System Trial Operation
Name Peripheral Specifi- Design and Operation and Servo and
Wiring Inspection
Devices cations Adjustment
-V Series
User's Manual
Setup Rotational    
Motor
(SIEPS800000 43)
-V Series
User's Manual
Design and
Maintenance
Rotational Motor/     
Analog Voltage and
Pulse Train
Reference
(SIEPS800000 45)

iv
 Safety information
The following conventions are used to indicate precautions in this manual.
Failure to heed precautions provided in this manual can result in serious or
possibly even fatal injury or damage to the products or to related equipment
and systems.

Indicates precautions that, if not heeded, could

WARNING possibly result in loss of life or serious injury.

Indicates precautions that, if not heeded, could result

in relatively serious or minor injury, damage to the
product, or faulty operation.
CAUTION In some situations, the precautions indicated could
have serious consequences if not heeded.

Indicates prohibited actions that must not be

performed. For example, this symbol would be used to
PROHIBITED indicate that fire is prohibited as follows:

Indicates compulsory actions that must be performed.

For example, this symbol would be used as follows to
MANDATORY
indicate that grounding is compulsory:

v
 Safety precautions

These safety precautions are very important. Read them before performing
any procedures such as checking products on delivery, storage and
transportation, installation, wiring, operation and inspection, or disposal. Be
sure to always observe these precautions thoroughly.

WARNING
• Never touch any rotating motor parts while the motor is running.
Failure to observe this warning may result in injury.
• Before starting operation with a machine connected, make sure that an
emergency stop can be applied at any time.
Failure to observe this warning may result in injury or damage to the product.
• Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
• Do not remove the cover of the power supply terminals while the power is ON.
Failure to observe this warning may result in electric shock.
• After the power is turned OFF or after a voltage resistance test, do not
touch terminals while the CHARGE lamp is ON.
Residual voltage may cause electric shock.
• Follow the procedures and instructions provided in this manual for trial
operation.
Failure to do so may result not only in faulty operation and damage to equipment, but
also in personal injury.
• The multi-turn output range for the S-V Series absolute position detecting
system is different from that of earlier systems (15-bit and 12-bit encoders).
In particular, change the system to configure the S series infinite-length
positioning system with the S-V Series.
• The multi-turn limit value needs not be changed except for special
applications.
Changing it inappropriately or unintentionally can be dangerous.
• If the Multi-turn Limit Disagreement alarm occurs, check the setting of
parameter Pn205 in the SERVOPACK to be sure that it is correct.
If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be
set in the encoder. The alarm will disappear even if an incorrect value is set, but
incorrect positions will be detected, resulting in a dangerous situation where the
machine will move to unexpected positions.
• Do not remove the front cover, cables, connectors, or optional items from
the upper front of the SERVOPACK while the power is ON.
Failure to observe this warning may result in electric shock.
• Do not damage, press, exert excessive force on, or place heavy objects on
the cables.
Failure to observe this warning may result in electric shock, stopping operation of the
product, or fire.
• Do not modify the product.
Failure to observe this warning may result in injury, fire, or damage to the product.

vi
 WARNING
• Provide an appropriate stopping device on the machine side to ensure
safety. The holding brake on a servomotor with a brake is not a stopping
device for ensuring safety.
Failure to observe this warning may result in injury.
• Do not come close to the machine immediately after resetting a momentary
power loss. The machine may restart unexpectedly. Take appropriate
measures to ensure safety against an unexpected restart.
Failure to observe this warning may result in injury.
• Connect the ground terminal according to local electrical codes (100 W or
less for a SERVOPACK with a 100, 200 V power supply. 10 W or less for a
SERVOPACK with a 400 V power supply.)
Improper grounding may result in electric shock or fire.
• Installation, disassembly, or repair must be performed only by authorized
personnel.
Failure to observe this warning may result in electric shock or injury.
• The person who designs a system using the safety function (Hard Wire
Baseblock function) must have full knowledge of the related safety
standards and full understanding of the instructions in S-V Series User’s
Manual Design and Maintenance (SIEP S800000 45/46).
Failure to observe this warning may result in injury or damage to the product.

 Storage and transportation

CAUTION
• Do not store or install the product in the following locations.
Failure to observe this caution may result in fire, electric shock, or damage to the product.
• Locations subject to direct sunlight
• Locations subject to temperatures outside the range specified in the storage/
installation temperature conditions
• Locations subject to humidity outside the range specified in the storage/installation
humidity conditions
• Locations subject to condensation as the result of extreme changes in
temperature
• Locations subject to corrosive or flammable gases
• Locations subject to dust, salts, or iron dust
• Locations subject to exposure to water, oil, or chemicals
• Locations subject to shock or vibration
• Do not hold the product by the cables, motor shaft or detector while
transporting it.
Failure to observe this caution may result in injury or malfunction.
• Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.

vii
  Storage and transportation (cont’d)

CAUTION
• If disinfectants or insecticides must be used to treat packing materials such
as wooden frames, pallets, or plywood, the packing materials must be
treated before the product is packaged, and methods other than fumigation
must be used.
• Example: Heat treatment, where materials are kiln-dried to a core
temperature of 56C for 30 minutes or more.
If the electronic products, which include stand-alone products and products installed
in machines, are packed with fumigated wooden materials, the electrical components
may be greatly damaged by the gases or fumes resulting from the fumigation process.
In particular, disinfectants containing halogen, which includes chlorine, fluorine,
bromine, or iodine can contribute to the erosion of the capacitors.

 Installation

CAUTION
• Never use the product in an environment subject to water, corrosive gases,
inflammable gases, or combustibles.
Failure to observe this caution may result in electric shock or fire.
• Do not step on or place a heavy object on the product.
Failure to observe this caution may result in injury.
• Do not cover the inlet or outlet ports and prevent any foreign objects from
entering the product.
Failure to observe this caution may cause internal elements to deteriorate resulting in
malfunction or fire.
• Be sure to install the product in the correct direction.
Failure to observe this caution may result in malfunction.
• Provide the specified clearances between the SERVOPACK and the
control panel or with other devices.
Failure to observe this caution may result in fire or malfunction.
• Do not apply any strong impact.
Failure to observe this caution may result in malfunction.

viii
 Wiring

CAUTION
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
• Do not connect a commercial power supply to the U, V, or W terminals for
the servomotor connection.
Failure to observe this caution may result in injury or fire.
• Securely connect the main circuit power supply terminals and servomotor
connection terminals.
Failure to observe this caution may result in fire.
• Do not bundle or run the main circuit cables together with the I/O signal
cables or the encoder cables in the same duct. Keep them separated by at
least 30 cm.
Failure to do so may result in malfunction.
• Use shielded twisted-pair wires or multi-core shielded twisted-pair wires for
I/O signal cables and the encoder cables.
• I/O signal cables must be no longer than 3 m, encoder cables must be no
longer than 50 m, and control power supply (+24 V, 0 V) cables for a 400 V
input SERVOPACK must be no longer than 10 m.
• Do not touch the power terminals while the CHARGE lamp is ON after
turning power OFF because high voltage may still remain in the
SERVOPACK.
Make sure the charge indicator is off first before starting an inspection.
• Observe the following precautions when wiring main circuit terminals.
• Remove detachable main circuit terminals from the SERVOPACK prior to wiring.
• Insert only one main circuit cable per opening in the main circuit terminals.
• Make sure that no part of the core wire comes into contact with (i.e., short-circuit)
adjacent wires.
• Install a battery at either the host controller or the battery unit of the
encoder, but not both.
It is dangerous to install batteries at both ends simultaneously, because that sets up a
loop circuit between the batteries.
• Always use the specified power supply voltage.
An incorrect voltage may result in fire or malfunction.
• Take appropriate measures to ensure that the input power supply is
supplied within the specified voltage fluctuation range. Be particularly
careful in places where the power supply is unstable.
An incorrect power supply may result in damage to the product.
• Install external breakers or other safety devices against short-circuiting in
external wiring.
Failure to observe this caution may result in fire.
• Take appropriate and sufficient countermeasures for each form of potential
interference when installing systems in the following locations.
• Locations subject to static electricity or other forms of noise
• Locations subject to strong electromagnetic fields and magnetic fields
• Locations subject to possible exposure to radioactivity
• Locations close to power supplies
Failure to observe this caution may result in damage to the product.

ix
  Wiring (cont’d)

CAUTION
• Do not reverse the polarity of the battery when connecting it.
Failure to observe this caution may result in damage to the battery, the SERVOPACK,
or cause an explosion.
• Wiring or inspection must be performed by a technical expert.
• Use a 24 VDC power supply with double insulation or reinforced insulation.

 Operation

CAUTION
• Conduct trial operations on the servomotor alone, with the motor shaft
disconnected from the machine to avoid accidents.
Failure to observe this caution may result in injury.
• Before starting operation with a machine connected, change the settings to
match the parameters of the machine.
Starting operation without matching the proper settings may cause the machine to run
out of control or malfunction.
• Do not frequently turn power ON and OFF.
Since the SERVOPACK has a capacitor in the power supply, a high charging current
flows when power is turned ON. Frequently turning power ON and OFF causes main
power devices like capacitors and fuses to deteriorate, resulting in unexpected
problems.
• When using JOG operations (Fn002) origin search operations (Fn003), or
EasyFFT operations (Fn206), the dynamic brake function does not work for
reverse overtravel or forward overtravel. Take necessary precautions.
Failure to observe this caution may result in damage to the product.
• When using the servomotor for a vertical axis, install safety devices to
prevent workpieces from falling due to alarms or overtravels. Set the
servomotor so that it will stop in the zero clamp state when overtravel
occurs.
Failure to observe this caution may cause workpieces to fall due to overtravel.
• When not using tuning-less function, set to the correct moment of inertia
ratio (Pn103).
Setting to an incorrect moment of inertia ratio may cause vibration.
• Do not touch the SERVOPACK heatsinks, regenerative resistor, or
servomotor while power is ON or soon after the power is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
• Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury or damage to the product due to
unstable operation.
• When an alarm occurs, remove the cause, reset the alarm after confirming
safety, and then resume operation.
Failure to observe this caution may result in damage to the product, fire, or injury.
• Do not use the holding brake of the servomotor for braking.
Failure to observe this caution may result in malfunction.

x
 Operation (cont’d)

CAUTION
• Always use the servomotor and SERVOPACK in one of the specified
combinations.
Failure to observe this caution may result in fire or malfunction.
• The servomotor stopping method of turning the main-circuit or control-circuit
power OFF without turning the servo OFF during operation can not be set in
Parameter Pn001. Use the following method to stop the servomotor.
• When turning the main-circuit power OFF without turning the servo OFF:
The servomotor will be stopped by dynamic braking (DB).
• When turning the control-circuit power OFF without turning the servo OFF:
The stopping method will vary depending on the SERVOPACK model.
Refer to the -V Series User's Manual Design and Maintenance for details.

 Maintenance and inspection

CAUTION
• Do not disassemble the SERVOPACK.
Failure to observe this caution may result in electric shock or injury.
• Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
• When replacing the SERVOPACK, resume operation only after copying the
previous SERVOPACK parameters to the new SERVOPACK.
Failure to observe this caution may result in damage to the product.

xi
  Disposal

CAUTION
• When disposing of the products, treat them as ordinary industrial waste.

 General precautions

Observe the following general precautions

to ensure safe application.
• The products shown in illustrations in this manual are sometimes shown without covers or
protective guards. Always replace the cover or protective guard as specified first, and then
operate the products in accordance with the manual.
• The drawings presented in this manual are typical examples and may not match the
product you received.
• This manual is subject to change due to product improvement, specification modification,
and manual improvement. When this manual is revised, the manual code is updated and
the new manual is published as a next edition. The edition number appears on the front
and back covers.
• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa
representative or one of the offices listed on the back of this manual.
• Yaskawa will not take responsibility for the results of unauthorized modifications of this
product.
Yaskawa shall not be liable for any damages or troubles resulting from unauthorized
modification.

xii
CONTENTS

About this manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii

Safety precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi

1 SGDV-OCB01A CANopen Network Module - - - - - - - - - - - - - - - - - - - 1-1

1.1 Introduction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-1
1.2 CANopen network module features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-1
1.3 SGDV-OCB01A Model designation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.4 SGDV-OCB01A Technical specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.5 Checking on delivery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.5.1 Checking items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.5.2 Nameplate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.6 SGDV-OCB01A Hardware interface - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.6.1 RUN LED status description - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.6.2 ERROR LED status description- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
1.6.3 S1 and S2 – Address switches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
1.6.4 S3 - Baud rate selection switch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
1.6.5 CAN connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
1.6.6 CANopen cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
1.6.7 Termination resistor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
1.6.8 SGDV-OCB01A Dimensions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8

2 Hardware installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-1

2.1 Mounting the CANopen network module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-1
2.2 Connecting to the CAN bus network - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

3 Communication parameter objects - - - - - - - - - - - - - - - - - - - - - - - - - - 3-1

3.1 Object 1000h - Device Type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-1
3.2 Object 1001h - Error Register - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-1
3.3 Object 1005h - COB-ID SYNC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-1
3.4 Object 1008h - Manufacturer Device Name - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.5 Object 1010h - Store Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.6 Object 1011h - Restore Default Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.7 Object 1014h - COB-ID EMCY - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
3.8 Object 1016h - Consumer Heartbeat Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
3.9 Object 1017h - Producer Heartbeat Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5
3.10 Object 1018h - Identity Object - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6

xiiixiii
 4 Process Data Objects (PDOs) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-1
4.1 PDO objects overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-1
4.2 Object 1400h-1403h - RPDO Communication Parameter - - - - - - - - - - - - - - - - - - - - - 4-1
4.3 Object 1600h-1603h - RPDO Mapping Parameter - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.3.1 Default values for RPDO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
4.4 Object 1800h-1803h - TPDO Communication Parameter - - - - - - - - - - - - - - - - - - - - - 4-6
4.5 Object 1A00h-1A03h - TPDO Mapping Parameter - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
4.5.1 Default values for TPDO- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.6 Mapping procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11

5 Manufacturer specific objects - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-1

5.1 Object 2004h - Utility servo function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-1
5.2 Object 203fh - Manufacturer error code - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-1
5.3 Object 2100h - Get Parameter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.4 Object 2101h - Set Parameter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.5 Object 2211h - Read Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.6 Object 2300h - User unit group enable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.7 Object 2301h - Position User Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.8 Object 2302h - Velocity User Unit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.9 Object 2303h - Acceleration User Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.10 Object 2400h - Position Range Limit Designation- - - - - - - - - - - - - - - - - - - - - - - - - - 5-8
5.11 Object 2401h - Target_Position_In_Range- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8
5.12 Object 2402h - Actual_Position_In_Range - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8

6 Device control objects - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-1

6.1 SGDV-OCB01A Device control - General - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-1
6.1.1 CAN network management (NMT)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-1
6.1.2 Controlling the Power Drive System (PDS)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.3 Modes of operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
6.2 Object 603fh – Error code - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
6.3 Object 6040h – Control Word- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
6.4 Object 6041h – Status Word - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
6.5 Object 605Ah - Quick stop option code - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
6.6 Object 6060h - Modes of Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.7 Object 6061h - Modes of Operation Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8

xivxiv
7 Pole detection mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-1
7.1 Introduction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-1
7.2 Mode of operation (6060h)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-1
7.3 Control word (6040h) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-1
7.4 Status word (6041h) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-1
7.5 Pole detection condition - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2

8 Profile position objects - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-1

8.1 Mode specific control word - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-1
8.2 Mode specific status word - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-1
8.3 Object 6067h - Position Window- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
8.4 Object 6068h - Position Window Time- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
8.5 Object 607Fh - Maximum Profile Velocity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
8.6 Object 6081h - Profile Velocity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
8.7 Object 6083h - Profile Acceleration- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
8.8 Object 6084h - Profile Deceleration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
8.9 Object 6085h - Quick Stop Deceleration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4
8.10 Object 607Ah - Target Position - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4
8.11 Object 6062h – Position Demand Value in User Units - - - - - - - - - - - - - - - - - - - - - - - 8-4
8.12 Object 6063h – Position Actual Value - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5
8.13 Object 6064h – Position Actual Value in User Units - - - - - - - - - - - - - - - - - - - - - - - - 8-5

9 Homing mode objects - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-1

9.1 Mode specific control word - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-1
9.2 Mode specific status word - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-1
9.3 Object 607Ch – Home Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.4 Object 6098h - Homing Method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.5 Object 6099h - Homing Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-9
9.6 Object 609Ah - Homing Acceleration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-9

xvxv
 10 Profile velocity mode objects - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-1
10.1 Mode specific control word - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-1
10.2 Mode specific status word - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-1
10.3 Object 606Bh - Velocity Demand Value - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-1
10.4 Object 606Ch - Velocity Actual Value - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.5 Object 60FFh - Target Velocity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.6 Object 6083h - Profile Acceleration- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.7 Object 6084h - Profile Deceleration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
10.8 Object 6085h - Quick Stop Deceleration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3

11 Profile torque mode objects - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-1

11.1 Mode specific control word- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-1
11.2 Mode specific status word - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-1
11.3 Object 6071h - Target Torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-1
11.4 Object 6072h - Maximum Torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.5 Object 6074h - Torque Demand - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.6 Object 6077h - Torque Actual Value - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.7 Object 6087h - Torque Slope - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2

12 Touch probe - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-1

12.1 Object 60B8h - Touch probe function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-1
12.2 Object 60B9h - Touch probe status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2
12.3 Object 60BAh - Touch probe pos1 pos value - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2
12.4 Object 60BCh - Touch probe pos2 pos value - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-3

13 Interpolated position mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-1

13.1 General information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-1
13.2 Mode specific control word - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-3
13.3 Mode specific status word - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-3
13.4 Object 60C1h - Interpolation Data Record - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-3
13.5 Object 60C2h - Interpolation Time Period - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-4
13.6 Guidelines for interpolated motion execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-4
13.6.1 Working in continuous execution: - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-4

14 Inputs and outputs objects - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-1

14.1 Object 60FDh - Digital Inputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-1
14.2 Object 60FEh - Digital Output- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-1

xvixvi
15 Error handling- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 15-1
15.1 General - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 15-1
15.2 Classes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 15-1
15.3 EMCY message format - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 15-1
15.4 Generic error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 15-2
15.5 CANopen communication errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 15-2
15.6 Emergency message- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 15-3
15.7 Error code chart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 15-4
15.7.1 Error code chart 1: Errors detected by the CANopen network card - - - - - - - - - - 15-6
15.7.2 Error code chart 2: Errors detected by the servo unit - - - - - - - - - - - - - - - - - - - - 15-7
15.7.3 Abort SDO Transfer Protocol- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 15-9
15.7.4 Recovery procedure after the interlock circuit is open: - - - - - - - - - - - - - - - - - - 15-10

16 Examples- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16-1
16.1 Homing example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16-1
16.2 Profile position example- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16-2

17 Description of data types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 17-1

17.1 Data types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 17-1

18 SGDV-OCB01A objects based on EDS- - - - - - - - - - - - - - - - - - - - - 18-1

18.1 Description of objects - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 18-1

Revision History 1

xviixvii
xviiixviii
 1 SGDV-OCB01A CANopen Network Module

1 SGDV-OCB01A CANopen Network Module

1.1 Introduction

The SGDV-OCB01A is an add-on board, compatible with -V Series models, which provides an
interface for CANopen networking (Network type). The CANopen interface enables the user to
achieve high-speed distributed control with a high level of reliability. CANopen is a higher-layer
protocol commonly used in automation industry. The specification of this protocol is maintained
and developed by the CiA (CAN in Automation) organization ([Link]).

1.2 CANopen network module features

CANopen network module offers a wide range of functions based on the following:
 CANopen DS-301 specification
 Drive profiles according to DSP-402, V2.0 support the following modes:
• Pole Detection Mode
• Profile Position Mode
• Homing Mode
• Profile Velocity Mode
• Profile Torque Mode
• Interpolated position mode

 Rotary switches for setting node ID – up to 127 nodes

 Communication rate of up to 1 Mbps
 Standard 9-pin D-type connector
 Two indicator LEDs according to CiA303-3

CANopen network module is conform to:

 CiA Specifications
 Safety Standard UL508
 Material Compliance UL94V-0
 RoHS Directive 2002/95/EC
 WEEE Directive 2002/96/EC
 Low Voltage Directive 73/23/EEC
 EMC Directive 89/336/EEC

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 1 SGDV-OCB01A CANopen Network Module

1.3 SGDV-OCB01A Model designation

The network module that is mounted onto the servopack consists of the network card and the
housing for the network card.

Model designation for the network card

SGDV - OC B 01 A

Product Series Design revision order

Sigma-5 Series A.........

PCB Category Option card specification

OC: Command Option Card 01: CANopen

Responsible Branch for Product

A: Japan
B: Europe

Model designation for the housing

SGDV - OZ A 01 A

Series Design revision order

Sigma-5 Series A.........

Type of Option Option case specification

Case for option module General purpose

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 1 SGDV-OCB01A CANopen Network Module

1.4 SGDV-OCB01A Technical specifications

CANopen communication standards DS-301, V4.02

CAN bit rates 10, 20, 50, 125, 250, 500, 800, 1000 Kbps
CAN identifier Standard 11 bit
CANopen node-ID 1-127 (set by two rotary switches)
NMT services Slave
SDO communication 1 server
Block transfer No
Segmented transfer Yes
Block transfer No
PDO communication Producer and consumer, default setting according to
DSP-402
Supported RPDOs 1 to 4
Supported TPDOs 1 to 4
PDO mapping entries Dynamic with maximum 2 mapping entries
SYNC Consumer
Time stamp No
Emergency messages Producer
Node guarding No
Heartbeat Producer and Consumer
Non-volatile storage Yes
CANopen profile for drives DSP-402, V2.0
Axis types Linear and Rotary
Motor type Brushless AC servo
Storage temperature -20 to +85 °C
Ambient temperature 0 to +55 °C
Ambient temperature to ensure
+45 °C or less
long-term reliability
Ambient humidity 90 % RH or less (non-condensing)

Vibration 4.9 m/s2 or less

Current consumption 0.28 A from 5VDC Servo Drive supply

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 1 SGDV-OCB01A CANopen Network Module

1.5 Checking on delivery

1.5.1 Checking items

When -V Series products such as network boards are delivered, check the items displayed in
the table below.
Check Items Remarks
Check if the delivered products match Check the types marked on the nameplates of the
the ones you ordered. network unit.
Check the overall appearance, and check for damage
Check for any visible damage.
or scratches resulting from transportation.
Check if the type of SGDV is applicable
Check the nameplate of the SGDV.
for network unit.

1.5.2 Nameplate
The description and production details of the product are displayed on the network module’s
nameplate as shown below.

CANopen Network Module

Model SGDV-OCB01A VER:

xxxxxxxxxx
Serial
Number

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 1 SGDV-OCB01A CANopen Network Module

1.6 SGDV-OCB01A Hardware interface

The table below describes the elements of the SGDV-OCB01A hardware interface as displayed
in the figure on the right side of the table.

No. Name Description Appearance

Indicates the status of the CANopen network
1 RUN LED
state machine.
Indicates the status of the CAN physical layer
2 ERROR LED and indicates errors due to missing CAN
messages.
Sets the most significant bit of the CAN node
S1: Address
3 address (hexadecimal format). (See 1.6.3 S1
Switch
and S2 – Address switches.)
Sets the least significant bit of the CAN node
S2: Address
4 address (hexadecimal format). (See 1.6.3 S1
Switch
and S2 – Address switches.)
S3: Baud Rate
5 Sets the baud rate using the DIP switch S3.
Selection Switch
6 CN11 connector D-SUB 9-Pin Plug CAN Bus Connector

7 CN12 connector 14-Pin high density Serial Port connector

1.6.1 RUN LED status description

The RUN LED indicates the status of the CANopen Network Management (NMT) state of
machine. (For more details about the NMT see Section 6.1.1.)

Table 3 describes the RUN LED states:

No. LED state NMT state Description

1 Single flash Stopped SGDV-OCB01A is in stopped state.
2 Blinking Preoperational SGDV-OCB01A is in preoperational state.
3 Light ON Operational SGDV-OCB01A is in operational state.

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 1 SGDV-OCB01A CANopen Network Module

1.6.2 ERROR LED status description

The Error LED indicates the status of the CAN physical layer. It also indicates errors due to
missing CAN messages.
No. LED State Device state Description
1 OFF No error SGDV-OCB01A is in working condition.
SINGLE FLASH Warning Limit Reached At least one of the error counters of the CAN
2 controller has reached or exceeded the
warning limit.
DOUBLE FLASH Error Control Event A guard event (NMT) or a heartbeat event
3
has occurred.
TRIPLE FLASH Sync Error The SYNC message has not been received
4 within the configured communication cycle
period time out. (See index 0x1006.)
5 ON Bus Off The CAN controller bus is off.

1.6.3 S1 and S2 – Address switches

Each CAN device should be assigned with a unique identification number.
The identification number is referred to as the Node-ID. The Node-ID range is from 1 to 127.
The SGDV-OCB01A has two hexadecimal rotary switches for setting the Node ID.
The Node-ID is a combination of two hexadecimal digits.
The following table shows a few examples:
Decimal Address Switch S1 Switch S2 Hexadecimal Value Appearance

01 0 1 01 㧟
㧠㧡
㧢 S1
㧲㧜㧝㧞

㧣㧤 㧥
㧱

㧭㧮
㧯D

58 3 A 3A 㧟
㧠㧡
㧢 S2
㧲㧜㧝㧞

㧣㧤 㧥
㧱

㧭㧮
㧯D
127 7 F 7F

Either the device must be powered on, or the application or communication must be reset for the
newly set address to become effective.
The factory default setting for the Node ID is 1.
CAUTION
Set the board address using the rotary switches before applying the power.
Exceeding the Node-ID range (1 to 127) causes a malfunction of the
CANopen Network Module and consequently disables the RUN LED and
the ERROR LED (LED state = OFF).

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 1 SGDV-OCB01A CANopen Network Module

1.6.4 S3 - Baud rate selection switch

The SGDV-OCB01A can communicate using several baud rates, and up to 1Mbps.
The SGDV-OCB01A baud rate is set by the DIP switch S3 as defined in the table below.
1 2 3 Baud Rate Max BUS Length [m]
ON ON ON 10 kbps
ON
ON ON OFF 20 kbps 2500

1
ON OFF ON 50 kbps 1000

2
ON OFF OFF 125 kbps 500
ON 250 kbps 250

3
OFF ON
OFF ON OFF 500 kbps 100

4
OFF OFF ON 800 kbps 50 DIP-SW: S3
OFF OFF OFF 1000 kbps 25
It may be necessary to use repeaters for bus lengths greater than 1000 m.
Do not change the setting of switch 4!

1.6.5 CAN connector

The SGDV-OCB01A is connected to the CAN Bus with the CN11 connector.
Connector type: D-type, 9 pin, male.

Terminal Layout
Pin No. Name
1 NC
2 CAN-L
3 GND
4 NC
5 NC
6 NC
7 CAN-H
8 NC
9 NC
Shield Connected to CAN cable shield

Recommended mating connector

Connector Parts
Connector 9-Pin D-SUB for cable, Female
Cover 17JE-09-H1C (DDK)

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 1 SGDV-OCB01A CANopen Network Module

1.6.6 CANopen cable

CANopen cable has a single twisted pair with overall shielding. CANopen has a specified colour
code, and it is strongly recommended that this code is maintained.
Since CANopen networks run at high data rates, they require cable specifically designed to
carry high frequency signals. Low quality cable will attenuate the signals, and may render the
signal unreadable for the other nodes on the network.
We can only guarantee correct and reliable operation if all other equipment installed on the
CANopen network (including the network cable) has been approved by CAN in Automation (CiA).

1.6.7 Termination resistor

The CAN bus network uses two bi-directional signal wires for differential data transmission.
The CAN network requires the first and the last nodes to be terminated with a 120 resistor.
Node ID
(1…127)

CAN Master

CAN_H

120 Ω
120 Ω

CAN_L

1.6.8 SGDV-OCB01A Dimensions

CONNECTOR (24) NAMEPLATE
(12)

CN11
CN12
(22)
(160)
(84)

20 97

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 2 Hardware installation

2 Hardware installation
2.1 Mounting the CANopen network module
The CANopen network module will be mounted on the right side of the Sigma-V servopack.
To mount the network module to the servopack follow the instructions below.

Σ-V Amplifier

Spacer

CANopen network card

Mounting screw 3 for

network card M3 x 12

Nameplate

Cover for
network card

Metal bar

Mounting screws 1 and 2

for metal bar M3 x 6 Mounting screws 1and 2
for option card M3 x 6

1. Remove the cover from CN10 on the SGDV servo amplifier.

2. Mount the metal bar which is delivered with the network module to the SGDV amplifier
with the screws 1 and 2 at both ends of the bar.
3. Now plug in the CANopen network card to CN10.
4. Attach the network card with the screws 1, 2 and 3 to the servo amplifier, do not forget
the spacer for screw 3.
5. Now snap on the cover for the network module to the servo amplifier, the completed unit
will look like the following picture.

2-1
 2 Hardware installation

2.2 Connecting to the CAN bus network

Connect the CAN cable to CN6 connector. (See Section 1.6.5 CAN connector for the connector
layout.)

2-2
 3 Communication parameter objects

3 Communication parameter objects

3.1 Object 1000h - Device Type

Sub Parameter Data Access PDO

Index Default Value Category
Index Name Type Type Mapping
1000h 0h Device Type u32 RO 0x00420192 Mandatory No

3.2 Object 1001h - Error Register

Sub Parameter Data Access PDO

Index Default Value Category
Index Name Type Type Mapping
1001h 0h Error register u8 RO Mandatory optional

The object shell provides error information. It is part of the emergency object.

Value range

Bit Value Function

0 0 No error
1 Generic error
1-7 Reserved (not supported)

The error message and the error code are triggered by an EMCY object.

3.3 Object 1005h - COB-ID SYNC

Sub Parameter Data Access PDO

Index Default Value Category
Index Name Type Type Mapping
1005h 0h COB-ID-SYNC u32 RW Mandatory No

This object indicates the configured COB-ID frame message for the synchronization object and
whatever this device will generate through synchronization. The structure of the object is as
follows:

31 30 29 28 11 10 1
X SYNC generate 0b 000 000 000 000 00b 11bit CAN-ID

3-1
 3 Communication parameter objects

Value range
Bit Value Function
0-10 11bit CAN-ID
11-28 29bit CAN-ID (extended)
29 0 Always 0
0 Device does not generate SYNC message
30
1 Device generates SYNC message
31 Not for use

3.4 Object 1008h - Manufacturer Device Name

Sub Data Access Default PDO

Index Parameter Name Category
Index Type Type Value Mapping
Manufacturer Visible SGDV-
1008h 0h RO Optional No
device name string OCB01A

3.5 Object 1010h - Store Parameters

Sub Data Access Default PDO

Index Parameter Name Category
Index Type Type Value Mapping
Store parameter
1010h u32 Optional
field
Largest subindex
0h u8 RO Mandatory No
supported
Save all
1h u32 RW Mandatory No
Parameters

Writing access
In order to avoid erroneous storage of parameters, they are only stored when a specific signature
is written to the appropriate sub-index.
The signature that is written is save (ASCII values).

MSB LSB
e v a s
65h 76h 61h 73h

3-2
 3 Communication parameter objects

Reading access
On reading the appropriate sub-index, CANopen provides information about the storage
functionality in the following format:

Storage functionality
MSB LSB
31 2 1 0
00 0000 0000 0000 0000 0000 0000 0000 Auto Cmd

Reading Message interpretation

Bit Value Function

0 CANopen device does not save parameters on command.
0
1 CANopen device saves parameters on command.
0 CANopen device does not save parameters autonomously.
1
1 CANopen device saves parameters autonomously.
On receipt of a correct save signature to the appropriate sub-index, CANopen stores the
parameters to the device and the device generates an SDO for confirmation.
• If the storage process fails, CANopen responds with SDO abort code 06060000h.
• If an incorrect signature is sent, CANopen responds with SDO abort code 08000020h.

3.6 Object 1011h - Restore Default Parameters

Sub Data Access Default PDO

Index Parameter Name Category
Index Type Type Value Mapping
Restore Default
1011h u32 Optional
Parameter
Largest subindex
0h u8 RO Mandatory No
supported
1h Restore all Parameters u32 RW Mandatory No

Writing access
In order to avoid erroneous storage of parameters, they are only stored when a specific
signature is written to the appropriate sub-index.
The signature that is written is load (ASCII values):

MSB LSB
d a o l
64h 61h 6Fh 6Ch

3-3
 3 Communication parameter objects

Reading access
When the appropriate sub-index is read, CANopen provides information about the storage
functionality in the following format:
Storage Functionality
MSB LSB
31 2 1 0
00 0000 0000 0000 0000 0000 0000 0000 Auto Cmd

Meaning

Bit Value Function

0 CANopen device does not restore default parameters on command.
0
1 CANopen device restores default parameters on command.
• When a correct load signature is received by the appropriate sub-index, CANopen
restores the default parameters to the device, and the device generates an SDO for
confirmation.
• If the restoration fails, CANopen responds with an SDO abort code 06060000h.
• If an incorrect signature is sent, CANopen responds with an SDO abort code 08000020h.
• The default values are set as valid after the device has been reset or power cycled.

3.7 Object 1014h - COB-ID EMCY

Sub Data Access PDO

Index Parameter Name Default Value Category
Index Type Type Mapping
COB-ID EMCY
1014h 0h u32 RO 0x80h+Node ID Mandatory No
message
This object indicates the configured COB-ID frame message of the emergency object and
whatever EMCY exists in the device.

3.8 Object 1016h - Consumer Heartbeat Time

Sub Data Access Default PDO

Index Parameter Name Category
Index Type Type Value Mapping
Consumer heartbeat time Optional No
1016h 0h Number of Entries u8 RO Mandatory
1h Consumer 1 heartbeat time u32 RW Optional
This object indicates the expected consumer heartbeat cycle time. The consumer heartbeat
value must be higher than the producer cycle time (Object 1017h), otherwise the consumer will
perceive it as communication lost. Monitoring this heartbeat will start after the reception of the
first heartbeat. Until it is received, the state of the heartbeat producer is unknown.
3-4
 3 Communication parameter objects

Sub-index 0h
Number of supported heartbeat consumers.

Value range:
1h = One consumer.

Sub-index 1h
Contains the definitions for the heartbeat consumer in the following structure:

Structure of the heartbeat consumer

31 24 23 16 15 0
Reserved Consumer node-ID Heartbeat time

Value range:
Consumer node-ID: 1-127.

Heartbeat time:
Requested time cycle in 1 msec units.

If the heartbeat time is zero or the node-ID is out of the above range, then the heartbeat
consumer object will not be active.

3.9 Object 1017h - Producer Heartbeat Time

Sub Data Access PDO

Index Parameter Name Default Value Category
Index Type Type Mapping
Producer Heartbeat
1017h 0h U16 RW 0x0 Mandatory No
time
This object defines the Heartbeat cycle time.
The Heartbeat is a cyclic signal that a CAN device sends to the network. The Heartbeat consumer
receives this cyclic signal message and it can indicate that the heartbeat producer is working
properly.

Value range:
0 = Disable Producer Heartbeat.
1...65535 (1…FFFFh) = Cycle time [msec].

3-5
 3 Communication parameter objects

3.10 Object 1018h - Identity Object

Sub Data Access PDO

Index Parameter Name Default Value Category
Index Type Type Mapping
Identity Object Mandatory
0h Number of Entries u8 RO 0x4 Mandatory No
1h Vendor ID u32 RO Mandatory No
1018h
2h Product Code u32 RO Optional No
3h Revision Number u32 RO Optional No
4h Serial Number u32 RO Optional No
This object provides general identification information for the CANopen device.

3-6
 4 Process Data Objects (PDOs)

4 Process Data Objects (PDOs)

4.1 PDO objects overview
The CANopen protocol allows the user to map objects into Process Data Objects (PDOs) to use
these PDOs for real time data transfer.
A PDO message length is up to 8 bytes and an SDO message is 16 bytes. Since the data
contained in several SDOs can be configured into one PDO, using PDOs can reduce each
message length. This reduces the amount of data transferred, making communication more
efficient. PDOs use different Communication Object Identifiers (COB-ID) which give them
higher priority over SDOs.
SGDV-OCB01A supports 4 Receive PDOs (RPDO) and 4 Transmit PDOs (TPDO). Each PDO
uses two objects, one for mapping configuration and one for communication configuration.
Mapping configuration defines which objects this PDO will include.
Communication configuration defines the PDO communication parameters such as:
communication object, PDO active/disable, generating trigger, inhibit time and more.
The table below describes the objects that relate to the relevant PDOs:

PDO related objects

Receive PDO Transmit PDO
# Communica- Mapping Communica- Mapping
COB-ID COB-ID
tion object object tion object object
1 200h+Node-IDh 1400h 1600h 180h+Node-IDh 1800h 1a00h
2 300h+Node-IDh 1401h 1601h 280h+Node-IDh 1801h 1a01h
3 400h+Node-IDh 1402h 1602h 380h+Node-IDh 1802h 1a02h
4 500h+Node-IDh 1403h 1603h 480h+Node-IDh 1803h 1a03h

4.2 Object 1400h-1403h - RPDO Communication Parameter

Object 1400h-1403h – RPDO Communication Parameter
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Receive PDO
Communication Mandatory
Parameter 1-4
0h Number of Entries u8 RO 0x5 Mandatory No
1400h- 1h COB-ID u32 RW Mandatory No
1403h
2h Transmission Type u8 RW Mandatory No
3h Inhibit Time u16 RW Optional No
4h Compatibility Entry u8 RO Optional No
5h Event Timer u16 RW Optional No

4-1
 4 Process Data Objects (PDOs)

Sub-index 1h
Contains the COB-ID of the RPDO in the following structure:

Structure of COB-ID of RPDO

31 30 29 28 11 10 1
000 000 000 000 00b 11bit CAN-ID
Valid 1 0
29bit CAN-ID

Bit Value Function

11bit CAN-ID according to the object
Object Number Default Value
1400h 200h+Node ID
0-10
1401h 300h+Node ID
1402h 400h+Node ID
1403h 500h+Node ID
11-28 29bit CAN-ID (extended)
29 0 Always 0
30 1 Always 1
0 PDO enable/valid
31
1 PDO disable/is not valid

• The validity bit (bit 31) allows the user to enable/disable the PDO.
• While the PDO is valid (bit 31=0), no other bits can be changed.
• In the event that bit 29 is changed or 29bit CAN-ID is sent, CANopen will send SDO
abort code 06090030h.

Sub-index 2h
Defines the transmission type. SGDV-OCB01A can generate PDOs using time triggers or event
triggers.

Value range:
00h = time driven. The CANopen device will actuate the received data at the next SYNC.
The time interval is set to sub-index 03h.
FFh = event driven. PDO can be generated at any time by control word changing (object 6040h).
Any other data will generate SDO abort code 06090030h.

Sub-index 3h
Inhibit time. Defines the time interval for the time-driven PDO.

4-2
 4 Process Data Objects (PDOs)

Value range:
0 = disable inhibit time.
0…65535 (1…FFFFh) = time interval in 0,1 msec
While the PDO is valid (bit 31=0 in sub-index 1h) the value can not be changed.

Sub-index 4h
Compatibility entry – reserved.
Any read or write access will generate SDO abort code 06090011h.

Sub-index 5h
Event-timer. Defines the minimum time interval between 2 event-driven PDOs.

Value range:
0 = disable event timer.
0…65535 (1…FFFFh) = time interval in 1msec

4.3 Object 1600h-1603h - RPDO Mapping Parameter

Object 1600h-1603h – RPDO mapping parameter
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Receive PDO Mapping
Mandatory
Parameter 1-4
0h Number of Entries u8 RW See Table Mandatory No
1h Mapping Entry 1 u32 RW See Table Mandatory No
2h Mapping Entry 2 u32 RW See Table Optional No
1600h- 3h Mapping Entry 3 u32 RW See Table Optional No
1603h
4h Mapping Entry 4 u32 RW See Table Optional No
5h Mapping Entry 5 u32 RW See Table Optional No
6h Mapping Entry 6 u32 RW See Table Optional No
7h Mapping Entry 7 u32 RW See Table Optional No
8h Mapping Entry 8 u32 RW See Table Optional No

Sub-index 0h
Number of entries. Number of objects mapped in the PDO.
Value range:
0h = disable mapping.
1h = 1 object (at least, mandatory)
2h = 2 objects.
3h = 3 objects.
4h = 4 objects.
5h = 5 objects.
6h = 6 objects.
7h = 7 objects.
8h = 8 objects (max).

4-3
 4 Process Data Objects (PDOs)

Sub-index 1h to 8h
Application object.

Value range:
31 16 15 8 7 0
Object Index Sub-Index Length

The length is the number of bits in hex format. (For example - Length of Object with data type
u32 is 20h; length of object with data type i16 is 10h)

4.3.1 Default values for RPDO

Object 1600h - RPDO 1 Mapping Value Description Function
Sub-index 0h Number of objects 1
Object 6040h,
Sub-index 1h Mapping 1st object 60400010h
sub-index 0, u16
Control Word

Sub-index 2h Mapping 2nd object - -

Sub-index 3h Mapping 3rd object - -
Sub-index 4h Mapping 4th object - -
Sub-index 5h Mapping 5th object - -
Sub-index 6h Mapping 6th object - -
Sub-index 7h Mapping 7th object - -
Sub-index 0h Number of objects 1

Object 1601h - RPDO 2 Mapping Value Description Function

Sub-index 0h Number of objects 2
Object 6040h
Sub-index 1h Mapping 1st object 60400010h
sub-index 0, u16
Control Word

Object 607ah
Sub-index 2h Mapping 2nd object 607a0020h
sub-index 0, i32
Target Position

Sub-index 3h Mapping 3rd object

Sub-index 4h Mapping 4th object
Sub-index 5h Mapping 5th object
Sub-index 6h Mapping 6th object
Sub-index 7h Mapping 7th object
Sub-index 8h Mapping 8th object

4-4
 4 Process Data Objects (PDOs)

Object 1602h - RPDO 3 Mapping Value Description Function

Sub-index 0h Number of objects 2
Object 6040h
Sub-index 1h Mapping 1st object 60400010h
sub-index 0, u16
Control Word

Object 60ffh sub-

Sub-index 2h Mapping 2nd object 60ff0020h
index 0, i32
Target Velocity

Object 60ffh sub-

Sub-index 3h Mapping 3rd object 60ff0020h
index 0, i32
Target Velocity

Object 60ffh sub-

Sub-index 4h Mapping 4th object 60ff0020h
index 0, i32
Target Velocity

Object 60ffh sub-

Sub-index 5h Mapping 5th object 60ff0020h
index 0, i32
Target Velocity

Object 60ffh sub-

Sub-index 6h Mapping 6th object 60ff0020h
index 0, i32
Target Velocity

Object 60ffh sub-

Sub-index 7h Mapping 7th object 60ff0020h
index 0, i32
Target Velocity

Object 60ffh sub-

Sub-index 8h Mapping 8th object 60ff0020h
index 0, i32
Target Velocity

Object 1603h - RPDO 4 Mapping Value Description Function

Sub-index 0h Number of objects 0 - -
Sub-index 1h Mapping 1st object - - -
Sub-index 2h Mapping 2nd object - - -
Sub-index 3h Mapping 3rd object - - -
Sub-index 4h Mapping 4th object - - -
Sub-index 5h Mapping 5th object - - -
Sub-index 6h Mapping 6th object - - -
Sub-index 7h Mapping 7th object - - -
Sub-index 8h Mapping 8th object - - -

4-5
 4 Process Data Objects (PDOs)

4.4 Object 1800h-1803h - TPDO Communication Parameter

Object 1800h-1803h – TPDO Communication Parameter
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Transmit PDO
Communication Mandatory
Parameter 1-4
0h Number of Entries u8 RO 0x5 Mandatory No
1800h- 1h COB-ID u32 RW Mandatory No
1803h
2h Transmission Type u8 RW Mandatory No
3h Inhibit Time u16 RW Optional No
4h Compatibility Entry u8 RO Optional No
5h Event Timer u16 RW Optional No

Sub-index 1h
Contains the COB-ID of the TPDO in the following structure:

Structure of COB-ID of TPDO

31 30 29 28 11 10 1
000 000 000 000 00b 11bit CAN-ID
Valid 1 0
29bit CAN-ID

Bit Value Function

11bit CAN-ID according to the object
Object Number Default Value
1800h 180h+Node ID
0-10
1801h 280h+Node ID
1802h 380h+Node ID
1803h 480h+Node ID
11-28 29bit CAN-ID (extended)
29 0 Always 0
30 1 Always 1
0 PDO enable/valid
31
1 PDO disable/is not valid
• The validity bit (bit 31) allows the user to configure PDO without having to use it.
• While the PDO is valid (bit 31=0) no other bits can be changed.
• In the event that bit 29 is changed or 29bit CAN-ID is sent, CANopen will send SDO
abort code 06090030h.

4-6
 4 Process Data Objects (PDOs)

Sub-index 2h
Defines the transmission type. SGDV-OCB01A can generate PDOs using time triggers or event
triggers.

0h Synchronous-acyclic.
1h Synchronous-cyclic every SYNC.
2h Synchronous-cyclic every 2nd SYNC.
3h Synchronous-cyclic every 3rd SYNC.
4h Synchronous-cyclic every 4th SYNC.

F0h Synchronous-cyclic every 240th SYNC.

F1h...FBh Reserved
FCh RTR only (synchronous)
FDh RTR only (event-driven)
FEh Event-driven (manufacturer specific)
FFh Event-driven.
• Synchronous Acyclic - triggered by an application specific event. The message is
transmitted synchronously with the Sync object but not periodically.
• Synchronous cyclic - transmitted within the synchronous window. The number of the
transmission type (1 to 240) indicates the number of Sync objects between two PDO
transmissions.
• RTR synchronous – the device samples data at every SYNC and transmits it on request.
• RTR event-driven – the device starts sampling data on request and transmits it immediately.
• Event-driven (FE) – device transmits PDO at every change of the mapped object
• Event-driven (FF) - device transmits PDO at every change of the mapped status word or
based on the configuration of the Event Timer.

• Any other data will generate SDO abort code 06090030h.

4-7
 4 Process Data Objects (PDOs)

Sub-index 3h
Inhibit time. Defines the minimum time interval between 2 event-driven PDOs (if sub-index 2h =
FEh or FFh).

Value range:
0 = disable inhibit time.
0…65535 (1…FFFFh) = time interval in 0,1 msec
While the PDO is valid (bit 31=0 in sub-index 1h) the value can not be changed.

Sub-index 4h
Compatibility entry – reserved.

Any read or write access will generate SDO abort code 06090011h.

Sub-index 5h
Event-timer.
Defines the maximum time interval between 2 event-driven PDOs (if sub-index 2h = FEh or FFh).
In case sub-index 2h = FFh, sub-index 5h must have a value different from zero, otherwise the
PDO will be triggered only once.

Value range:
0 = disable event timer.
0...65535 (1...FFFFh) = time interval in 1 msec

4.5 Object 1A00h-1A03h - TPDO Mapping Parameter

Object 1A00h-1A03h – TPDO Mapping Parameter
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Transmit PDO
Mapping Parameter Mandatory
1-4
0h Number of Entries u8 RW See Table Mandatory No
1h Mapping Entry 1 u32 RW See Table Mandatory No
2h Mapping Entry 2 u32 RW See Table Optional No
1A00h-
1A03h 3h Mapping Entry 3 u32 RW See Table Optional No
4h Mapping Entry 4 u32 RW See Table Optional No
5h Mapping Entry 5 u32 RW See Table Optional No
6h Mapping Entry 6 u32 RW See Table Optional No
7h Mapping Entry 7 u32 RW See Table Optional No
8h Mapping Entry 8 u32 RW See Table Optional No

4-8
 4 Process Data Objects (PDOs)

Sub-index 0h
Number of entries. Number of objects mapped in the PDO.

Value range:
0h = disable mapping.
1h = 1 object (at least, mandatory)
2h = 2 objects.
3h = 3 objects.
4h = 4 objects.
5h = 5 objects.
6h = 6 objects.
7h = 7 objects.
8h = 8 objects (max).

Sub-index 1h to 8h
Application object.

Value range:
31 16 15 8 7 0
Object Index Sub-Index Length
The length is the number of bits in hex format. (For example - Length of objects with data type
u32 or i32 is 20h; length of objects with data type u16 or i16 is 10h.)

4.5.1 Default values for TPDO

Object 1A00h - TPDO 1 Mapping Value Description Function
Sub-index 0h Number of objects 1 -
Object 6041h,
Sub-index 1h Mapping 1st object 60400010h
sub-index 0, u16
Status Word

Sub-index 2h Mapping 2nd object - - -

Sub-index 3h Mapping 3rd object - - -
Sub-index 4h Mapping 4th object - - -
Sub-index 5h Mapping 5th object - - -
Sub-index 6h Mapping 6th object - - -
Sub-index 7h Mapping 7th object - - -
Sub-index 8h Mapping 8th object - - -

Object 1A01h - TPDO 2 Mapping Value Description Function

Sub-index 0h Number of objects 2
Object 6041h
Sub-index 1h Mapping 1st object 60400010h
sub-index 0, u16
Status Word

4-9
 4 Process Data Objects (PDOs)

Object 1A01h - TPDO 2 Mapping Value Description Function

Object 6064h Actual position in
Sub-index 2h Mapping 2nd object 60640020h
sub-index 0, i32 user units
Object 6064h Actual position in
Sub-index 3h Mapping 3rd object 60640020h
sub-index 0, i32 user units
Object 6064h Actual position in
Sub-index 4h Mapping 4th object 60640020h
sub-index 0, i32 user units
Object 6064h Actual position in
Sub-index 5h Mapping 5th object 60640020h
sub-index 0, i32 user units
Object 6064h Actual position in
Sub-index 6h Mapping 6th object 60640020h
sub-index 0, i32 user units
Object 6064h Actual position in
Sub-index 7h Mapping 7th object 60640020h
sub-index 0, i32 user units
Object 6064h Actual position in
Sub-index 8h Mapping 8th object 60640020h
sub-index 0, i32 user units

Object 1A02h - TPDO 3 Mapping Value Description Function

Sub-index 0h Number of objects 2
Object 6041h
Sub-index 1h Mapping 1st object 60400010h
sub-index 0, u16
Status Word

Object 606ch
Sub-index 2h Mapping 2nd object 606c0020h
sub-index 0, i32
Actual Velocity value

Object 606ch
Sub-index 3h Mapping 3rd object 606c0020h
sub-index 0, i32
Actual Velocity value

Object 606ch
Sub-index 4h Mapping 4th object 606c0020h
sub-index 0, i32
Actual Velocity value

Object 606ch
Sub-index 5h Mapping 5th object 606c0020h
sub-index 0, i32
Actual Velocity value

Object 606ch
Sub-index 6h Mapping 6th object 606c0020h
sub-index 0, i32
Actual Velocity value

Object 606ch
Sub-index 7h Mapping 7th object 606c0020h
sub-index 0, i32
Actual Velocity value

Object 606ch
Sub-index 8h Mapping 8th object 606c0020h
sub-index 0, i32
Actual Velocity value

Object 1A03h - TPDO 4 Mapping Value Description Function

Sub-index 0h Number of objects 0 - -
Sub-index 1h Mapping 1st object - - -
Sub-index 2h Mapping 2nd object - - -

4-10
 4 Process Data Objects (PDOs)

Object 1A03h - TPDO 4 Mapping Value Description Function

Sub-index 3h Mapping 3rd object - - -
Sub-index 4h Mapping 4th object - - -
Sub-index 5h Mapping 5th object - - -
Sub-index 6h Mapping 6th object - - -
Sub-index 7h Mapping 7th object - - -
Sub-index 8h Mapping 8th object - - -

4.6 Mapping procedure

The following procedure is used for mapping, which may take place during the Pre-operational
NMT state.

The procedure is relevant to RPDO and to TPDO.

1. Remove the PDO by setting the validity bit (bit 31) to 1b in sub-index 01h of the
corresponding PDO communication object.
2. Disable mapping by setting sub-index 00h of the according mapping object to 00h.
3. Assign objects to corresponding sub-indexes (object A to sub-index 01h, object B to
sub-index 02h.)
4. Enable mapping by setting sub-index 00h of the mapping object to the number of the
mapped objects.
5. Create a PDO by setting the validity bit (bit 31) to 0b in sub-index 01h of the
corresponding PDO communication object.
• If during step 3 the CANopen device detects that the mapping object and sub index are
not existing or cannot be mapped, the device will generate SDO abort code 06020000h
or 06040041h.
• If during step 4 the CANopen device detects that the RPDO is not valid or not possible,
the device will generate SDO abort code 06020000h or 06040042h.
The following example describes the process of mapping a status word (6041h) and position
actual value (6064h) into TPDO1.

4-11
 4 Process Data Objects (PDOs)

Example
The Node-ID is 7.

The TPDO1 communication object is 1800h.

The TPDO1 mapping object is 1A00h and should perform as shown in Table 49 at the end of
the procedure.

Object 1800h - TPDO 1 Mapping

Sub-index 0h 2
Sub-index 1h 6041h
Sub-index 2h 6064h

The Required CAN Messages

Sub Data
# r/w Index Value Description
Index Type
Disable TPDO1 for Node-ID 7 (180 +7)
1 w 0x1800 1 u32 C0000187h
Bit 31=1 (Binary)
Destroying the number of the mapped
2 w 0x1a00 0 u32 0
objects in the mapping object
Map object 6041h, sub index 0, data type
3 w 0x1a00 1 u32 60410010h
u16 (10h)
Map object 6063h, sub index 0, data type
4 w 0x1a00 2 u32 60640020h
i32 (20h)
Declaring about 2 objects that have been
5 w 0x1a00 0 u8 2
entered
Enable TPDO1 for Node-ID 7 (180+7)
6 w 0x1800 1 u32 40000187h
Bit 31=0 (Binary)

4-12
 5 Manufacturer specific objects

5 Manufacturer specific objects

5.1 Object 2004h - Utility servo function
Utility servo function
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Manufacturer
2004h 0h Utility servo function i8 RW 0 No
specific
This object should be used for the SERVOPACK utility function. By setting the value with SDO,
the indicated function is started. After that, the value shows the status of the function.

Value range: Integer 8

Data description
Value Data description Explanation
-128 to -2 Reserved
-1 Error operation Last function completed with error
No operation
0 No effect. Completed without error.
(normal mode)
Node is reset by oneself automatically. Another way of doing
1 Node reset
Reset by NMT message - Reset Application.
2 to 127 Reserved No effect

Note: While executing, the value is kept in this object. When the function is completed, the
value will be set to 0 or less according to the status. During the execution the value cannot be
set to a different value.

5.2 Object 203fh - Manufacturer error code

Manufacturer error code
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Manufacturer Manufacturer
203fh 0h u32 RO 00000000h Yes
error code specific
This object defines the error code specified by the manufacturer.

Value range: Unsigned 32

Data description
The object consists of 4 bytes with the data as shown in the description below. Emergency error
code and fault code is referred to section 15.6 Emergency message and 15.7 Error code chart.
Byte 3 2 1 0
Error Monitor Reserved Attribute Fault Code
Note: The object shows not only Sigma-V alarm codes but also Sigma-V warning codes.

5-1
 5 Manufacturer specific objects

5.3 Object 2100h - Get Parameter

Get Parameter
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Get Parameter
0h Number of Entries u8 RO
2100h
1h Parameter ID u16 RW
2h Parameter value i16 RO
SGDV-OCB01A can enable the user to read the SGDV parameters via the CANopen network.
Parameters can only be handled by the CANopen SDO service and can not map to PDOs. The
SDO client performs the following operations:

1. Sets the parameter ID to object 2100h/1h.

2. Reads the parameter value from object 2100h/2h.

5.4 Object 2101h - Set Parameter

Set Parameter
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Set Parameter
0h Number of Entries u8 RO
2101h
1h Parameter ID u16 RW
2h Parameter value i16 RW
The CANopen SDO client can write each SGDV-parameter value with the object 0x2101.
The SDO client performs the following operations:

1. Sets the parameter ID to object 0x2101/1.

2. Writes the value to object 0x2101/2.

This object is only active when the SGDV-OCB01A is in SWITCH ON DISABLED machine state
(this can be done by CAN master or by sending the value 0 to the control word-object 6040h/0h).
Sending object 2101h when the machine is in another state will generate SDO abort code
8000022h.

Some of the SGDV parameters only become effective after a RESET. (For details see the
related manuals.) Changing these parameters requires the user to reset the SGDV.

5-2
 5 Manufacturer specific objects

5.5 Object 2211h - Read Monitor

Read monitor
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Read monitor
0h Number of Entries u8 RO
2211h
1h Var ID u8 RW
2h Var value i32 RO
SGDV-OCB01A enables the user to read the SGDV monitor via the CANopen network. Data
can only be handled by the CANopen SDO service and can not map to PDOs. The SDO client
performs the following operations:

• Sets the monitor ID to object 2211h/1h.

• Reads the data value from object 2211h/2h.

5.6 Object 2300h - User unit group enable

User unit group enable
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
2300h User unit group enable u8 RW 1 No
Data Description:
This object enables the setting of the user units.

Procedure:
1. FSA state must be “Switch ON disabled”.
2. Set value to 0.
3. Set the relevant User Units objects.
4. Set 2300h object to 1 to activate the new user units.

After this procedure Sigma-5 will automatically update all values to the “new” units.

5.7 Object 2301h - Position User Unit

Position user unit
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Position user unit
0h Number of Entries u8 RO 2 No
2301h
1h Numerator u32 RW 1 No
2h Denominator u32 RW 1 No

5-3
 5 Manufacturer specific objects

5.8 Object 2302h - Velocity User Unit

Velocity user unit
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Velocity user unit
0h Number of Entries u8 RO 2 No
2302h
1h Numerator u32 RW 1 No
2h Denominator u32 RW 1 No

5.9 Object 2303h - Acceleration User Unit

Acceleration user unit
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Acceleration user unit
0h Number of Entries u8 RO 2 No
2303h
1h Numerator u32 RW 1 No
2h Denominator u32 RW 1 No

Settings of the objects 2301h, 2302h, 2303h

In the following examples the setting of the Position (2301h), Velocity (2302h) and Acceleration
(2303h) will be explained.

There are basically 2 types of user unit settings for the following basic applications:

• Applications for linear movements using a ballscrew or linear motors.

• Applications using gear boxes for rotary movement.

Also there are two ways to set the user acceleration unit considering the dimensions:

• Type 1 is to set the “Time Constant” data for top speed, for example 80 msec
acceleration for 1000 mm/sec.
• Type 2 is to set physical data, such as mm/sec2 or Deg/sec2.

Note: When setting another user unit, the ratio between numerator (sub index 1h) and denomi-
nator (sub index 2h) must be below 1000. If this condition is not fulfilled, the new user unit will
not be enabled.

5-4
 5 Manufacturer specific objects

Example for ballscrew application

1. User requirements and application data
1) User position unit = 0.001 mm
2) User velocity unit = 1 mm/sec
3) User acceleration unit
Type 1: = 1/1000 (0.1 %) of the calculated acceleration for the target application.
Type 2: = 1 mm/sec2.
4) Application data
Encoder = 20 bit (1048576 counts/rev)
The movement for 1 motor revolution = 2 mm.
5) User acceleration type 1 “Time Constant” data for top speed
Top speed = 1000 mm/sec (60 m/min).
Calculated acceleration time to top speed = 80 msec.
Note: calculated acceleration for the target application = 12500 mm/sec2 = 1.275G.

2. Setting
1) Position user unit (2301h): Number of encoder counts for One user position unit
Number of encoder counts for 1 mm (1000 user position units).
= {(1048576 counts/rev) / (2 mm/rev)} * 1 mm = 524288 counts.
Numerator = 524288
Denominator = 1000
2) Velocity user unit (2302h): Number of encoder counts per msec for One user velocity unit.
Number of encoder counts per sec for 1 mm/sec (1 user velocity unit).
= {(1048576 counts/rev) / (2 mm/rev)} * 1 mm = 524288 counts/sec: 1000 msec.
Numerator = 524288
Denominator = 1000
3) Acceleration user unit (2303h): Number of encoder counts increments per msec. for
One user acceleration unit.

Type 1
Number of encoder counts per msec for top speed = 1000 mm/sec = 1mm/msec
= {(1048576 counts/rev) / (2 mm/rev)} * 1mm/msec = 524288 counts/msec.
Numerator = 524288
Denominator = 80 *1000
Type 2
Number of encoder counts per msec for 1 mm/sec = 524288 counts/msec.
Number of encoder counts increments / msec for 1 mm/sec = 524288/1000*1000.
Numerator = 524288 * 100
Denominator = 1000 *1000

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 5 Manufacturer specific objects

Example for rotary table application

1. User requirements and application data
Note: Deg, Rev = dimension for rotary table, deg, rev = servomotor dimension
1) User position unit = 0.001 Deg
2) User velocity unit =1 Deg/sec
3) User acceleration unit
Type 1: = 1/1000 (0.1 %) of the calculated acceleration for the target application.
Type 2: = 1 Deg/sec2.
4) Application data
Encoder = 20 bit (1048576 counts/rev)
The rotary table moves 36 Degrees for 1 motor revolution.
5) User acceleration type 2 “Time Constant” data for top speed = 10 Rev/sec
(3600 Deg/rev)
Top speed = 10 Rev/sec (3600 Deg/sec).
Calculated acceleration time to top speed = 80 msec.
Note: calculated acceleration for the target application = 45000.
2. Setting
1) Position user unit (2301h): Number of encoder counts for One user position unit
Number of encoder counts for One user position unit = 0.001 Deg.
= {(1048576 counts/rev) / (36 Deg/rev)} * 0.001 Deg = 1048576/36 counts/sec: 1000 msec.
Numerator = 1048576
Denominator = 36*1000
2) Velocity user unit (2302h): Number of encoder counts per msec for One user velocity unit
Number of encoder counts per sec for One user velocity unit = 1 Deg/sec.
= {(1048576 counts/rev) / (36 Deg/rev)} * 1 Deg/sec = 1048576/36 counts/sec: 1000 msec.
Numerator = 1048576
Denominator = 36*1000
3) Acceleration user unit (2303h): Number of encoder counts increments per msec. for
One user acceleration unit.
Type 1
Number of encoder counts per msec. for top speed = 3600 Deg/sec = 3.6 Deg/msec
= {(1048576 counts/rev) / (36 Deg/rev)} * 3.6 Deg/msec =1048576/10
Numerator = 1048576*100
Denominator = 10*80 *1000
Type 2
Number of encoder counts per msec. for 1 Deg/sec.
= {(1048576 counts/rev) / (36 Deg/rev)} /1000 msec =1048576/10/36*1000
Number of encoder counts increments per msec for 1 Deg/sec
=1048576/(36*1000*1000)
Numerator = 1048576 * 100
Denominator = 36*1000 *1000

5-6
 5 Manufacturer specific objects

Example for linear motor application

1. User requirements and application data
A linear motor moves a distance AB = 1.4 m.
The motor acceleration and deceleration is equal to 5000 mm/s2.
The cruising velocity is equal to 1000 mm/s.
The linear scale pitch is equal to 20 µm and an 8 bit serial converter is connected to the
motor.
2. User settings and configuration:
Position user units:
- Numerator = 2301h/1h = 28 (resolution of serial converter) = 256 dec
- Denominator = 2301h/2h = 20 dec (linear scale pitch)
Velocity user units:
Numerator = 2302h/1h = 28 (resolution of serial converter) = 256 dec
Denominator = 2302h/2h = 20 dec (linear scale pitch)
User acceleration units:
Numerator 2303h/1h = 28/20 * 1000 (resolution of serial converter/linear scale pitch *
1000) = 256/20 * 1000 dec = 12800
Denominator 2303h/2h = 10000 dec
3. Profile position objects:
Profile velocity = 6081h/1h = 1000 dec
Profile acceleration = 6083h/1h = 5000 dec
Profile deceleration = 6084h/1h = 5000 dec
Target Position = 607Ah/1h = 1400000 dec

Speed
ta = 0.2 s
(mm/s)
tc = 0.8 s
1000
υL td = 0.2 s
tm = 1.2 s

ta tc td Time (s)

tm

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 5 Manufacturer specific objects

5.10 Object 2400h - Position Range Limit Designation

Position Range Limit Designation
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Position range limit Manufacturer
2400h u8 RW 0 No
designation specific

Data description
Position range limit for (607Bh)
0: Off
1: Shortest Path
2: Fixed rotation direction positive
3: Fixed rotation direction negative
Note: When the mode “Shortest Path” is selected, the drive always moves the physically
shortest distance to the target position and adjusts the sign of the running speed accordingly.
For the modes “Fixed rotational direction...” the drive always moves in the direction specified by
the appropriate mode.

5.11 Object 2401h - Target_Position_In_Range

Target_Position_In_Range
Sub Parameter Data Access Default PDO
Index Category
Index Name Type Type Value Mapping
Target_Position Manufacturer
2401h i32 RO 0 Possible
_In_Range specific

Units:
Pos Units

Data description
The warped target command value when Position range limit executed.

5.12 Object 2402h - Actual_Position_In_Range

Actual_Position_In_Range
Sub Parameter Data Access Default PDO
Index Category
Index Name Type Type Value Mapping
Actual_Position Manufacturer
2402h i32 RO 0 Possible
_In_Range specific

Units:
Pos Units
Data description
The warped actual position value when Position range limit executed.

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 6 Device control objects

6 Device control objects

6.1 SGDV-OCB01A Device control - General
SGDV-OCB01A can be controlled in three ways:

• CAN network management (NMT)

• Controlling power drive system
• Modes of operation

6.1.1 CAN network management (NMT)

The NMT state machine determines the behavior of CANopen communication functions and
what services are enabled.
There are 4 NMT machine states:

Initialization
- Initialization – Comes right after power-up or hardware reset. The NMT state machine
automatically continues to the next state.
- Reset application – Sets the power on profile values from non-volatile memory.
- Reset communication – Sets the communication values from the non-volatile memory.

Pre-operational – Communication via SDO service is possible. PDO service is disabled but
configuring PDO is enabled.

Operational – All communication objects are active.

Stopped – All communication objects are inactive except node control and error control.

The CANopen NMT master should comply with the following rules:
The NMT message should not be sent with intervals shorter than 2 ms to
the same node.
The NMT master should wait for the boot-up message before sending
another NMT reset.
IMPORTANT
The boot-up message is sent by a device when it boots up or after a
power-out during operation. It is sent to the CANopen NMT master to
indicate that the device has reached the state Pre-operational.

The NMT states are described in the following diagram.

The NMT states and transitions are specified in the CiA standard 301.

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 6 Device control objects

Network Management (NMT) States and Transitions

Power on/HW reset

Initialization

15

Reset application

16

Reset communication

11
14 Pre-operational
7
5
13 3 4
Stopped 10
6

8
12 Operational 9

6.1.2 Controlling the Power Drive System (PDS)

The power drive system defines how the SGDV responds to the user control word (object
6040h), user commands, local signals or fault events. The status word (object 6041h) monitors
the state of the drive power.
The states and the transitions are displayed in the figure below and the following table.
Power Drive Systems States and Transitions

Power up/reset

Not ready to
switch on
1
15
Switch ON
Fault
disabled
2 7 14

Ready to 13
Fault reaction
switch on
12 10 3 6

Switch on 8 9

4 5 Legend
Quick stop 16 Operation Power disable
active enabled
11
Power enable

Fault

6-2
 6 Device control objects

SGDV-OCB01A PDS Transitions

CANopen
CANopen event SGDV-OCB01A Action
Transition
Automatic transition after power up or
0 Self-initialization
HW reset.
CANopen and serial communication are
activated. Sends POLLING requests to
the SGDV until the SGDV answers.
1 Automatic transition
Requests the SGDV version. Sets the
serial monitoring time. Loads parameters
and variables from the SGDV.
2 Shutdown command from device control. None
Switch On command received from
3 Enables SGDV
device control.
Enable operation command received Drive functions are enabled, start
4
from device control. motion of SGDV.
Disable operation command received Drive functions are disabled, stop motion
5
from device control. of SGDV.
Shut down command received from
6 Disables SGDV
device control.
Quick stop command received from the
7 None
device control.
Shutdown command received from
8 Disables SGDV
device control.
Disable voltage command received from
9 Disables SGDV
device control.
Disable voltage or quick stop command
10 Disables SGDV
received from device control.
Quick stop command received from Executes quick stop function.
11
device control. Stops motion.
Automatic transition when the quick stop
function is completed.
12 Or Disables SGDV
Disable voltage command received from
device control.
Error detected. Stop remote node, reset Executes error fault reaction.
13
node, reset communication received Starts error handling.
14 Automatic transition. Disables SGDV
15 Fault reset command from device control. Clears errors (depending on the error.)
Enable operation command from device
16 control not supported (not recommended None
by CiA and object 605Ah not supported.)

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 6 Device control objects

6.1.3 Modes of operation

The translation of a user command into actual motion depends on the selected mode of
operation. The mode of operation has influence on some of the objects and these mode-specific
objects will act differently depending on the mode selection.
The SGDV-OCB01A has the following modes of operation:
• Pole detection mode
• Profile position mode
• Homing mode
• Profile velocity mode
• Profile torque mode
• Interpolated position mode

6.2 Object 603fh – Error code

Object 603fh - Error Code
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
603fh 0h Error code u16 RO 0000h Optional Yes
This object provides the error code of the last error which occurred in the drive device.

Value range: unsigned 16

6.3 Object 6040h – Control Word

Object 6040h - Control Word
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
6040h 0h Control word u16 RW Optional Yes
This object defines and controls the Power Drive System (PDS) state and sets the motion
functionality depending on the selected mode of motion.
The object structure is a 16 bit word. The function of each bit is described in the table below.
Bit Functions
Bit Function Meaning
Changing machine state. See table
0 Switch on
Machine Commands and Transitions.
Changing machine state. See table
1 Enable voltage
Machine Commands and Transitions.
Changing machine state. See table
2 Quick stop
Machine Commands and Transitions.
Changing machine state. See table
3 Enable operation
Machine Commands and Transitions.
4 Operation mode specific Definitions on the specific mode section.
5

6-4
 6 Device control objects

Bit Function Meaning

6
Changing machine state. See table
7 Fault reset
Machine Commands and Transitions.
Operation mode specific functionality.
8 Halt
Definitions on the specific mode section.
9, 10 Reserved
11 - 15 Manufacturer specific
The machine state command and the transition based on the control word coding are displayed
in the table below.

Machine Commands and Transitions

Control Word Bits
Command Transition
7 3 2 1 0
Shutdown 0 X 1 1 0 2, 6, 8
Switch on 0 0 1 1 1 3
Switch on + enable operation 0 1 1 1 1 3 and 4
Disable voltage 0 X X 0 X 7, 9, 10, 12
Quick stop 0 X 0 1 X 7, 10,11
Disable operation 0 0 1 1 1 5
Enable operation 0 1 1 1 1 4, 16
Fault reset 1 X X X X 15

6.4 Object 6041h – Status Word

Table 65: Object 6041h – Status Word
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
6041h 0h Status word u16 RO Optional Yes
This object indicates the current state of the power drive system.

Value range:
The object structure is a 16 bit word. The function of each bit is described in the following table.

6-5
 6 Device control objects

Bit Functions
Bit Function Meaning
0 Ready to switch on Machine state change. See Table status words (below).
1 Switched on Machine state change. See Table status words (below).
2 Operation enabled Machine state change. See Table status words (below).
3 Fault Machine state change. See Table status words (below).
4 Voltage enabled =1, voltage on
5 Quick stop =0, quick stop request
6 Switch on disabled Machine state change. See Table status words (below).
7 Warning =1, warning
8 Manufacturer specific
9 Remote =1, status word is processed
Operation mode specific functionality.
10 Target reached
Definitions on the specific mode section.
Internal limit active /
11 See <Details on Bit 11>.
Torque limit active
12 .. 13 Operation mode specific Refer to Note below
=0, interlock circuit closed
=1, interlock circuit open
14 HBB signal For more detailed information about this bit, please refer
to section 14.7.4 Recovery Procedure after the interlock
circuit is open

Status Words and Corresponding Machine State

Status word (binary code) Machine state
x0xx xxxx x0xx 0000 Not ready to switch on
x0xx xxxx x1xx 0000 Switch on disabled
x0xx xxxx x01x 0001 Ready to switch on
x0xx xxxx x01x 0011 Switch on
x0xx xxxx x00x 0111 Operation enabled
x0xx xxxx x00x 0111 Quick stop active
x0xx xxxx x0xx 1111 Fault reaction active
x0xx xxxx x0xx 1000 Fault
x0xx xxxx x0xx 1000 Main Power ON
x0xx xxxx x0xx 1000 Warning is occurred

<Details on Bit 11>

If bit 11 (internal limit active) of the statusword is 1, this shall indicate that an internal limit is
active. The internal limits are manufacturer-specific. (Explanation of DS402)

6-6
 6 Device control objects

The internal limit active in the following cases:

1. Software position limit
2. N-OT, P-OT limit switch
3. Torque limit reached

Profile position mode

Bit No Value Definition
0 Halt (Bit 8 in controlword) = 0: Target position not reached
Halt (Bit 8 in controlword) = 1: Axis decelerates
10
1 Halt (Bit 8 in controlword) = 0: Target position reached
Halt (Bit 8 in controlword) = 1: Velocity of axis is 0
0 Previous setpoint already processed, waiting for new setpoint
12 1 Previous setpoint still in process, setpoint overwriting shall be
accepted
13 X Reserved

Homing mode
Bit 13 Bit 12 Bit 10 Definition
0 0 0 Homing procedure is in progress
0 0 1 Homing procedure is interrupted or not started
0 1 0 Homing is attained, but target is not reached
0 1 1 Homing procedure is completed successfully
1 0 0 Homing error occurred, velocity is not 0
1 0 1 Homing error occurred, velocity is 0
1 1 X Reserved

6.5 Object 605Ah - Quick stop option code

Quick stop option code
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
605Ah 0h Quick stop option code i16 RW 2 Optional No
The parameter quick stop option code determines what action should be taken if the Quick Stop
Function is executed.

Value range
Value Data description Explanation
-32768 ... -1 Manufacturer specific No effect
0 Disable drive function Supported
1 Slow down on slow down ramp Supported

6-7
 6 Device control objects

Value Data description Explanation

2 Slow down on quick stop ramp Supported
3 Slow down on the current limit Supported
4 Slow down on the voltage limit Not supported
5 Slow down on slow down ramp and stay in QUICK STOP Supported
6 Slow down on quick stop ramp and stay in QUICK STOP Supported
7 Slow down on the current limit and stay in QUICK STOP Supported
8 Slow down on the voltage limit and stay in QUICK STOP Supported
9 ... 32767 Reserved No effect

6.6 Object 6060h - Modes of Operation

Modes of Operation
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
6060h 0h Modes of operation i8 RW Optional Yes
This object indicates the requested mode of motion.

Value range
Value Mode of operation
-1 Pole detection mode
0 No mode assigned
1 Profile position mode
2 Not supported
3 Profile velocity mode
4 Profile torque mode
5 Reserved
6 Homing mode
7 Interpolated position mode

6.7 Object 6061h - Modes of Operation Display

Object 6061h – Modes of Operation Display
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Modes of operation
6061h 0h i8 RW Optional Yes
display
This object indicates actual motion mode.
6-8
 6 Device control objects

Note: Since the SGDV-OCB01A allows the user to switch between modes of operation
dynamically during motion, this object will be updated to the requested mode of operation
(object 6060h) only when the state machine is in OPERATION ENABLED and after rising bit 4
of the control word (in the modes of operation that conditioned this bit to start a new motion).

Value range
Value Mode of operation
-1 Pole detection mode
0 No mode assigned
1 Profile position mode
2 Not supported
3 Profile velocity mode
4 Profile torque mode
5 Reserved
6 Homing mode
7 Interpolated position mode

6-9
 7 Pole detection mode

7 Pole detection mode

7.1 Introduction
Setting the Pole detection mode of operation enables the pole detection in which a magnetic
pole of a linear motor connected to a SERVOPACK can be detected. When an incremental
linear scale is used, the detected phase information will not be saved and thus, the pole
detection mode is required at every power ON. When an absolute linear scale is used, the
detected information will be saved into both SERVOPACK and serial converter (or the
equivalent) connected to the SERVOPACK.

7.2 Mode of operation (6060h)

The pole detection code is -1.

7.3 Control word (6040h)

In the following CiA402 FSA transition the pole detection starts:
From Ready to switch ON to Switch ON.
From Ready to switch ON to Operation enabled.

In the following CiA402 FSA transition the pole detection should be stopped:
To Switch ON disabled.
To Ready to switch ON.
Fault.
.
CAUTION

During the pole detection process the motor can move in great distance !!!

7.4 Status word (6041h)

Bit 13 Bit 12 Description

0 0 None
0 1 Pole detection completed
1 0 Pole detection in process
1 1 Reserved

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 7 Pole detection mode

7.5 Pole detection condition

Rule1:
Transition to Pole detection mode is only in Servo OFF states.

Rule2:
Transition from Pole detection mode to other modes is only in Servo OFF states and after Pole
detection completed.

Rule3:
Any attempt to violate Rule1 or 2 will result in SDO Abort code 0x0609 0030.

Note:
After the pole detection function is successfully performed, the mode of
operation must be set depending on the application.

7-2
 8 Profile position objects

8 Profile position objects

8.1 Mode specific control word
The profile position mode uses some bits from the control word (object 6040h) under certain
circumstances.
If no previous motion is being processed, bit 4 will start the axis motion.

Control word bits

Bit Function Meaning
=0; No new set point is demanded
=1; New set point is demanded
4 New set point
The activation of the new set point will be at the bit
rising.
=0; the next target set point will start after the
Change set point
5 current motion completes (target reached)
immediately
=1; the next target set point will start immediately
=0; target set point will be in absolute values
6 Absolute/relative
=1; target set point will be in relative values
8 Halt =1; axis will stop with deceleration

8.2 Mode specific status word

Bit functions
Bit Function Meaning
In the event that the driver is not in Halt state (object
6040h bit 8 =0)
=0; target position not reached
=1; target position reached
10 Target reached
In the event that the driver is in Halt state (object 6040h bit
8 =1)
=0; axis during deceleration
=1; velocity is 0
Set point =0; ready to accept a new set point
12
acknowledgement =1; previous set point in progress
=0; no following error
13 Following error
=1; following error

8-1
 8 Profile position objects

8.3 Object 6067h - Position Window

Object 6067h – Position Window
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
6067h 0h Position window u32 RW Optional Yes
This object indicates the configured symmetrical range of accepted positions relative to the tar-
get position. If the actual value of the position encoder is within the position window, the target
position has been reached. The value is given in user-defined position units.

Acceptable position range

-Position window +Position window

Position Reference
position

Target reached (bit 10 on 6041h)

Value range:
0 - 255 (0 - FFh) [Position User Units]

8.4 Object 6068h - Position Window Time

Object 6068h - Position window time
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
6068h 0h Position window time u32 RW 32 Dec. Optional Yes
Description:
When the actual position is within the position window during the defined position window time
which is given in multiples of msec., the corresponding bit 10 target reached in the status word
will be set to 1.

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 8 Profile position objects

8.5 Object 607Fh - Maximum Profile Velocity

Object 607Fh – Maximum Profile Velocity
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Maximum profile
607Fh 0h u32 RW Optional Yes
velocity
This object defines the maximum permitted velocity during a profiled motion. This parameter is
the upper speed limit while calculating the motion profile.

Value range:
[velocity user units].

8.6 Object 6081h - Profile Velocity

Object 6081h – Profile Velocity
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
6081h 0h Profile velocity u32 RW Mandatory Yes
This object defines the desired velocity at the end of the acceleration ramp during profile
position motion. The velocity is valid for both directions since the direction is set by the target
position relative to the current position.

Value range:
0…4294967295 (0…FFFFFFFFh) [velocity user units].

8.7 Object 6083h - Profile Acceleration

Object 6083h – Profile Acceleration
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
6083h 0h Profile acceleration u32 RW Mandatory Yes
The object defines the desired acceleration during profile position motion.

Value range:
0…4294967295 (0…FFFFFFFFh) [acceleration user units].

8.8 Object 6084h - Profile Deceleration

Object 6084h – Profile Deceleration
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
6084h 0h Profile deceleration u32 RW Optional Possible
The profile deceleration is given in the same units as the profile acceleration. If this parameter is
not used, the profile acceleration value is also used for the deceleration.

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 8 Profile position objects

8.9 Object 6085h - Quick Stop Deceleration

Object 6085h – Quick stop deceleration
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Quick stop
6085h 0h u32 RW See note Optional Possible
deceleration
The quick stop deceleration is the deceleration value used to stop the motor if the “Quick Stop”
command is given and the quick stop option code (see 605Ah) is set to 2.
The quick stop deceleration is given in the same units as the profile acceleration.

Note: The default value is calculated related to the value taken from the SGDV on initialization.

8.10 Object 607Ah - Target Position

Object 607Ah – Target Position
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
607Ah 0h Target position i32 RW Mandatory Yes
This object defines the target position value for the next profile position motion. The value can
be in terms of relative position or in terms of absolute position, depending on bit 5 in the control
word (object 6040h).

Value range:
-2147483648…+2147483627 (80000000h…7FFFFFFFh) [position user units].

8.11 Object 6062h – Position Demand Value in User Units

Object 6062h – Position Demand Value in User Units
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Position demand
6062h 0h i32 RO Optional Yes
value
This object contains the value of the demanded position in the closed-loop cycle calculations.
This value is the reference command for the trajectory generator.

Value range:
-2147483648…+2147483627 (80000000h…7FFFFFFFh) [position user units].

8-4
 8 Profile position objects

8.12 Object 6063h – Position Actual Value

Object 6063h – Position Actual Value
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
6063h 0h Position actual value i32 RO Optional Yes
This object contains the value of the actual position for the closed loop position control
calculations.

Value range:

-2147483648…+2147483627 (80000000h…7FFFFFFFh) [position units].

8.13 Object 6064h – Position Actual Value in User Units

Object 6064h – Position Actual Value in User Units
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Postion actual value
6064h 0h i32 RO Optional Yes
in user units
The object contains the value of the actual position in user units.

Value range:
-2147483648…+2147483627 (80000000h…7FFFFFFFh) [position user units].

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 9 Homing mode objects

9 Homing mode objects

9.1 Mode specific control word
The homing mode uses some bits from the control word (object 6040h) under certain
circumstances.

Bit functions
Bit Function Meaning
=0; do not start homing.
4 Start homing
=1; start or continue homing procedure.
5 Reserved
6 Reserved
8 Halt Not supported

9.2 Mode specific status word

Control Word Bits
Command Transition
7 3 2 1 0
Shutdown 0 X 1 1 0 2, 6, 8
Switch on 0 0 1 1 1 3
Switch on + enable operation 0 1 1 1 1 3 and 4
Disable voltage 0 X X 0 X 7, 9, 10, 12
Quick stop 0 X 0 1 X 7, 10, 11
Disable operation 0 0 1 1 1 5
Enable operation 0 1 1 1 1 4, 16
Fault reset 1 X X X X 15

Homing status
Control Word Bits
Homing status Homing error Homing attained Target reached
Bit 13 Bit 12 Bit 10
Homing in progress 0 0 0
Homing interrupted or not 0 0 1
started yet
Homing attained but target 0 1 0
not reached
Homing was completed 0 1 1
successfully

9-1
 9 Homing mode objects

Control Word Bits

Homing status Homing error Homing attained Target reached
Bit 13 Bit 12 Bit 10
Homing error, speed <> 0 1 0 0
Homing error, speed = 0 1 0 1

9.3 Object 607Ch – Home Offset

Object 607Ch – Home Offse
Index Sub Parameter Data Access Default Value Category PDO
Index Name Type Type Mapping
607Ch 0h Home offset i32 RW 0x00000000 Optional Yes
This object shell indicates the difference between the zero position discovered during the
homing procedure and the application desired zero position. By setting the home offset, the
zero position will be offset from its physical position by the offset value. Negative values indicate
an offset in the opposite direction.

+ Home offset

Home position Application desired zero

Zero position position

9.4 Object 6098h - Homing Method

Homing Method
Sub Parameter Data Access PDO
Index Default Value Category
Index Name Type Type Mapping
6098h 0h Homing method i8 RW Mandatory Yes

This object defines the homing method. During the homing procedure, the device searches for
an external or internal sensor. It can be a limit switch, a dedicated home sensor, a hard stop
and/or an encoder index. Once it is found, the device resets the position counter and
decelerates until it stops.
The following methods are supported:

9-2
 9 Homing mode objects

Method 1 - Homing on the negative limit switch and index pulse

The axis will search for the rising edge of the negative limit switch by speed command in the
negative direction. Once found, it will change direction and search for the falling edge of the
limit. The next encoder index in the right direction will be the zero position.

-V1
+V2 1

Encoder index

Negative limit switch

Method 2 - Homing on the positive limit switch and index pulse

The axis will search for the rising edge of the positive limit switch by speed command in the
positive direction. Once found, it will change direction and search for the falling edge of the limit.
The next encoder index in the left direction will be the zero position.

+V1
2 -V2

Encoder index

Positive limit switch

9-3
 9 Homing mode objects

Method 3 - Homing on the home switch and the index pulse

Positive direction search - The axis will search for the rising edge of the home switch. Once
found, it will change direction and search for the falling edge of the home switch. The next
encoder index in the left direction will be the zero position.

Negative direction search - The axis will search for the falling edge of the home switch. The
next encoder index in the left direction will be the zero position.

+V1
-V1
-V2 3

Encoder index

Home switch

Method 4 - Homing on the home switch (reverse polarity) and the index pulse
Positive direction search - The axis will search for the rising edge of the home switch. The
next encoder index in the right direction will be the zero position.

Negative direction search - The axis will search for the falling edge of the home switch. Once
found, it will change direction and search for the rising edge of the home switch. The next
encoder index in the right direction will be the zero position.

-V1
+V1 4 +V2

Encoder index

Home switch

9-4
 9 Homing mode objects

Method 5 - Homing on the home switch and the index pulse

Positive direction search - The axis will search for the falling edge of the home switch. The
next encoder index in the right direction will be the zero position.

Negative direction search - The axis will search for the rising edge of the home switch. Once
found, it will change direction and search for the falling edge of the home switch. The next
encoder index in the right direction will be the zero position.

-V1
+V1 +V2
5

Encoder index

Home switch

Method 6 - Homing on the home switch (reverse polarity) and the index pulse
Negative direction search - The axis will search for the rising edge of the home switch. The
next encoder index in the left direction will be the zero position.

Positive direction search - The axis will search for the falling edge of the home switch. Once
found, it will change direction and search for the rising edge of the home switch. The next
encoder index in the left direction will be the zero position.

+V1
-V1
-V2 6

Encoder index

Home switch

9-5
 9 Homing mode objects

Method 17 - Homing on the negative limit switch, no index pulse

The axis will search for the rising edge of the negative limit switch by speed command in the
negative direction. Once found, it will change direction and search for the falling edge of the
limit. The falling edge will be the zero position.

-V1

+V2 17

Negative limit switch

Method 18 - Homing on the positive limit switch, no index pulse

The axis will search for the rising edge of the positive limit switch by speed command in the
positive direction. Once found, it will change direction and search for the falling edge of the limit.
The falling edge will be the zero position.

+V1

-V2 18

Positive limit switch

Method 19 - Homing on the home switch, positive direction, no index pulse

The axis will search for the rising edge of the home switch by speed command in the positive
direction. Once found, it will change direction and search for the falling edge of the home
switch. The falling edge will be the zero position.

+V1

-V2
19

Home switch

9-6
 9 Homing mode objects

Method 20 - Homing on the home switch (reverse polarity), positive direction,

no index pulse
The axis will search for the falling edge of the home switch by speed command in the positive
direction. Once found, it will change direction and search for the raising edge of the limit. The
raising edge will be the zero position.

+V1

-V2
20

Home switch

Method 33 - Homing on the index pulse only, negative direction

The axis will search for the encoder index by speed command in the negative direction. The
latching of the encoder index position will be the zero position.

-V1
34

Encoder index

Method 34 - Homing on the index pulse only, positive direction

The axis will search for the encoder index by speed command in the positive direction. The
latching of the encoder index position will be the zero position.

+V1
34

Encoder index

9-7
 9 Homing mode objects

Method 35 - Home on actual position

By selecting this method and raising bit 4 of the control word (object 6040h) the axis actual
position will be the zero position.

35
Position

Object 6040h bit 4

(Start Home)

Overview of homing methods

Method
Method Name SGDV Hardware Pre-assignment
Number
Negative limit switch and index pulse 1
Positive limit switch and index pulse 2
Positive (NO) home switch and index
3
pulse
External
sensor Positive (NO) home switch (reverse
4
and index polarity) and index pulse
Negative (NC) home switch and The inputs that are assigned to
5
index pulse these functions are described in
Negative (NC) home switch (reverse the related manuals
6
polarity) and index pulse
Negative limit switch (no index) 17

External Positive limit switch (no index) 18

sensor Positive home switch 19
only
Positive home switch (reverse
20
polarity)
Index only, positive direction. 33
Index only
Index only, negative direction. 34 No inputs used
- On actual position 35

9-8
 9 Homing mode objects

9.5 Object 6099h - Homing Speed

Homing Speed
Sub Data Default PDO
Index Parameter Name Access Type Category
Index Type Value Mapping
Homing speed Optional Yes
0h Number of entries u8 RO 0x02 Mandatory
6099h
1h Approach speed u32 RW Mandatory
2h Creep speed u32 RW Mandatory
This object defines the speed during the homing procedure. Depending on the homing method,
there are two speeds, the approach and the creep speed. The approach speed is the speed
used for searching for the external sensor and the creep speed is the speed used for searching
for the zero position.

Value range:
0…4294967295 (0…FFFFFFFFh) [velocity user units]

9.6 Object 609Ah - Homing Acceleration

Sub Data Default PDO
Index Parameter Name Access Type Category
Index Type Value Mapping
Homing
609Ah 0h u32 RW Optional Yes
acceleration

This object defines the acceleration during the homing procedure.

Value range:
0…4294967295 (0…FFFFFFFFh) [acceleration user units]

Note:
The value of the profile acceleration (object 6083h) and the homing
acceleration (object 609Ah) refer to the same SGDV variable. The last
acceleration value that was entered will be valid for both objects. If a specific
homing acceleration is required, enter the value after the homing procedure
has been completed.

9-9
 10 Profile velocity mode objects

10 Profile velocity mode objects

10.1 Mode specific control word
The profile velocity mode uses several bits from the control word (object 6040h) under certain
circumstances.
The specific bits of the control word are described in the following table.

Bit Function Meaning

4 Reserved
5 Reserved
6 Reserved
=0; execute or continue motion
8 Halt
=1; stop motion

10.2 Mode specific status word

Bit Function Meaning
In the event that the driver is not in Halt state
(object 6040h bit 8 =0)
=0; target velocity not reached.
=1; target velocity reached.
10 Target reached
In the event that the drive is in Halt state
(object 6040h bit 8 =1)
=0; axis during deceleration.
=1; velocity is 0
=0; speed is not equal to 0
12 speed
=1; speed is equal to 0
13 Max slippage error Not supported

10.3 Object 606Bh - Velocity Demand Value

Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Velocity demand
606Bh 0h i32 RO Optional Yes
value

This object provides the value of the demanded velocity for the closed loop servo cycle of the
trajectory generator.

Value range:
-2147483648…+2147483627 (80000000h…7FFFFFFFh) [velocity user units].

10-1
 10 Profile velocity mode objects

10.4 Object 606Ch - Velocity Actual Value

Object 606Ch - Velocity Actual Value
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Velocity actual
606Ch 0h i32 RO Optional Yes
value
This object provides the actual velocity value derived either from the velocity sensor or from the
position sensor.

Value range:
-2147483648…+2147483627 (80000000h…7FFFFFFFh) [velocity user units].

10.5 Object 60FFh - Target Velocity

Object 60FFh - Target Velocity
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
60FFh 0h Target velocity I32 RW Mandatory Yes
This object defines the target velocity value for the next profile velocity motion. This value is the
reference command for the trajectory generator.

Value range:
-2147483648…+2147483627 (80000000h…7FFFFFFFh) [velocity user units].

10.6 Object 6083h - Profile Acceleration

Object 6083h - Profile Acceleration
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
6083h 0h Profile acceleration u32 RW Mandatory Yes
The object defines the desired acceleration during the velocity motion profile.

Value range:
-2147483648…+2147483627 (80000000h…7FFFFFFFh) [acceleration user units]

.
Note:
The value of the profile acceleration (object 6083h) and the homing acceleration
(object 609Ah) refer to the same SGDV variable. The last acceleration value that
was entered will be valid for both objects. If a specific homing acceleration is
required, enter the value after the homing procedure has been completed.

10-2
 10 Profile velocity mode objects

10.7 Object 6084h - Profile Deceleration

Object 6084h - Profile Deceleration
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
6084h 0h Profile deceleration u32 RW Mandatory Possible
The object defines the desired deceleration during the velocity motion profile. If this parameter
is not used the acceleration value will be taken instead.

Value range:
-2147483648…+2147483627 (80000000h…7FFFFFFFh) [acceleration user units]

10.8 Object 6085h - Quick Stop Deceleration

Object 6085h - Quick stop deceleration
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Quick stop
6085h 0h u32 RW See Note Mandatory Possible
deceleration
The object defines the quick stop deceleration value that is used when a “Quick Stop” command
is given and the quick stop option code (see 605Ah) is set to 2.

Note: The deceleration value is calculated based on the SGDV value at initialization.

Value range:
-2147483648…+2147483627 (80000000h…7FFFFFFFh) [acceleration user units]

10-3
 11 Profile torque mode objects

11 Profile torque mode objects

11.1 Mode specific control word
The profile torque mode uses several bits from the control word (object 6040h) under certain
circumstances. The specific bits of the control word are described in the following table.

Bit Function Meaning

4 Reserved
5 Reserved
6 Reserved
=0; execute or continue motion
8 Halt
=1; stop motion

11.2 Mode specific status word

Bit Function Meaning
In the event that the driver is not in Halt state (object 6040h bit 8 =0)
=0; target torque not reached.
Target torque =1; target torque reached.
10
reached In case that the driver is in Halt state (object 6040h bit 8 =1)
=0; axis during deceleration.
=1; velocity is 0

11.3 Object 6071h - Target Torque

Object 6071h - Target Torque
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
6071h 0h Target torque i16 RW Mandatory Yes
This object defines the target torque value for the next profile torque motion. This value is the
reference command for the trajectory generator.

Value range:
-32768…+32767 (8000…7FFFh) [0.1% of rated torque]

11-1
 11 Profile torque mode objects

11.4 Object 6072h - Maximum Torque

Object 6072h - Maximum Torque
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
6072h 0h Maximum torque i16 RW Optional Possible
This object defines the maximum permitted torque for the motor, and is given in 0.001 units of
the rated torque.
Note: The default value is the initialization value of the servo drive.

Example
If the SGMJV-08 motor is being used on the machine with rated torque of 2.39 Nm and peak
torque of 8.36 Nm, then 6072 = 8,36/2,39 * 1000 = 3497dec.

This value can be changed depending on the application requirements.

11.5 Object 6074h - Torque Demand

Object 6074h - Maximum Torque
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
6074h 0h Torque demand i16 RO 0 Optional Possible
This object is the output value of the torque limit function (if the torque control and power-stage
function are available). The unit is 0.001 of the rated torque.

11.6 Object 6077h - Torque Actual Value

Object 6077h - Torque Actual Value
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Torque actual
6077h 0h i16 RO Mandatory Yes
value
This object provides the actual value of the torque. It corresponds to the peak torque of the motor.
Value range:
-32768…+32767 (8000…7FFFh) [0.1% of peak torque]

11.7 Object 6087h - Torque Slope

Object 6087h - Torque Slope
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
6087h 0h Torque slope u32 RW Mandatory Yes
This object indicates the configured rate of change of torque.
This value can be changed only when the device is in SWITCH ON DISABLED state machine
(object 6040h=0).

11-2
 11 Profile torque mode objects

Value range:
0…4294967295 (0…FFFFFFFFh) [0.1% of rated torque/sec]

Note: When operating in Profile Torque Mode, the speed limit parameter (Pn480 for linear
motors and Pn407 for rotary motors) has always to be specified in an appropriate manner to
avoid an unwanted excessive speed behaviour of the drive.

11-3
 12 Touch probe

12 Touch probe
The touch probe function records an axis position at the point in time of an input digital signal.
Since the position is usually not recorded directly in the PLC, but via an external hardware latch,
it is highly accurate and independent of cycle time. The touch probe function controls this
mechanism and determines the externally recorded position.

12.1 Object 60B8h - Touch probe function

Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
60B8h 0h Touch probe function u16 RW 0 Optional Yes

This object indicates the configured function of the touch probe.

Value range: Unsigned16
Notes: Bit 0 to 7: for touch probe 1
Bit 8 to 15: for touch probe 2
60B8h Bit2/10 cannot be changed after 60B8h Bit4/12 was set to 1.

Bit No. Value Definition

0 0 Switch off touch probe 1
1 Enable touch probe 1
1 0 Trigger first event
1 continuous
2 0 Trigger with touch probe 1 input
1 Trigger with zero signal of position encoder
3 - Reserved
4 0 Switch off sampling at touch probe 1
1 Enable sampling at touch probe 1
5 - not supported
6, 7 0 User-defined (not used)
8 0 Switch off touch probe 2
1 Enable touch probe 2
9 0 Trigger first event
1 continuous
10 0 Trigger with touch probe 2 input
1 Trigger with zero signal of position encoder
11 0 Reserved
12 0 Switch off sampling at touch probe 2
1 Enable sampling at touch probe 2
13 0 not supported
14, 15 0 User-defined (not used)

12-1
 12 Touch probe

12.2 Object 60B9h - Touch probe status

Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
60B9h 0h Touch probe status u16 RO 0 Optional Yes

This object provides the status of the touch probe.

Value range: Unsigned16

Bit No Value Definition

0 0 Touch probe 1 is switched off
1 Touch probe 1 is enabled
1 0 Touch probe 1 no value stored
1 Touch probe 1 value stored
2 0 not supported
3 to 6 0 Reserved
7 0,1 Shall toggle with every update of Touch probe 1 value stored *1
8 0 Touch probe 2 is switched off
1 Touch probe 2 is enabled
9 0 Touch probe 2 no value stored
1 Touch probe 2 value stored
10 0 not supported
11 to 14 0 Reserved
15 0,1 Shall toggle with every update of Touch probe 2 value stored *1

Notes: Bit 0 to 7: for touch probe 1

Bit 8 to 15: for touch probe 2

*1) If the continuous latch is enabled (object 60B8 bit 1 = 1, or bit 9 = 1), bit 7 or bit 15 of object
60B9h is toggled with every stored update of the touch probe value.

12.3 Object 60BAh - Touch probe pos1 pos value

Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Touch probe pos1 pos
60BAh 0h i32 RO 0 Optional Yes
value

This object provides the position value of the touch probe 1.

The value shall be given in user-defined position units.

Value range: Integer32

Units: Pos units

12-2
 12 Touch probe

12.4 Object 60BCh - Touch probe pos2 pos value

Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Touch probe pos2 pos
60BCh 0h i32 RO 0 Optional Yes
value

This object provides the position value of the touch probe 2.

The value shall be given in user-defined position units.

Value range: Integer32

Units: Pos units

12-3
 13 Interpolated position mode

13 Interpolated position mode

13.1 General information
The interpolated position mode can control multiple axes in synchronized motion or a single
axis that requires a time based interpolated position.
In order to control multi axes movements, the motion controller should calculate the trajectory
and divide it into time segments according to the value of the interpolation time period object
(60C2h). The interpolation time period object is the time interval between two interpolation
points and it sets the resolution of the system.

Y
∆t = 10 msec
•P , t
1 1
(For example)

•
P2, t2

P3, t3
•
P4, t4
•

Pn, tn
•
X
Two-dimensional interpolated curve

Interpolation profile calculation

Interpolation data record
Point Time [msec]
X axis Y axis
P1 X1 Y1 t1=10
P2 X2 Y2 t2=20
P3 X3 Y3 t3=30
P4 X4 Y4 t4=40
… … … …
Pn Xn Yn tn=nx10

The SGDV-OCB01A interpolates the data points using a linear interpolation method and
therefore any interpolation point can be referred to as the set point of the specified time cycle.
These set points are transmitted from the controller to the relevant SGDV-OCB01A unit using
the interpolation data record object (60C1h). The movement between two given set points will
be generated as a profile position motion in absolute values.
The interpolated position mode uses the network's SYNC signal for time coordination between
the related SGDV-OCB01A units. TheSGDV-OCB01A reduces the jitter of the SYNC between
the axes to be less than 2 sec at 1 Mbps.
In interpolation mode, the state machine "Operation Enabled" is divided into two sub states as
shown in the figure below.
13-1
 13 Interpolated position mode

4* 5*

16* I II 13*
Interpolation
inactive

III IV
11*
Interpolation
active
Operation enabled

Interpolation mode sub-states

* The number of transitions to/from the Operation Enabled State correspond to the PDS (Power
Drive System) transitions described in chapter 6.1.2.
The functionality of the sub states is described in the following table.

Functionality of the Interpolation mode sub-states

Sub State Function Transitions
I - interpolation mode of operation
The SGDV-OCB01A will accept input selected (6060h = 7)
Interpolation inactive data record, and store it. The axis will
II - mode of operation different
not move in this sub-state.
than interpolation (6060h <> 7)
The SGDV-OCB01A will accept data III - 6040h, bit 4 , 0  1
Interpolation active record. The axis will move immediately
IV - 6040h, bit 4 , 1  0
to the next valid set point.
Motion from the interpolated data record can be executed in the following way:

Continuously - one interpolation data record is sent together with the SYNC signal by a
synchronous cyclic RPDO that the interpolation data record is mapped into. The drive
immediately executes the valid data record if the state machine is interpolation active.

OCB01A

ON
1
2
3
4

tim e
M aster OCB01A

SYNC ON
1
2
3
4

tim e
Jitter

The time synchronization is based on the network’s SYNC message, and is ensured to be less
then 2 sec.

13-2
 13 Interpolated position mode

13.2 Mode specific control word

The specific bits of the control word are described in the following table:

Control Word Bits

Bit Function Meaning
=0; interpolation mode inactive. The drive will accept
Interpolation mode new data records and store them in the input buffer.
4
active/inactive =1; interpolation mode active. The drive will execute
the next valid data record in the next SYNC.
5 Reserved
6 Reserved
8 Halt Not supported

13.3 Mode specific status word

The specific bits of the status word are described in the following table.

Status Word Bits

Bit Function Meaning
=0; target position not yet reached
10 Target reached
=1; target position reached
Interpolation =0; interpolation
12
mode active =1; interpolation mode active

13.4 Object 60C1h - Interpolation Data Record

Object 60C1h - Interpolation Data Record
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Interpolation data
60C1h Mandatory
record
0h Number of entries u8 RO 0x01 Mandatory
1h 1st set point i32 RW Mandatory Yes
This object contains the necessary data to perform the interpolated motion. The SGDV-
OCB01A interpolates the data points using a linear interpolation method and therefore the
SGDV-OCB01A can refer to the interpolation data record as the new absolute set point.

Value range for sub-index 0h:

1 ,1 set-point can be transmitted at a time cycle.

Value range:
-2147483648…+2147483627 (80000000h…7FFFFFFFh) [position user units].

13-3
 13 Interpolated position mode

13.5 Object 60C2h - Interpolation Time Period

Object 60C2h - Interpolation Time Period
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
Interpolation time
60C2h Mandatory
period
0h Number of entries u8 RO 0x02 Mandatory
Interpolation time
1h u32 RW Mandatory
period value
Interpolation time
2h const -3 Mandatory
index
This object indicates the configurable time cycle.
The time cycle is given in the following format:

Time cycle = time period value [10 time cycle index sec]

The time units are in milliseconds and therefore the value of the time cycle index (sub index 2)
is fixed to -3.

Value range for sub-index 1h:

Minimum value: 4.
Maximum value: 16.
Increments of 1.

Value range for sub-index 2h:

-3 (fixed value).

13.6 Guidelines for interpolated motion execution

13.6.1 Working in continuous execution:

The following steps are necessary to implement interpolated motion with continuous streaming
set points:

1. Start the SYNC signal. The SYNC cycle should be equal to the interpolation time period,
60C2h/1h.
2. Configure a RPDO to be of synchronous cyclic type and map the 1st set point interpolation
data record object (60C1h/1h) to it.
3. Set the mode of operation to interpolation mode (object 6060h = 7).
4. Switch to operation enabled state.
5. Initiate motion by switching to interpolation active state by raising bit 4 in the control word
(object 6040h, bit 4, 0  1).
6. Verify that the mode of operation has changed to interpolation mode by reading the mode of
operation display object value (6061h = 7).
7. Start sending the RPDOs containing the next set point for the next time cycle.

13-4
 14 Inputs and outputs objects

14 Inputs and outputs objects

14.1 Object 60FDh - Digital Inputs
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
60FDh 0h Digital inputs u32 RO Optional Yes

31-23 22 21 20 19 18 17 16 15-4 3 2 1 0
0 IN6 IN5 IN4 IN3 IN2 IN1 IN0 0 E-stop Home switch P-OT N-OT

This object indicates the state of the digital inputs. The SGDV supports 7 digital inputs. The
physical inputs correspond to CN1.40-CN1.46 and can be assigned to logical input as limit
switches, an E-stop or a home switch. The binary code of the digital inputs state in object
60FDh is as follows:
Value range:
=0; not active
=1; active

14.2 Object 60FEh - Digital Output

Object 60FEh - Digital Output
Sub Data Access Default PDO
Index Parameter Name Category
Index Type Type Value Mapping
60FEh Digital output Optional Yes
0h Number of entries u8 RO 0x02 Mandatory
1h Physical output u32 RW Mandatory
2h Output mask u32 RW 0x1 Optional
This object commands the digital output state. The SGDV has 4 digital outputs. OUT1-OUT3
are assigned for general use and OUT4 is assigned as an alarm output. The digital outputs
correspond to CN1.25 - CN1.30.
Sub-index 1h: set output on/off by sending the binary state as follows:
:
31-20 19 18 17 16-0
N/A OUT3 OUT2 OUT1 N/A

Value range:
=0; output off
=1; output on
Sub-index 2h: set masking on/off to specific output by sending binary state as follows.
Value range:
=0; masking off
=1; masking on

14-1
 15 Error handling

15 Error handling
15.1 General
EMCY is one of the CANopen services.
The EMCY message CAN-ID is 80h+Node ID. EMCY messages are prioritized immediately
after NMT messages, and before any data objects (PDOs and SDOs).
Error messages are generated automatically once an error has occurred. Error messages are
only transmitted once for each error, so the error handling should be in order of occurrence.

15.2 Classes
The SGDV-OCB01A errors are divided into classes according to the CiA-301 standard. Some of
the classes indicate an error in the SGDV-OCB01A unit or a networking failure and some of
them indicate an error in the SGDV, or errors resulting from the use of an incorrect operation
command.
Class Cause of Error Location Message Type
CAN bus off
CANopen CAN error passive
SGDV-OCB01A EMCY message
communication error CAN overrun
CAN buffer overflow
SDO communication SDO protocol error
SGDV-OCB01A SDO abort transfer
error Wrong data received
Serial communication lost
Serial communication SGDV-OCB01A
Checksum error EMCY message
error SGDV
Serial buffer overflow
Wrong operation
Drive errors SGDV EMCY message
Wrong parameter setting
Warning about parameters
Drive warning SGDV EMCY message
modification

15.3 EMCY message format

EMCY message format
COB-ID DATA
Byte 0
11 bits Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Byte 1
Manufacturer specific additional bytes
Additional Additional Additional Additional Additional
Error byte 1 byte 2 byte 3 byte 4 byte 5
Error Register
80h+Node-ID Error Type:
code (Object SGDV
1001h) Sub error 0 - alarm 2 hex bytes of Var-
code
code 1 - warning ID90
number
2 - fault

15-1
 15 Error handling

15.4 Generic error

Error Additional byte Description and
Error Error Handling
Code 1 2 3 4 5 Device Reaction
The SGDV- Contact
Error OCB01A has Yaskawa
Generic
Type F1 received an Support and
1000h 0 Var-ID 90 unexpected
(0/1/ F2 unexpected error report the
error
2) from the servo SGDV error
drive code

15.5 CANopen communication errors

Error Additional byte Description and
Error
Code 1 2 3 4 5 Device Reaction
CAN controller CAN message
Reset fault from
overflow was lost.
control word
2 0 0 0 The receive Any motion will (object 6040h =
8110h 1
message buffer be terminated 80h) or reset
of the CAN with profile communication
controller is full. deceleration.
CAN TX buffer CAN message
Reset fault from
overflow was lost.
control word
2 0 0 0 The transmit Any motion will (object 6040h =
8110h 2
buffer of the be terminated 80h) or reset
CANopen library with profile communication
is full. deceleration.
CAN RX buffer CAN message
Reset fault from
overflow was lost.
control word
2 0 0 0 The receive Any motion will (object 6040h =
8110h 3
buffer of the be terminated 80h) or reset
CANopen library with profile communication
is full. deceleration.
CAN error
passive
The CAN Reset fault from
Any motion will
controller has control word
be terminated
8120h 0 2 0 0 0 detected (object 6040h =
with profile
communication 80h) or reset
deceleration.
error and communication
reported error
passive.

15-2
 15 Error handling

Error Additional byte Description and

Error
Code 1 2 3 4 5 Device Reaction
CAN recovered
Reset fault from
from bus-off
control word
The CAN (object 6040h =
Any motion will
controller has 80h) or reset
be terminated
8140h 0 2 0 0 0 detected too
with profile communication.
many transmit The SGDV-
deceleration.
errors and had OCB01A will try to
changed to bus- recover this error.
off state.
PDO data
The SGDV-
The faulty data
8200h 0 2 0 0 0 OCB01A has
will be ignored.
received faulty
data via PDO.

15.6 Emergency message

Emergency errors are triggered by internal errors and warnings detected within the servo drive.
The manufacturer specific error code 0xFF00h is used for this purpose.

The emergency telegram consists of 8 bytes with data as shown in the table below:
Byte 0 1 2 3 4 5 6 7
Emergency Error Code Error register Manufacturer specific Error
Content Reserved
Code (0xFF00h) (object1001h) Field
Object 603Fh 1001h - 203Fh

Manufacturer specific Error Field

Content Bit Description Details
Fault Code 0....15 Error Code Refer to Error Code Chart
0: Alarm
16 Alarm/Warning
1: Warning
Attribute 0: Sigma-5 fault
17 Sigma-5/Application Fault
1: CANopen application fault
18...23 No Effect Always 0
Reserved 24..31 No Effect Always 0

15-3
 15 Error handling

15.7 Error code chart

Byte 0 1 2 3 4 5 6 7
Error

Reserved
Reg. Manufacturer specific
Contents (object error field
1001h)

b1..7 always 0
b0 = generic error

Reserved

1:CANopen appl.
b0=0:alm - b1=0:DCS Sv
Emergency Code Emergency
error code
Name Fault code

0000 0002 Read/Write

5530h 5 5 3 0 0 0 0 0 0 0 0 2 8 0 0 8
8008h EEPROM error
0000 0002
8100h NMT Stop 8 1 0 0 0 0 0 0 0 0 0 2 8 0 0 4
8004h
0000 0002 CAN in error
8120h 8 1 2 0 0 0 0 0 0 0 0 2 8 0 0 2
8002h passive
0000 0002
8130h Heartbeat error 8 1 3 0 0 0 0 0 0 0 0 2 8 0 0 7
8007h
0000 0002 Recovered from
8140h 8 1 4 0 0 0 0 0 0 0 0 2 8 0 0 1
8001h bus-off
0000 0003 Wrong value
8200h 8 2 0 0 0 0 0 0 0 0 0 3 8 0 0 6
8006h received via PDO
PDO not
0000 0000
8210h processed due to 8 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0000h
length error
0000 0000
8220h Length exceeded 8 2 2 0 0 0 0 0 0 0 0 0 0 0 0 0
0000h
0000 0000
FF00h Device error * F F 0 0 0 0 0 0 0 0 0 0 0 A 1 0
0A10h
Wrong Node ID * :
0000 0000 Address is out of
FF00h F F 0 0 0 0 0 0 0 0 0 0 0 A 0 3
0A03h the allowable
range
Command-Option
0000 0000
FF00h IF Servo Unit F F 0 0 0 0 0 0 0 0 0 0 0 E A 0
0EA0h
Initial Error *
Command-Option
0000 0000
FF00h IF Memory Check F F 0 0 0 0 0 0 0 0 0 0 0 E A 1
0EA1h
Error *

15-4
 15 Error handling

Command-Option
0000 0000 IF Servo
FF00h F F 0 0 0 0 0 0 0 0 0 0 0 E A 2
0EA2h Synchronization
Error *
Command-Option
0000 0000
FF00h IF Servo Data F F 0 0 0 0 0 0 0 0 0 0 0 E A 3
0EA3h
Error *
0000 0002 Wrong Sync
FF00h F F 0 0 0 0 0 0 0 0 0 2 0 0 0 7
0007h period
0000 0002 NMT Reset
FF00h F F 0 0 0 0 0 0 0 0 0 2 8 0 0 3
8003h Comm
0000 0003 Motion buffer full
FF00h F F 0 0 0 0 0 0 0 0 0 3 0 0 0 1
0001h warning
0000 0002 Abnormal control
FF00h F F 0 0 0 0 0 0 0 0 0 2 0 0 0 9
0009h state
xxxx-Other Sigma-
5 Alarm and
FF00h F F 0 0 0 0 0 0 0 0 0 0 x x x x
Warning (Refer to
Sigma-5 manual) *
* These errors are also reported to the SGDV amplifier.

15-5
 15 Error handling

15.7.1 Error code chart 1: Errors detected by the CANopen network card
Attribute

Zero Speed Stop

Store EEPROM of servo unit

Operate alarm reset

(Bit)

Fault
Code
(Same as Meaning Description
display 16 17
[Link])

This alarm is detected when the

initial sequence is not completed
within 10 s. The timeout period
(between the power on and the
Command-Option IF completion of DPM initial
0x0EA0 0 1 Servo Unit Initial sequence) is provided for both No Yes No
Error Option Card and Servo Unit. This
alarm is not allowed for an "alarm
reset", and the sequence is
stopped after the alarm is
detected.
The Option Card detects this
alarm if there is a "verify" error
during the memory check in the
DPM initial sequence. This alarm
Command-Option IF
0x0EA1 0 1 is not allowed for an "alarm reset", No Yes No
Memory Check Error
and the sequence is stopped after
the alarm is detected so that the
DPM data exchange will not be
carried out.
After detecting the alarm, the
cyclic data except for the WDC is
Command-Option IF disabled, and the data is enabled
Servo back again to be refreshed when
0x0EA2 0 1 No Yes Yes
Synchronization the WDC comes back to a normal
Error state (WDC is defined as normal
when it is successfully refreshed
for 16 consecutive times).

15-6
 15 Error handling

Attribute

Zero Speed Stop

Store EEPROM of servo unit

Operate alarm reset

(Bit)

Fault
Code
(Same as Meaning Description
display 16 17
[Link])

The Option Card detects this

alarm if the checksum of the cyclic
data refreshed by the Servo Unit
is inappropriate. After detecting
the alarm, the cyclic data is
Command-Option IF
0x0EA3 0 1 disabled, and the data is enabled No Yes Yes
Servo Data Error
back again to be refreshed when
the WDC comes back to a normal
state (WDC is defined as normal
when it is successfully refreshed
for 16 consecutive times).
The Node ID address is out of the
0x0A03 0 1 Node ID setting error No Yes Yes
allowable range (01-7Fh)
0x0A10 0 1 Device error No Yes No

15.7.2 Error code chart 2: Errors detected by the servo unit

Fault Attribute
Code (Bit) Operate
(Same as Meaning Description alarm
display 16 17 reset
[Link])

See
0x00xx Alarm/Warning from Same code of Sigma-5 Alarm/Warning
X 0 Sigma-5
…0Dxx Sigma-5 [Link]
manual
This alarm is detected when the initial
sequence is not completed within 10 s. The
timeout period (between the power on and
Command-Option IF
the completion of DPM initial sequence) is
0x0E00 0 0 Option Card Initial No
provided for both Network Card and Servo
Error
Unit. This alarm is not allowed for an “alarm
reset”, and the sequence is stopped after
the alarm is detected.

15-7
 15 Error handling

Fault Attribute
Code (Bit) Operate
(Same as Meaning Description alarm
display 16 17 reset
[Link])

The Servo Unit detects this alarm if the WDC

of the cyclic data refreshed by the Network
Card is not updated properly.
Command-Option IF
After detecting the alarm, the cyclic data
Option Card
0x0E02 0 0 except for the WDC is disabled, and the data Yes
Synchronization
is enabled back again to be refreshed when
Error
the WDC comes back to a normal state
(WDC is defined as normal when it is suc-
cessfully refreshed for 16 consecutive times).
The Servo Unit detects this alarm if the
checksum of the cyclic data refreshed by
the network Card is inappropriate.
Command-Option IF After detecting the alarm, the cyclic data is
0x0E03 0 0 Option Card Data disabled, and the data is enabled back Yes
Error again to be refreshed when the WDC
comes back to a normal state (WDC is
defined as normal when it is successfully
refreshed for 16 consecutive times).
Upon power on, the Servo Unit confirms a
Board ID signal output from the Network
Error of Command-
Card. This alarm is detected if the Servo
0x0E70 0 0 Option Card not No
Unit determines that the Network Card is not
Detected
connected. After the alarm detection, the
DPM data exchange will not be carried out.
Upon power on, the Servo Unit confirms a
Board ID signal output from the Network
Error of Command-
Card. This alarm is detected if “Board ID” or
0x0E73 0 0 Option Card not No
“OpType (network Card ID)” set during
Supported
“DPM Initial Sequence” is found to be out of
supported range.
Upon power on, the Servo Unit confirms a
Board ID signal output from the Network
Card. This alarm is detected if “OpType
(network Card ID)” set during “DPM Initial
Sequence” is different from the Board ID
Error of Command-
obtained upon previous power on. It is to
0x0E80 0 0 Option Card not No
notify that the Network Card has been
Matching
replaced by another type. After the alarm
detection, the DPM data exchange will be
continued.
This alarm cannot be reset unless “Fn014”
in an operation mode is executed.

15-8
 15 Error handling

15.7.3 Abort SDO Transfer Protocol

The Abort SDO protocol breaks off SDO transmission and indicates the error that caused the
break in transmission through an abort code. This code is encoded as UNSIGNED32 value.
The following table shows possible reasons for an abort SDO.

Abort Code Description

0504 0005h Out of memory
0601 0001h Attempt to read a write only object
0601 0002h Attempt to write a read only object
0602 0000h Object does not exist in the object dictionary
0604 0041h Object cannot be mapped to the PDO
0604 0042h The number and length of the objects to be mapped would exceed PDO length
0604 0043h General parameter incompatibility reason
0606 0000h Access failed due to a hardware error
0607 0010h Data type does not match, length of service parameter does not match
0609 0011h Sub-index does not exist
0609 0030h Value range of parameter exceeded (only for write access)
0609 0031h Value of parameter written too high
0609 0032h Value of parameter written too low
0609 0036h Maximum value is less than minimum value
0800 0000h General error
0800 0020h Data cannot be transferred or stored to the application
Data cannot be transferred or stored to the application because of the present
0800 0022h
device state

The abort codes not listed above are reserved.

15-9
 15 Error handling

15.7.4 Recovery procedure after the interlock circuit is open:

The motor is moving in the profile position mode. CN8 was unplugged before the motor reached
its target and HBB appears on the display of the SERVOPACK.
The statusword 6041h = 5618h, this means that the fault bit and the HBB bit are active.
Using the following steps, the motor will be able to move again:

1- Plug in the CN8 connector (status word = 1618h)

2- Reset the drive (6040h/0= 80h).
A reset of the drive is a must because the fault bit is active (status word = 1650h).
3- 6040h/0 = 6 (status word = 1631h)
4- 6040h/0 = 7
5- 6040h/0 = 0F
6- 6040h/0 = 1F

After completing the above steps the motor will continue to move to its target.

Specification for HBB status in statusword

SV-OFF HBB active during SV-ON

HBB input (CN8) active active

SV-ON SV-OFF SV-ON

Drive Display HBB HBB

CANopen status abnormal control

(with Emergency message)

Fault reset
controlword (6040h/bit 7)

HBB status HBB HBB

statusword (6041h/bit 14)

15-10
 16 Examples

16 Examples
16.1 Homing example
This example describes the homing procedure.

The hardware must be configured appropriately, otherwise the homing procedure will not begin.

For a quick application check, method 33 (Homing on encoder index, positive direction) is
recommended since it does not require any I/O pre-assignment and does not exceed more then
two motor revolutions during motion.

Note:
The entered values should be set in user units depending on the user application.

Step 1. Perform servo on after power up.

Read/ Sub Data

# Index Value Description
Write Index Type
1 w 0x6040 0 u16 6 Shutdown command
Switch on and enable
2 w 0x6040 0 u16 0xf
operation

Step 2. Configure the homing procedure.

Read/ Sub Data

# Index Value Description
Write Index Type
3 w 0x609A 0 u32 Home Acceleration Acceleration setting
Setting the approach
4 w 0x6099 1 u32 100 speed (in [rev/sec] user
units)
Setting the creep
5 w 0x6099 2 u32 -5 speed (in [rev/sec] user
units)
6 w 0x6098 0 i8 Home Method Homing method setting

16-1
 16 Examples

Step 3. Set modes of operation to homing mode and start homing procedure

Read/ Sub Data

# Index Value Description
Write Index Type
10 w 0x6060 0 I8 6 Modes of operation setting
Start homing procedure
11 w 0x6040 0 u16 0x1f
Motion starts!

Step 4. Verify that the home procedure has ended

Read/ Sub Data

# Index Value Description
Write Index Type
Status word
12 r 0x6041 0 u16 x0x1 x1xx xxxx xxxx bit 10 and 12 rising = home
has finished successfully
0x0
or, the home offset Actual position in user
13 r 0x6064 0 i32
value when Home off- units.
set has been used.

16.2 Profile position example

This example will describe absolute or relative position movement to a sequence of set points.
Note:
The user units for this example are:
Position user units 1 = 1 revolution
Velocity user units 1 =1 rev/sec
Acceleration user units 1 = 1 rev/sec2
If the user has set different user units, the entered value should be changed accordingly.

Step 1. Perform servo on after power up.

Read/ Sub Data

# Index Value Description
Write Index Type
1 w 0x6040 0 u16 6 Shutdown command
Switch on and enable
2 w 0x6040 0 u16 0xf
operation

16-2
 16 Examples

Step 2. Configure motion profile.

Read/ Sub Data

# Index Value Description
Write Index Type
Checking minimum
3 r 0x607B 1 i32 -2147483648
position limit
Checking maximum
4 r 0x607B 2 i32 2147483647
position limit
Profile constant velocity
5 w 0x6081 0 u32 10
in [rev/sec] user units
Profile acceleration in
6 w 0x6083 0 u32 10000
[rev/sec2] user units

Step 3a. Configure and operate absolute motion

Read/ Sub Data

# Index Value Description
Write Index Type
7a w 0x6060 0 i8 1 Modes of operation setting
Set the target position to 3 [rev]
8a w 0x607A 0 i32 3
(positive direction).
Set motion active, motor will
9a w 0x6040 0 u16 0x1f move to the set point in
absolute scale.
Set the new set point to 15 [rev]
10a w 0x607A 0 i32 15
from the origin.
11a w 0x6040 0 u16 0xf Bit 4 = 0
Bit 4 = 1 moving to the new set
12a w 0x6040 0 u16 0x1f
point

Step 3b. Configure and operate relative motion.

Read/ Sub Data

# Index Value Description
Write Index Type
7b w 0x6060 0 i8 1 Modes of operation setting
Set the target position to 3 [rev]
8b w 0x607A 0 i32 3
(positive direction).
Set motion active, motor will move to
9b w 0x6040 0 u16 0x5f
the set point in relative scale.
Set the new set point to 15
10b w 0x607A 0 i32 15
revolutions from the origin.
11b w 0x6040 0 u16 0xf Bit 4 = 0

16-3
 16 Examples

Read/ Sub Data

# Index Value Description
Write Index Type
Bit 4 = 1
12b w 0x6040 0 u16 0x5f Bit 6 = 1
Motor will move the new set point

Step 4. Verify that the homing procedure has ended.

Read/ Sub Data

# Index Value Description
Write Index Type
Status word
13 r 0x6041 0 u16 x0xx x1xx xxxx xxxx
bit 10 = 1; target reached
15 in case of absolute
motion Actual position in [rev] user
14 r 0x6064 0 i32
18 in case of relative units.
motion

16-4
 17 Description of data types

17 Description of data types

17.1 Data types
Several types of data can be used for data entry for CANopen objects. The data type is one of
the object definitions defined by the CiA-301 or CiA-402 standards.
The following table describes the data types and range values for each type.

Data types
Code Data type Range Length
Hexadecimal Decimal
i8 ±Integer 8 bit 80…7Fh -128 … +127 1 byte
i16 ±Integer 16 bit 8000…7FFFh -32768…+32767 2 bytes
-2147483648
i32 ±Integer 32 bit 80000000h…7FFFFFFFh 4 bytes
…+2147483627
u8 Unsigned 8 bit 0…FFh 0…255 1 byte
u16 Unsigned 16 bit 0…FFFFh 0…65535 2 bytes
u32 Unsigned 32 bit 0…FFFFFFFFh 0…4294967295 4 bytes
string Constant

17-1
 18 SGDV-OCB01A objects based on EDS

18 SGDV-OCB01A objects based on EDS

18.1 Description of objects
Sub Data Access Minimum PDO
Index Parameter name Max value Default value Category
Index type type value mapping
1000h 0h Device Type u32 Const. 0x00420192 Mandatory

1001h 0h Error Register u8 RO 0x00 0xFF 0x00 Mandatory

1005h 0h COB-ID SYNC u32 RW 0x00000080 Mandatory

1008h
Store Parameter
1010h Optional
Field
Number of
0h u8 RO 0x4 Mandatory
Entries
Save all
1h u32 RW Mandatory
Parameters
Restore Default
1011h Optional
Parameters
Number of
0h u8 RO 0x4 Mandatory
Entries
Restore all
1h Default u32 RW Mandatory
Parameters
0x80+Node-
1014h 0h COB-ID EMCY u32 RO 0x00000081 0x000000FF Mandatory
ID
Consumer
1016h Optional
Heartbeat Time
Number of
0h u8 RO 0x1 0x1 0x1 Mandatory
entries
Consumer 1
u32 RW 0x0 0xFFFFFFFF 0x0 Mandatory
heartbeat time
Producer
1017h 0h u16 RW 0x0 0xFFFF 0x0 Mandatory
Heartbeat Time
1018h Identity object 0x1 0x4 0x4 Mandatory
Number of
1018h 0h u8 RO 0x0 0xFFFFFFFF Mandatory
entries

1h Vendor ID u32 RO 0x0 0xFFFFFFFF Optional

2h Product code u32 RO 0x0 0xFFFFFFFF Optional

3h Revision number u32 RO 0x0 0xFFFFFFFF Optional

4h Serial number u32 RO 0x0 0xFFFFFFFF Optional

RPDO
1400h Communication Mandatory
Parameter 1
Number of
0h u8 RO 0x02 0x05 0x05 Mandatory
Entries
0xFFFFFFFF 0x40000200+
1h COB-ID u32 RW 0x1+Node-ID Mandatory
+Node-ID Node-ID
Transmission
2h u8 RW 0x00 0xFF 0xFF Mandatory
Type
3h Inhibit Time u16 RW 0x0 0xFFFF 0x0 Optional

18-1
 18 SGDV-OCB01A objects based on EDS

Sub Data Access Minimum PDO

Index Parameter name Max value Default value Category
Index type type value mapping
RPDO
1401h Communication Mandatory
Parameter 2
Number of
0h u8 RO 0x02 0x05 0x05 Mandatory
Entries
0xFFFFFFFF 0x80000300+
1h COB-ID u32 RW 0x1+Node-ID Mandatory
+Node-ID Node-ID
Transmission
2h u8 RW 0x00 0xFF 0xFF Mandatory
Type
3h Inhibit Time u16 RW 0x0 0xFFFF 0x0 Optional
RPDO
1402h Communication Mandatory
Parameter 3
Number of
0h u8 RO 0x02 0x05 0x05 Mandatory
Entries
0xFFFFFFFF 0x80000400+
1h COB-ID u32 RW 0x1+Node-ID Mandatory
+Node-ID Node-ID
Transmission
2h u8 RW 0x00 0xFF 0xFF Mandatory
Type

3h Inhibit Time u16 RW 0x0 0xFFFF 0x0 Optional

RPDO
1403h Communication Mandatory
Parameter 4
Number of
0h u8 RO 0x02 0x05 0x05 Mandatory
Entries
0xFFFFFFFF 0x80000500+
1h COB-ID u32 RW 0x1+Node-ID Mandatory
+Node-ID Node-ID
Transmission
2h u8 RW 0x00 0xFF 0xFF Mandatory
Type

3h Inhibit Time u16 RW 0x0 0xFFFF 0x0 Optional

RPDO Mapping
1600h Mandatory
Parameter 1
Number of
0h u8 RW 0x0 0x8 0x1 Mandatory
Entries
1h Mapping Entry 1 u32 RW 0x0 0xFFFFFFFF 0x60400010 Mandatory

2h Mapping Entry 2 u32 RW 0x0 0xFFFFFFFF 0x0 Optional

3h Mapping Entry 3 u32 RW 0x0 0xFFFFFFFF 0x0 Optional

4h Mapping Entry 4 u32 RW 0x0 0xFFFFFFFF 0x0 Optional

5h Mapping Entry 5 u32 RW 0x0 0xFFFFFFFF 0x0 Optional

6h Mapping Entry 6 u32 RW 0x0 0xFFFFFFFF 0x0 Optional

7h Mapping Entry 7 u32 RW 0x0 0xFFFFFFFF 0x0 Optional

8h Mapping Entry 8 u32 RW 0x0 0xFFFFFFFF 0x0 Optional

RPDO Mapping
1601h Mandatory
Parameter 2
Number of
0h u8 RW 0x0 0x8 0x2 Mandatory
Entries
1h Mapping Entry 1 u32 RW 0x0 0xFFFFFFFF 0x60400010 Mandatory

2h Mapping Entry 2 u32 RW 0x0 0xFFFFFFFF 0x607A0020 Optional

3h Mapping Entry 3 u32 RW 0x0 0xFFFFFFFF 0x607A0020 Optional

18-2
 18 SGDV-OCB01A objects based on EDS

Sub Data Access Minimum PDO

Index Parameter name Max value Default value Category
Index type type value mapping
4h Mapping Entry 4 u32 RW 0x0 0xFFFFFFFF 0x607A0020 Optional

5h Mapping Entry 5 u32 RW 0x0 0xFFFFFFFF 0x607A0020 Optional

6h Mapping Entry 6 u32 RW 0x0 0xFFFFFFFF 0x607A0020 Optional

7h Mapping Entry 7 u32 RW 0x0 0xFFFFFFFF 0x607A0020 Optional

8h Mapping Entry 8 u32 RW 0x0 0xFFFFFFFF 0x607A0020 Optional

RPDO Mapping
1602h Mandatory
Parameter 3
Number of
0h u8 RW 0x0 0x8 0x2 Mandatory
Entries
1h Mapping Entry 1 u32 RW 0x0 0xFFFFFFFF 0x60400010 Mandatory

2h Mapping Entry 2 u32 RW 0x0 0xFFFFFFFF 0x60FF0020 Optional

3h Mapping Entry 3 u32 RW 0x0 0xFFFFFFFF 0x60FF0020 Optional

4h Mapping Entry 4 u32 RW 0x0 0xFFFFFFFF 0x60FF0020 Optional

5h Mapping Entry 5 u32 RW 0x0 0xFFFFFFFF 0x60FF0020 Optional

6h Mapping Entry 6 u32 RW 0x0 0xFFFFFFFF 0x60FF0020 Optional

7h Mapping Entry 7 u32 RW 0x0 0xFFFFFFFF 0x60FF0020 Optional

8h Mapping Entry 8 u32 RW 0x0 0xFFFFFFFF 0x60FF0020 Optional

RPDO Mapping
1603h Mandatory
Parameter 4
Number of
0h u8 RW 0x0 0x8 0x0 Mandatory
Entries
1h Mapping Entry 1 u32 RW 0x0 0xFFFFFFFF 0 Mandatory

2h Mapping Entry 2 u32 RW 0x0 0xFFFFFFFF 0 Optional

3h Mapping Entry 3 u32 RW 0x0 0xFFFFFFFF 0x607A0020 Optional

4h Mapping Entry 4 u32 RW 0x0 0xFFFFFFFF 0x607A0020 Optional

5h Mapping Entry 5 u32 RW 0x0 0xFFFFFFFF 0x607A0020 Optional

6h Mapping Entry 6 u32 RW 0x0 0xFFFFFFFF 0x607A0020 Optional

7h Mapping Entry 7 u32 RW 0x0 0xFFFFFFFF 0x607A0020 Optional

8h Mapping Entry 8 u32 RW 0x0 0xFFFFFFFF 0x607A0020 Optional

TPDO
1800h Communication Mandatory
Parameter 1
Number of
0h u8 RO 0x02 0x05 0x05 Mandatory
Entries
0xFFFFFFFF 0x40000180+
1h COB-ID u32 RW 0x1+Node-ID Mandatory
+Node-ID Node-ID
Transmission
2h u8 RW 0x0 0xFF 0xFF Mandatory
Type
3h Inhibit Time u16 RW 0x0 0xFFFF 0x0 Optional
Compatibility
4h u8 RO 0x0 0xFF 0x0 Optional
Entry
5h Event Timer u16 RW 0x0 0xFFFF 0x0 Optional
TPDO
1801h Communication Mandatory
Parameter 2

18-3
 18 SGDV-OCB01A objects based on EDS

Sub Data Access Minimum PDO

Index Parameter name Max value Default value Category
Index type type value mapping
Number of
0h u8 RO 0x02 0x05 0x05 Mandatory
Entries
0xFFFFFFFF 0xC0000280+
1h COB-ID u32 RW 0x1+Node-ID Mandatory
+Node-ID Node-ID
Transmission
2h u8 RW 0x0 0xFF 0xFF Mandatory
Type
3h Inhibit Time u16 RW 0x0 0xFFFF 0x0 Optional
Compatibility
4h u8 RO 0x0 0xFF 0x0 Optional
Entry
5h Event Timer u16 RW 0x0 0xFFFF 0x0 Optional
TPDO
1802h Communication Mandatory
Parameter 3
Number of
0h u8 RO 0x02 0x05 0x05 Mandatory
Entries
0xFFFFFFFF 0xC0000380+
1h COB-ID u32 RW 0x1+Node-ID Mandatory
+Node-ID Node-ID
Transmission
2h u8 RW 0x0 0xFF 0xFF Mandatory
Type

3h Inhibit Time u16 RW 0x0 0xFFFF 0x0 Optional

Compatibility
4h u8 RO 0x0 0xFF 0x0 Optional
Entry

5h Event Timer u16 RW 0x0 0xFFFF 0x0 Optional

TPDO
1803h Communication Mandatory
Parameter 4
Number of
0h u8 RO 0x02 0x05 0x05 Mandatory
Entries
0xFFFFFFFF 0xC0000480+
1h COB-ID u32 RW 0x1+Node-ID Mandatory
+Node-ID Node-ID
Transmission
2h u8 RW 0x0 0xFF 0xFF Mandatory
Type
3h Inhibit Time u16 RW 0x0 0xFFFF 0x0 Optional
Compatibility
4h u8 RO 0x0 0xFF 0x0 Optional
Entry

5h Event Timer u16 RW 0x0 0xFFFF 0x0 Optional

TPDO Mapping
1A00h Mandatory
Parameter 1
Number of
0h u8 RW 0x00 0x08 0x01 Mandatory
Entries
1h Mapping Entry 1 u32 RW 0x0 0xFFFFFFFF 0x60410010 Mandatory

2h Mapping Entry 2 u32 RW 0x00000000 0xFFFFFFFF 0x0 Optional

3h Mapping Entry 3 u32 RW 0x00000000 0xFFFFFFFF 0x0 Optional

4h Mapping Entry 4 u32 RW 0x00000000 0xFFFFFFFF 0x0 Optional

5h Mapping Entry 5 u32 RW 0x00000000 0xFFFFFFFF 0x0 Optional

6h Mapping Entry 6 u32 RW 0x00000000 0xFFFFFFFF 0x0 Optional

7h Mapping Entry 7 u32 RW 0x00000000 0xFFFFFFFF 0x0 Optional

8h Mapping Entry 8 u32 RW 0x00000000 0xFFFFFFFF 0x0 Optional

18-4
 18 SGDV-OCB01A objects based on EDS

Sub Data Access Minimum PDO

Index Parameter name Max value Default value Category
Index type type value mapping
TPDO Mapping
1A01h Mandatory
Parameter 2
Number of
0h u8 RW 0x00 0x08 0x02 Mandatory
Entries
1h Mapping Entry 1 u32 RW 0x0 0xFFFFFFFF 0x60410010 Mandatory

2h Mapping Entry 2 u32 RW 0x00000000 0xFFFFFFFF 0x60640020 Optional

3h Mapping Entry 3 u32 RW 0x00000000 0xFFFFFFFF 0x60640020 Optional

4h Mapping Entry 4 u32 RW 0x00000000 0xFFFFFFFF 0x60640020 Optional

5h Mapping Entry 5 u32 RW 0x00000000 0xFFFFFFFF 0x60640020 Optional

6h Mapping Entry 6 u32 RW 0x00000000 0xFFFFFFFF 0x60640020 Optional

7h Mapping Entry 7 u32 RW 0x00000000 0xFFFFFFFF 0x60640020 Optional

8h Mapping Entry 8 u32 RW 0x00000000 0xFFFFFFFF 0x60640020 Optional

TPDO Mapping
1A02h Mandatory
Parameter 3
Number of
0h u8 RW 0x00 0x08 0x02 Mandatory
Entries

1h Mapping Entry 1 u32 RW 0x0 0xFFFFFFFF 0x60410010 Mandatory

2h Mapping Entry 2 u32 RW 0x00000000 0xFFFFFFFF 0x606C0020 Optional

3h Mapping Entry 3 u32 RW 0x00000000 0xFFFFFFFF 0x606C0020 Optional

4h Mapping Entry 4 u32 RW 0x00000000 0xFFFFFFFF 0x606C0020 Optional

5h Mapping Entry 5 u32 RW 0x00000000 0xFFFFFFFF 0x606C0020 Optional

6h Mapping Entry 6 u32 RW 0x00000000 0xFFFFFFFF 0x606C0020 Optional

7h Mapping Entry 7 u32 RW 0x00000000 0xFFFFFFFF 0x606C0020 Optional

8h Mapping Entry 8 u32 RW 0x00000000 0xFFFFFFFF 0x606C0020 Optional

TPDO Mapping
1A03h Mandatory
Parameter 4
Number of
0h u8 RW 0x0 0x08 0x0 Mandatory
Entries

1h Mapping Entry 1 u32 RW 0x0 0xFFFFFFFF 0x0 Mandatory

2h Mapping Entry 2 u32 RW 0x00000000 0xFFFFFFFF 0x0 Optional

2h Mapping Entry 2 u32 RW 0x00000000 0xFFFFFFFF 0x0 Optional

3h Mapping Entry 3 u32 RW 0x00000000 0xFFFFFFFF 0x0 Optional

4h Mapping Entry 4 u32 RW 0x00000000 0xFFFFFFFF 0x0 Optional

5h Mapping Entry 5 u32 RW 0x00000000 0xFFFFFFFF 0x0 Optional

6h Mapping Entry 6 u32 RW 0x00000000 0xFFFFFFFF 0x0 Optional

7h Mapping Entry 7 u32 RW 0x00000000 0xFFFFFFFF 0x0 Optional

Utility servo
2004h 0h i8 RW 0x0 0x1 0 Optional No
function
Manufacturer
203fh 0h u32 RO 0x00000000 0xFFFFFFFF 00000000h Optional Yes
error code

2100h Get Parameter Optional

Number Of
0h u8 RO 0x00 0xFF Optional
Entries

1h Parameter ID u16 RW 0x0000 0xFFFF Optional

2h Parameter value i16 RO 0x8000 0x7FFF Optional

18-5
 18 SGDV-OCB01A objects based on EDS

Sub Data Access Minimum PDO

Index Parameter name Max value Default value Category
Index type type value mapping
2101h Set Parameter Optional
Number Of
0h u8 RO 0x00 0xFF Optional
Entries

1h Parameter ID u16 RW 0x0000 0xFFFF Optional

2h Parameter value i16 RW 0x8000 0x7FFF Optional

Read user
2211h 0x20 Optional
monitor
Number of
0h u8 RO 0x00 0xFF Optional
entries

1h Monitor ID u8 RW 0x00 0xFF Optional

2h Monitor value i32 RO 0x80000000 0x7FFFFFFF Optional

User unit group u8 RW 0x0 0x1 Optional

2300h 0h
enable
Position user
2301h
unit
Number of 0x00 0xFF
0h u8 RO 2
Entries
1h Numerator u32 RW 0x00000001 0xFFFFFFFF 1 Mandatory

2h Denominator u32 RO 0x00000001 0xFFFFFFFF 1 Mandatory

2302h Velocity user unit

Number of 0x00 0xFF
0h u8 RO 2
Entries
1h Numerator u32 RW 0x00000001 0xFFFFFFFF 1 Mandatory

2h Denominator u32 RO 0x00000001 0xFFFFFFFF 1 Mandatory

Acceleration
2303h
user unit
Number of 0x00 0xFF
0h u8 RO 2
Entries
1h Numerator u32 RW 0x00000001 0xFFFFFFFF 1 Mandatory

2h Denominator u32 RO 0x00000001 0xFFFFFFFF 1 Mandatory

Position range 0x00 0xFF Optional

2400h 0h u8 RW 0
limit designation
Target_Position_ 0x80000000 0x7FFFFFFF 0 Optional
2401h 0h i32 RO
In_Range
Actual_Position_ 0x80000000 0x7FFFFFFF 0 Optional
2402h i32 RO
In_Range
Touch probe
60B8h 0h u16 RW 0 Optional Yes
function
Touch probe
60B9h 0h u16 RO 0 Optional Yes
status
Touch probe
60BAh 0h i32 RO 0x80000000 0x7FFFFFFF 0 Optional Yes
pos1 pos value
Touch probe
60BCh 0h i32 RO 0x80000000 0x7FFFFFFF 0 Optional Yes
pos2 pos value
603fh 0h Error code u16 RO 0000h Optional Yes

6040h 0h Control word u16 RW Mandatory Yes

6041h 0h Status word u16 RO Mandatory Yes

18-6
 18 SGDV-OCB01A objects based on EDS

Sub Data Access Minimum PDO

Index Parameter name Max value Default value Category
Index type type value mapping
Quick Stop
605Ah 0h i16 RW 1 7 2 Optional No
option code

605Dh 0h Halt option code i16 RW 1 3 1 Optional No

Modes of
6060h 0h i8 RWw 0x00 0x07 Optional Yes
Operation
Modes of
6061h 0h Operation i8 RO 0x00 0x0A Optional Yes
Display
Position Demand
6062h 0h Value in User i32 RO 0x80000000 0x7FFFFFFF Optional
Units
Position Actual
6063h 0h i32 RO 0x80000000 0x7FFFFFFF Optional
Value
Position Actual
6064h 0h Value in User i32 RO 0x80000000 0x7FFFFFFF Optional Yes
Unit
6067h 0h Position Window u32 RW 0x00000000 0xFFFFFFFE Optional
Position window
6068h 0h i16 RWw 0x0 0xFFFF Optional
time
Velocity Demand
606Bh 0h i32 RO 0x80000000 0x7FFFFFFF Optional
Value
Velocity Actual
606Ch 0h i32 RO 0x80000000 0x7FFFFFFF Mandatory Yes
Value

606Dh 0h Velocity window i16 RW 0x0 0xFFFF Optional

Velocity window
606Eh 0h i16 RW 0x0 0xFFFF Optional
time

6071h 0h Target Torque i16 RWw 0xFC18 0x03E8 Mandatory Yes

6072h 0h Max. torque i16 RWw 0x0 0xFFFF Optional

6074h 0h Torque demand i16 RO 0x80000000 0x7FFFFFFF 0 Optional

Torque Actual
6077h 0h i16 RO 0x8000 0x7FFF Mandatory Yes
Value

607Ah 0h Target Position i32 RWw 0x80000000 0x7FFFFFFF Mandatory Yes

Position Range
607Bh Optional
Limit
Number of
0h u8 RO 0x00 0xFF 0x02 Mandatory
Entries
Min Position
1h i32 RW 0x80000000 0x7FFFFFFF Mandatory
Range Limit
Max Position
2h i32 RW 0x80000000 0x7FFFFFFF Mandatory
Range Limit

607Ch 0h Home Offset i32 RW 0x80000000 0x7FFFFFFF 0x00000000 Optional

Software position
607Dh Optional
limit
Highest subindex
0h u8 RO 0x00 0xFF Mandatory
supported
Min software
1h i32 RW 0x80000000 0x7FFFFFFF Mandatory
position limit
Max software
2h i32 RW 0x80000000 0x7FFFFFFF Mandatory
position limit
Max Profile
607Fh 0h u32 RO 0x0 0x7FFFFFFF Optional
Velocity

18-7
 18 SGDV-OCB01A objects based on EDS

Sub Data Access Minimum PDO

Index Parameter name Max value Default value Category
Index type type value mapping
Profile Velocity in
6081h 0h u32 RWw 0x00000000 0x7FFFFFFF Mandatory Yes
pp-mode
Profile
6083h 0h u32 RW 0x0 0x7FFFFFFF Mandatory
Acceleration
Profile
6084h 0h u32 RW 0x0 0x7FFFFFFF Mandatory
deceleration
Quick stop
6085h 0h u32 RW 0x0 0x7FFFFFFF Mandatory
deceleration
6087h 0h Torque Slope u32 RW 0x00000000 0xFFFFFFFF Mandatory

6098h 0h Homing Method i8 RW 0x0 0x23 Mandatory

6099h Homing Speeds Mandatory

Number of
0h u8 RO 0x00 0xFF 0x02 Mandatory
Entries
Fast Homing
1h u32 RW 0x00000000 0xFFFFFFFF Mandatory
Speed
Slow Homing
2h u32 RW 0x00000000 0xFFFFFFFF Mandatory
Speed
Homing
609Ah 0h u32 RW 0x00000000 0xFFFFFFFF Optional
Acceleration
Interpolated data
60C1h Optional
record
Number of
0h u8 RO 0x1 0xFE 0x01 Mandatory
Entries
1h 1st set point i32 RWw 0x80000000 0x7FFFFFFF Mandatory Yes
Interpolated time
60C2h Mandatory
period
Number of
0h u8 RO 0x00 0xFF 0x02 Mandatory
Entries
Interpolation time
1h u8 RW 0x00 0x04 0x01 Mandatory
period value
Interpolation time
2h const F0 FD FD Mandatory
index
60C5h 0h Max Acceleration u32 RO 0x0 0x7FFFFFFF Optional

60C6h 0h Max deceleration u32 RO 0x0 0x7FFFFFFF Optional

Position demand
60FCh 0h u8 RO 0x80000000 0x7FFFFFFF Optional
internal value
60FDh 0h Digital Inputs u32 RO 0x0 0xFFFFFFFF Optional Yes

60FEh Digital Outputs Optional

Number of
0h u8 RO 0x00 0x2 0x02 Mandatory
Entries

1h Physical Outputs u32 RWw 0x00000000 0xFFFFFFFF Mandatory Yes

2h Output Mask u32 RWw 0x00000000 0xFFFFFFFF Optional Yes

60FFh 0h Target Velocity i32 RWw 0x80000000 0x7FFFFFFF Mandatory Yes

Supported drive
6502h 0h u32 RO 0x00 0xFFFFFFFF Optional
modes

18-8
Revision History
The revision dates and numbers of the revised manuals are given at the bottom of the
back cover.
MANUAL NO. YEU SIEP C720829 20A
Published in Germany February 2012 09-6 4

Date of Revision number

publication Date of original publication

Date of Rev. Section Revised Contents

Publication No.
June 2009 – First edition

August 2009 Chapter Slightly revised and updated

1 1 to 6 & 11

November 2009 2 All Chapters Completely revised and new objects added

Information about Interpolated position mode added in

January 2010 3 Chapter 6 object 6060h and 6061h

Chapter 3.8 Object 1016h - Access type of sub-index 0h changed

to RO
Object 1800h-1803h - Description of sub-index 2h and
Chapter 4.4
5h updated
February 2012 4 Object 6041h - Description of bit functions, corre-
sponding machine states, profile position mode and
Chapter 6.4
homing mode changed
Object 605Ah - Object description added
Chapter 11.4 Object 6072h - Example added
AC Servo Drives
Σ -V Series
USER'S MANUAL
CANopen Network Module

European headquarters

YASKAWA EUROPE GmbH

Hauptstraße 185, 65760 Eschborn, Germany
Phone: +49 (0) 6196-569-300 Fax: +49 (0) 6196-569-398

Manufacturing facility

YASKAWA ELECTRIC UK LTD.

1 Hunt Hill, Orchardton Woods, Cumbernauld, G68 9LF, United Kingdom
Phone: +44 (0) 1236-735000 Fax: +44 (0) 1236-458182

In the event that the end user of this product is to be the military and said product is to be employed in any
weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in
the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit
all relevant documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications and improvements.
© 2012 YASKAWA EUROPE GmbH. All rights reserved.

MANUAL NO. YEU SIEP C720829 20A

Published in Germany February 2012 09-6 4 -0 2