DS2000-CAN

APPLICATION MANUAL (rev.1)

GB-4540
Introduction
This manual provides the necessary information for an effective use of DS2000 CAN Bus.
It must be used in conjunction with the "DS2000 User’s and Installation Manual".

This manual includes:

• Description
• Hardware differences between DS2000-CAN and DS2000 drive
• Software configuration
• Network management
• Emergency
• Objects

The following version apply:

VERSION: V1.1

1
Section 1 - Description

CAN is a serial bus system with multi-master capabilities, that is, all CAN nodes are able
to transmit data and several CAN nodes can request the bus simultaneously. The serial
bus system with real-time capabilities is the subject of the ISO 11898 international
standard and covers the lowest two layers of the ISO/OSI reference model. In CAN
networks there is no addressing of subscribers or stations in the conventional sense, but
instead, prioritized messages are transmitted. A transmitter sends a message to all CAN
nodes (broadcasting). Each node decide on the basis of the identifier received whether it
should process the message or not. The identifier also determines the priority that the
message enjoys in competition for bus access.
Open fieldbus systems enable the construction of machines by connecting components
from multiple vendors while minimizing the effort required for interfacing. To achieve an
open networking system, it is necessary to standardize the various layers of
communication used.

CANOpen uses the international CAN standard, ISO 11898 as the basis for
communication. This standard covers the lower two layers of communication specified by
the OSI model. Building on this, the CANOpen profile family specifies standardized
communication mechanisms and device functionality for CAN-based systems. The profile
family which is available and maintained by CAN in Automation (CiA) consists of the
application layer and communication profile (DS 301), various frameworks and
recommendations (CiA DS-30x) and various device profiles (CiA DS-40x).

2
Section 2 - Hardware differences between DS2000-CAN and
DS2000

Tab. 2.1 – J1 Connector - Sub-D 9 pos. - CANBUS Signals

Panel side: male
Wiring side: female with conductive shell

Pos. Name
1 BUS_L BUS Low signal
2 BUS_L BUS Low signal

3 0V Digital 0V

4 - N.C. (Not Connected)

5 - N.C.
6 0V Digital 0V

7 BUS_H BUS High signal

8 BUS_H BUS High signal

9 +5V +5Vdc output

3
Section 3 – Software Configuration

DS2000 SOFTWARE VERSION: 4.100

This SW can be downloaded using the DSLoader
EPROM C515: 99CD
This EPROM have to be physically replaced for SW update if needed. for

4
Section 4 – Network Management

The network management supports a simplified start of the network and can be expanded
modular according to system demand.

Tab.4.1 - Network Management

CAN header:
Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Hex
Byte0 0 0 0 0 0 0 0 0 00
Byte1 0 0 0 0 0 0 0 0 00

CAN data:
Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Hex
Byte2 C7 C6 C5 C4 C3 C2 C1 C0 CMD
Byte3 A7 A6 A5 A4 A3 A2 A1 A0 Xx Node ID (00 => all Nodes)
Byte4
Byte5
Byte6
Byte7
Byte8
Byte9

C7 C6 C5 C4 C3 C2 C1 C0 Hex CMD
0 0 0 0 0 0 0 1 01 Start
0 0 0 0 0 0 1 0 02 Stop
1 0 0 0 0 0 0 0 80 Pre Operational
1 0 0 0 0 0 0 1 81 Reset Node
1 0 0 0 0 0 1 0 82 Reset Communication Parameter

5
Section 5 – Emergency
CAN header:
Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Hex
Byte0 0 0 0 1 A6 A5 A4 A3 10
Byte1 A2 A1 A0 0 0 0 0 0 00

CAN data:
Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Hex
Byte0 x x x x x x x x xx Error Code
Byte1 x x x x x x x x xx Error Code
device
manuf. communic temperatur Error Register
Byte2 specific
0 profile
ation error e
Voltage current generic xx (Obj. 1001)
specific
Specific error
Byte3 FTMPRAD FBUSREAD FRESREC FNOBUS FBUMOT FDBUS FBUSUV FBUSOV xx register
Specific error
Byte4 FPARM FRR FWBB FVBB FUBB FWBA FVBA FUBA xx register
FCHECKM FLIMVELMS FTMPMOT FTAGLIAM M15FAULT P15FAULT ENCFAULT UVWFAU Specific error
Byte5 SK K MSK SK MSK MSK MSK LTMSK xx register
RESFAUL Specific error
Byte6 0 0 0 0 0 0 0
TMSK 0x register
Specific error
Byte7 0 0 0 0 0 0 0 0 00 register

Error Code 0000 No Error - Fault Resetted

1000 Generic Error
2000 Current Error
3000 Voltage Error
4000 Temperature Error
5000 Device HW Error
6000 Device SW Error
8000 Communication Error
8100 Communication warning reached
8140 Recovered from bus off

FBUSOV Bus Overvoltage fault

FBUSUV Bus Undervoltage fault
FDBUS Fault for too high VBus slope
FBUSMOT Fault for not matching VBus and Motor
FNOBUS Fault for no Bus
FRESREC Fault for not matching braking resistance and VBus
FBUSREAD Fault reading Bus
FTMPRAD Fault drive OVT

FUBA Fault high igbt phase U

FVBA Fault high igbt phase V
FWBA Fault high igbt phase W
FUBB Fault low igbt phase U
FVBB Fault braccio basso fase V
FWBB Fault braccio basso fase W
FRR Fault braking igbt
FPARM Fault reading flash

UVWFAULTMSK Fault encoder UVW

ENCFAULTMSK Fault encoder pulses
P15FAULTMSK Fault on +15
M15FAULTMSK Fault on -15
FTAGLIAMSK Fault drive size
FTMPMOTMASK Fault motor OVT
FLIMVELMSK Fault overspeed
FCHECKMSK Fault checksum

RESFAULTMSK Fault resolver

6
Section 6 - Objects
6.1 Object Dictionary

DS2000 – CAN Object Dictionary

OBJ Name Type subindex description data PDO mapping note
- Network management - - - - - - No wo
- Emergency - - - - - - No ro
1000 Device type VAR Unsigned32 - - 00020402 SDO No ro
1001 Error register VAR Unsigned8 - - XX SDO No ro
1002 Status Register VAR Unsigned16 - Display DS2000 Status XXXX SDO No ro
Unsigned32 00 N° of PDOs supported 00010001h SDO No ro
Unsigned32 01 N° synchronous PDOs 00010001h SDO No ro
1004 Number of PDOs supported ARRAY
Unsigned32 02 N° asynchronous 00000000h SDO No ro
PDOs
1005 Sync VAR Unsigned32 - - - - No ro
1006 Communication Cycle Period VAR Unsigned32 - - XXXXXXXX SDO No rw
100A Manufacturer software version VAR Unsigned32 - Version xx.xx XXXXXXXX SDO No ro
100B Node ID VAR Unsigned16 - Node ID XXXX SDO No ro
Unsigned8 00 Number of element 0X SDO No ro
1010 Save Parameter
Unsigned32 01 Save command 73617665 SDO No rw
Unsigned32 00 Number of element 01 SDO No ro
1018 Identity Object RECORD
Unsigned32 01 Vendor ID 0x28 SDO No ro
Unsigned8 00 Number of element 0x SDO No ro
1400 RxPDO Communication Parameter RECORD Unsigned32 01 COB –ID XXXXXXX SDO No rw
Unsigned8 02 Transmission type XX SDO No ro
Unsigned8 00 Number of objects 0X SDO No rw
Unsigned32 01 1st object XXXXXXXX SDO No rw
1600 RxPDO Mapping Parameter RECORD Unsigned32 02 2nd object XXXXXXXX SDO No rw
Unsigned32 03 3rd object XXXXXXXX SDO No rw
Unsigned32 04 4th object XXXXXXXX SDO No rw
Unsigned8 00 Number of element 0X SDO No ro
1800 TxPDO Communication Parameter RECORD Unsigned32 01 COB-ID XXXXXXXX SDO No rw
Unsigned8 02 Transmission type XX SDO N0 rw

7
 DS2000 – CAN Object Dictionary (continued)
OBJ Name Type subindex description Data PDO mapping note
Unsigned8 00 Number of objects 0X SDO No rw
Unsigned32 01 1st object XXXXXXXX SDO No rw
1A00 TxPDO Mapping Parameter RECORD Unsigned32 02 2nd object XXXXXXXX SDO No rw
Unsigned32 03 3rd object XXXXXXXX SDO No rw
Unsigned32 04 4th object XXXXXXXX SDO No rw
Unsigned8 00 Number of element 08 SDO No ro
Unsigned16 01 Motor Poles XXXX SDO No rw
Unsigned16 02 Motor Size XXXX SDO No rw
Unsigned16 03 Motor Voltage Rating XXXX SDO No rw
2000 DS2000 Parameter RECORD Unsigned16 04 Motor BEFM (at 1000 rpm) XXXX SDO No rw
Unsigned16 05 Motor resistance XXXX SDO No rw
Unsigned16 06 Motor inductance XXXX SDO No rw
Unsigned16 07 Autophasing XXXX SDO No rw
Unsigned16 08 Encoder pulses XXXX SDO No rw
Unsigned8 00 Number of element 06 SDO No ro
Unsigned16 01 PTC intervention XXXX SDO No rw
Unsigned16 02 Recovery Resistance XXXX SDO No rw
2001 DS2000 Parameter RECORD Unsigned16 03 Tachometric scale XXXX SDO No rw
Unsigned16 04 Resolver poles XXXX SDO No rw
Unsigned16 05 Zero selection XXXX SDO No rw
Unsigned16 06 Motor pulses selection XXXX SDO No rw
Unsigned8 00 Number of element 05 SDO No ro
Unsigned16 01 Notch F. Cut XXXX SDO No rw
Unsigned16 02 Notch Bandwidth XXXX SDO No rw
2002 DS2000 Parameter RECORD
Unsigned16 03 Notch Gain XXXX SDO No rw
Unsigned16 04 Speed ref. filter XXXX SDO No rw
Unsigned16 05 Speed. error filter XXXX SDO No rw
Unsigned8 00 Number of element XXXX SDO No ro
Unsigned16 01 Software Release DS XXXX SDO No ro
2003 DS2000 Parameter RECORD Unsigned16 02 File checksum DS XXXX SDO No ro
Unsigned16 03 DS Size XXXX SDO No ro
Unsigned16 04 Radiator Temperature XXXX SDO No ro

8
 DS2000 – CAN Object Dictionary (continued)
OBJ Name Type subindex description data PDO mapping note
Unsigned8 00 Number of element 02 SDO No ro
2004 DS2000 Parameter RECORD Unsigned16 01 Reference ID XXXX SDO No rw
Unsigned16 02 SG_PAR XXXX SDO No rw
2072 DS2000 Parameter RECORD Unsigned16 00 Current Limit (Ilimit) XXXX SDO No rw
2022 DS2000 Parameter RECORD Unsigned16 00 Max output current XXXX SDO No rw
(motor size)
6040 Controlword VAR Unsigned16 - - 00XX PDO & SDO Yes rw
6041 Statusword VAR Unsigned16 - - 0XXX PDO & SDO Yes ro
6042 Target velocity VAR Integer16 - - XXXX PDO & SDO Yes rw
6043 Velocity demand VAR Integer16 - - XXXX PDO & SDO Yes ro
6044 Control effort VAR Integer16 - - XXXX PDO & SDO Yes ro
Unsigned16 00 Number of element 02 SDO No ro
6046 Velocity min max amount ARRAY Unsigned16 01 velocity min amount XXXX PDO & SDO Yes rw
Unsigned16 02 velocity max amount XXXX PDO & SDO Yes rw
Unsigned16 00 Number of element 01 SDO No ro
6048 Velocity acceleration RECORD - 01 delta speed - SDO No rw
Unsigned16 02 delta time XXXX - - -
Unsigned16 00 Number of element 01 SDO No ro
6049 Velocity deceleration RECORD - 01 delta speed - SDO No rw
Unsigned16 02 delta time XXXX - - -
6060 Modes of Operation VAR Integer8 - - 0X SDO No wo
6061 Modes of Operation display VAR Integer8 - - 0X SDO No ro
6064 Position actual value VAR Integer32 - Position actual value - SDO & PDO Yes rw
Unsigned8 00 Number of element 02 SDO No ro
6510 MCDS2000 Parameter ARRAY Integer16 01 Proportional gain (Kp) XX SDO No rw
Integer16 02 Integral gain (Ki) XX SDO No rw

Default PDO Mapping:

RxPDO1 – Obj. 6040 (byte 0,1); Obj. 6042 (byte 2,3)
TxPDO1 – Obj. 6041 (byte 0,1); Obj. 6044 (byte 2,3)

Default PDO COB-ID:

RxPDO1 – 0200h+Node-ID
TxPDO1 – 0180h+Node-ID

TxPDO are triggered by SYNC message.

Speed change and Torque(current ILimit are triggered by SYNC message.

9
Node ID: can be changed only via RS-485 (J2)

CAN Baudrate: can be changed only via DS2000 keyboard.

CAN Baudrate (Kbit/s)
1000
500
250
125
50

10
Object 1000h: Device Type
Object Description
INDEX 1000h
Name Device Type
Object Code Var
Data Type Unsigned 32

Value Description
Access Read only
PDO Mapping NO
Value Range Unsigned32
Default Value 00020402h

Object 1001h: Error Register

Object Description
INDEX 1001h
Name Error Register
Object Code Var
Data Type Unsigned 8

Value Description
Access Read only
PDO Mapping NO
Value Range Unsigned8
Default Value 00h (no error)

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Device
Manufacturer Reserved Communication Generic
Profile Temperature Voltage Current
Specific (always 0) Error Error
Specific

11
Object 1002h: Status DS2000
Object Description
INDEX 1002h
Name Status DS2000
Object Code Var
Data Type Unsigned 32

Value Description
Access Read only
PDO Mapping NO
Value Range Unsigned32
Default Value 00xxh

Meaning Value = 0 Value = 1

Bit 0 Direction CW CCW
Bit 1 Control Torque Velocity
Bit 2 Reference Digital Analog
Bit 3 ON/OFF Off On
Bit 4 Defluxing Off On
Bit 5 Ilimit Off On
Bit 6 Drive Enable Off On
Bit 7 Reference Enable Off On
Bit 8 Remote Control Off On
Bit 9 Encoder Type Stegmann Heidenhein
Bit 10 Bus OK Not OK OK
Bit 11 Encoder/Resolver Resolver Encoder
Bit 12 - - -
Bit 13 Keyboard Not Locked Locked
Bit 14 - - -
Bit 15 - - -

12
Object 1004h: Number of PDOs supported
Object Description
INDEX 1004h
Name Number of PDOs supported
Object Code Array
Number of elements 02h
Data Type Unsigned32

Value Description
Sub-Index 00h
Description Number of PDOs supported
Access Read only
PDO Mapping NO
Value Range Unsigned32
Default Value 11h

Sub-Index 01h
Description Number of synchronous PDOs
Access Read Only
PDO Mapping NO
Value Range Unsigned32
Default Value 11h

Sub-Index 02h
Description Number of asynchronous PDOs
Access Read Only
PDO Mapping NO
Value Range Unsigned32
Default Value 00h

13
Object 1005h: COB-ID SYNC message
Object Description
INDEX 1005h
Name COB-ID SYNC message
Object Code Var
Data Type Unsigned 32

Value Description
Access Read only
PDO Mapping NO
Value Range Unsigned32
Default Value 80h

Object 1006h: Communication Cycle Period

Object Description
INDEX 1006h
Name Communication Cycle Period
Object Code Var
Data Type Unsigned 32

Value Description
Access Read / Write
PDO Mapping NO
Value Range Unsigned32
Default Value 00000000h
(Communication Cycle Period not active)
Not saved

Object 100Ah: Manufacturer Software Version CAN interface

Object Description
INDEX 100Ah
Name Manufacturer Software Version CAN interface
Object Code Var
Data Type Unsigned 32

Value Description
Access Read Only
PDO Mapping NO
Value Range Unsigned32
Default Value xxxxxxxx (Version xx.xx)

14
Object 100Bh: Node ID
Object Description
INDEX 100Bh
Name Node ID
Object Code Var
Data Type Unsigned 16

Value Description
Access Read Only
PDO Mapping NO
Value Range Unsigned16
Default Value 01h

Node ID: can be changed only via RS-485 (J2)

Object 1010h: Store Parameter

Object Description
INDEX 1010h
Name Store Parameter
Object Code Array
Number of elements 01h
Data Type Unsigned32

Value Description
Sub-Index 00h
Description Number of elements
Access Read only
PDO Mapping NO
Value Range 00h - 01h
Default Value No

Sub-Index 01h
Description Save all Parameters
Access r/w
PDO Mapping NO
Value Range Unsigned32
Default Value 65766173h (SAVE in ASCII)

15
Object 1011h: Load Parameter
Object Description
INDEX 1011h
Name Load Parameter
Object Code Array
Number of elements 01h
Data Type Unsigned32

Value Description
Sub-Index 00h
Description Number of elements
Access Read only
PDO Mapping NO
Value Range 00h - 01h – 04h
Default Value No

Sub-Index 01h
Description Load Saved Parameters
Access r/w
PDO Mapping NO
Value Range Unsigned32
Default Value 64616F6Ch (LOAD in ASCII)

Sub-Index 04h
Description Load Default Parameters
Access r/w
PDO Mapping NO
Value Range Unsigned32
Default Value 64616F6Ch (LOAD in ASCII)

16
Object 1018h: Identity Object
Object Description
INDEX 1018h
Name Identity Object
Object Code Record
Number of elements 01h
Data Type Unsigned32

Value Description
Sub-Index 00h
Description Number of elements
Access Read only
PDO Mapping NO
Value Range Unsigned32
Default Value 1h

Sub-Index 01h
Description Identity
Access Read Only
PDO Mapping NO
Value Range Unsigned32
Default Value 0x28 (MOOG)

17
Object 1400h: Receive PDO Communication Parameter
Object Description
INDEX 1400h
Name Receive PDO Communication Parameter
Object Code Record
Data Type PDO Comm.Par.

Value Description
Sub-Index 00h
Description Largest subindex supported
Access Read only
PDO Mapping NO
Default Value 2

Sub-Index 01h
Description COB-ID used by PDO
Access R/W
PDO Mapping NO
Value Range UNSIGNED32
Default Value Index 1400h: 200h + Node-ID,
Index 1401h: 300h + Node-ID,
Index 1402h: 400h + Node-ID,
Index 1403h: 500h + Node-ID,
Not saved
Sub-Index 02h
Description transmission type
Access Read only
PDO Mapping NO
Value Range UNSIGNED8
Default Value FEh (Manufacturer Specific)

18
Object 1600h: Receive PDO Mapping Parameter
Object Description
INDEX 1600h
Name Receive PDO mapping
Object Code Record
Number of elements 01h – 04h
Data Type PDO Mapping

Value Description
Sub-Index 00h
Description Number of mapped application objects in PDO
Access Write only
PDO Mapping NO
Value Range Unsigned32
Default Value 2
Not saved
Sub-Index 01h – 04h
Description PDO mapping for the nth application object to be
mapped
Access Write only
PDO Mapping NO
Value Range Unsigned32
Default Value Sub-index 01: Obj 6040h
Sub index 02: Obj 6042h
Not saved

19
Object 1800h: Transmit PDO Communication Parameter
Object Description
INDEX 1800h
Name Transmit PDO Communication Parameter
Object Code Record
Data Type PDO Comm.Par.

Value Description
Sub-Index 00h
Description Largest subindex supported
Access Read only
PDO Mapping NO
Default Value 2

Sub-Index 01h
Description COB-ID used by PDO
Access R/W
PDO Mapping NO
Value Range UNSIGNED32
Default Value Index 1800h: 180h + Node-ID,
Index 1801h: 280h + Node-ID,
Index 1802h: 380h + Node-ID,
Index 1803h: 480h + Node-ID,
Not saved
Sub-Index 02h
Description transmission type
Access Read/Write
PDO Mapping NO
Value Range UNSIGNED8
Default Value 01h (Synchronous transmission types 0-240)

20
Object 1A00h: Transmit PDO Mapping Parameter
Object Description
INDEX 1A00h
Name Transmit PDO mapping
Object Code Record
Number of elements 01h – 04h
Data Type PDO Mapping

Value Description
Sub-Index 00h
Description Number of mapped application objects in PDO
Access Write only
PDO Mapping NO
Value Range Unsigned32
Default Value 2
Not saved in DS2000 EEPROM
Sub-Index 01h – 04h
Description PDO mapping for the nth application object to be
mapped
Access Write only
PDO Mapping NO
Value Range Unsigned32
Default Value Sub-index 01: Obj 6041h
Sub index 02: Obj 6044h
Not saved

21
Object 2000h: DS Parameter
Object Description
INDEX 2000h
Name DS Parameter
Object Code Record
Number of elements 08h
Data Type

Value Description
Sub-Index 00h
Description Number of Objects
Access Read only
PDO Mapping NO
Value Range Unsigned8
Default Value 08h

Sub-Index 01h
Description Motor Poles
Access Read /Write
PDO Mapping NO
Value Range 00h – 18h
Default Value

Sub-Index 02h
Description Motor Size
Access Read / Write
PDO Mapping NO
Value Range
Default Value

Sub-Index 03h
Description Motor Voltage Rating
Access Read / Write
PDO Mapping NO
Value Range
Default Value

Sub-Index 04h
Description Motor BEFM (at 1000 rpm)
Access Read / Write
PDO Mapping NO
Value Range
Default Value

Sub-Index 05h
Description Motor Resistance (Ω)
Access Read / Write
PDO Mapping NO
Value Range
Default Value

22
Sub-Index 06h
Description Motor inductance (mH)
Access Read / Write
PDO Mapping NO
Value Range
Default Value

Sub-Index 07h
Description Autophasing
Access Read / Write
PDO Mapping NO
Value Range
Default Value On read = ± 255d
On write = 68707561h (AUPH in ASCII)

Sub-Index 08h
Description Impulsi encoder
Access Read / Write
PDO Mapping NO
Value Range
Default Value

23
Object 2001h: DS Parameter
Object Description
INDEX 2001h
Name DS Parameter
Object Code Record
Number of elements 03h
Data Type

Value Description
Sub-Index 00h
Description Number of Objects
Access Read only
PDO Mapping NO
Value Range Unsigned8
Default Value 06h

Sub-Index 01h
Description PTC intervention
Access Read /Write
PDO Mapping NO
Value Range
Default Value

Sub-Index 02h
Description Recovery Resistance
Access Read / Write
PDO Mapping NO
Value Range
Default Value

Sub-Index 03h
Description Tachometric scale
Access Read / Write
PDO Mapping NO
Value Range
Default Value

Sub-Index 04h
Description Resolver Poles
Access Read / Write
PDO Mapping NO
Value Range
Default Value

24
Sub-Index 05h
Description zero selection
Access Read / Write
PDO Mapping NO
Value Range
Default Value

Sub-Index 06h
Description Motor pulses selection
Access Read / Write
PDO Mapping NO
Value Range
Default Value

25
Object 2002h: DS Parameter
Object Description
INDEX 2002h
Name DS Parameter - Filters
Object Code Record
Number of elements 05h
Data Type

Value Description
Sub-Index 00h
Description Number of Objects
Access Read only
PDO Mapping NO
Value Range Unsigned8
Default Value 05h

Sub-Index 01h
Description Notch Frequency Cut
Access Read /Write
PDO Mapping NO
Value Range
Default Value

Sub-Index 02h
Description Notch Bandwidth
Access Read / Write
PDO Mapping NO
Value Range
Default Value

Sub-Index 03h
Description Notch Gain
Access Read / Write
PDO Mapping NO
Value Range
Default Value

Sub-Index 04h
Description Speed Reference Filter
Access Read / Write
PDO Mapping NO
Value Range
Default Value

Sub-Index 05h
Description Speed Error Filter
Access Read / Write
PDO Mapping NO
Value Range
Default Value

26
Object 2003h: DS Parameter
Object Description
INDEX 2003h
Name DS Parameter
Object Code Record
Number of elements 04
Data Type

Value Description
Sub-Index 00h
Description Number of Objects
Access Read only
PDO Mapping NO
Value Range Unsigned8
Default Value 04

Sub-Index 01h
Description Software Release DS
Access Read Only
PDO Mapping NO
Value Range
Default Value

Sub-Index 02h
Description File checksum DS
Access Read Only
PDO Mapping NO
Value Range
Default Value

Sub-Index 03
Description DS Size
Access Read Only
PDO Mapping NO
Value Range
Default Value

Sub-Index 04
Description Radiator Temperature
Access Read Only
PDO Mapping NO
Value Range
Default Value

27
Object 2004h: DS Parameter
Object Description
INDEX 2004h
Name DS Parameter
Object Code Record
Number of elements 02
Data Type

Value Description
Sub-Index 00h
Description Number of Objects
Access Read only
PDO Mapping NO
Value Range Unsigned8
Default Value 02

Sub-Index 01h
Description Reference ID
Access Read /Write
PDO Mapping NO
Value Range
Default Value

Sub-Index 02h
Description SG_PAR
Access Read / Write
PDO Mapping NO
Value Range
Default Value

28
Object 2072h: DS Parameter
Object Description
INDEX 2072h
Name DS Parameter
Object Code Record
Number of elements 01
Data Type

Value Description
Sub-Index 00h
Description Current ILimit value in 0.1 A
Max output current
Access Read\Write
PDO Mapping NO
Value Range Unsigned16
Default Value set to drive size or lower value as the application
require

Object 2222h: DS Parameter

Object Description
INDEX 2222h
Name DS Parameter
Object Code Record
Number of elements 01
Data Type

Value Description
Sub-Index 00h
Description Top Output Current value in 0.1 A,
Motor Size
Access Read\Write
PDO Mapping NO
Value Range Unsigned16
Default Value set to drive size or lower value as the application
require

29
Fig.6.1 State Machine

Power Disabled Fault

Start
Fault (0Fh)

Not Ready to Switch ON

Reset Fault

Swtich ON Disabled (40h)

Shutdown Quickstop
Disable
Ready to Switch ON (21h) Voltage
Quickstop
Disable
Voltage Switch ON Shutdown

Shutdown Switched ON (23h)

Disable
Voltage
Enable Operation Disable Operation

Operation Enable (07h) Quickstop Active (17h)

Quickstop

Power Enabled

31
Object 6040h: Controlword
Object Description
INDEX 6040h
Name Controlword
Object Code Var
Data Type Unsigned 16

Value Description
Access Read / Write
PDO Mapping Possible
Value Range 0 – 65535
Default Value (See Fig.6.1 State Machine Diagram)

32
Tab.6.1 Controlword
Transition From To Command Standard Moog 6040 (hex)
1 Not Ready to Switch On Switch On Disabled
2 Switch On Disabled Ready to Switch On Shutdown x x x x x 1 1 0 x x x x x 1 1 0 x6
3 Ready to Switch On Switched On Switch On x x x x x 1 1 1 x x x x x 1 1 1 x7
4 Switched On Operation Enable Enable Operation x x x x 1 1 1 1 x x x x 1 1 1 1 xF

5 Operation Enable Switched On Disable Operation x x x x 0 1 1 1 x x x x 0 1 1 1 x7

6 Switched On Ready to Switch On Shutdown x x x x x 1 1 0 x x x x x 1 1 0 x6
7 Ready to Switch On Switch On Disabled Quick Stop x x x x x 0 1 x x x x x x 0 1 x x2
8 Operation Enable Ready to Switch On Shutdown x x x x x 1 1 0 x x x x x 1 1 0 x6
9 Operation Enable Switch On Disabled Disable Voltage x x x x x x 0 x x x x x x x 0 x x0
Disable Voltage x x x x x x 0 x x x x x x x 0 x x0
10 Switched On Switch On Disabled
Quick Stop x x x x x 0 1 x x x x x x 0 1 x x2
11 Operation Enable Switch On Disabled Quick Stop x x x x x 0 1 x x x x x x 0 1 x x2

15 Fault Switch On Disabled Reset Fault 1 x x x x x x x x x x x x x x x 8x

b b b b b b b b b b b b b b b b
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0

33
Object 6041h: Statusword
Object Description
INDEX 6041h
Name Statusword
Object Code Var
Data Type Unsigned 16

Value Description
Access Read only
PDO Mapping Possible
Value Range 0 – 65535
Default Value (See State Machine Diagram)

Tab.6.2 Statusword
State Standard Moog 6041 (hex)
Switch On Disabled x 1 x x 0 0 0 0 0 1 0 0 0 0 0 0 40
Ready to Switch On x 0 1 x 0 0 0 1 0 0 1 0 0 0 0 1 21
Switched On x 0 1 x 0 0 1 1 0 0 1 0 0 0 1 1 23
Operation Enabled x 0 x x 0 1 1 1 0 0 0 0 0 1 1 1 07
Quick Stop Active x 0 0 x 0 1 1 1 0 0 0 1 0 1 1 1 17
Fault (SYNC absence) - - - - - - - - 0 0 0 0 1 1 1 1 0F
Fault (generic) x 0 x x 1 1 1 1 0 0 0 0 1 1 1 1 0F
b b b b b b b b b b b b b b b b
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0

Object 6042h: Target Velocity

Object Description
INDEX 6042h
Name Target Velocity
Object Code Var
Data Type Integer 16

Value Description
Access Read / Write
PDO Mapping Possible
Value Range - 32768 / 32767
Default Value 0

34
Object 6043h: Velocity Demand
Object Description
INDEX 6043h
Name Velocity Demand
Object Code Var
Data Type Integer 16

Value Description
Access Read Only
PDO Mapping Possible
Value Range - 32768 / 32767
Default Value (drive output variable)

Object 6044h: Control Effort

Object Description
INDEX 6044h
Name Control Effort
Object Code Var
Data Type Integer 16

Value Description
Access Read Only
PDO Mapping Possible
Value Range - 32768 / 32767
Default Value (drive output variable)

Object 6046h: Velocity min-max amount

Object Description
INDEX 6046h
Name Velocity min-max amount
Object Code Array
Number of elements 2
Data Type Unsigned 16

Value Description
Sub-Index 01h
Description Velocity min amount
Access Read / Write
PDO Mapping Possible
Value Range Unsigned 16
Default Value 00h

Sub-Index 02h
Description Velocity max amount
Access Read / Write
PDO Mapping Possible
Value Range Unsigned16
Default Value last saved value
35
Object 6048h: Velocity acceleration
Object Description
INDEX 6048h
Name Velocity acceleration
Object Code Record
Number of elements 1
Data Type Unsigned 16

Value Description
Sub-Index 01h
Description Delta Time
Access Read / Write
PDO Mapping NO
Value Range Unsigned 16
Default Value Last saved value

Object 6049h: Velocity deceleration

Object Description
INDEX 6049h
Name Velocity deceleration
Object Code Record
Number of elements 1
Data Type Unsigned 16

Value Description
Sub-Index 01h
Description Delta Time
Access Read / Write
PDO Mapping NO
Value Range Unsigned 16
Default Value last saved value

Object 6060h: Modes of Operation

Object Description
INDEX 6060h
Name Modes of Operation
Object Code Var
Data Type Integer 8

Value Description
Access Write Only
PDO Mapping NO
Value Range 01h - 02h
Default Value 02h (velocity mode)

36
Object 6061h: Modes of Operation Display
Object Description
INDEX 6061h
Name Modes of Operation Display
Object Code Var
Data Type Integer 8

Value Description
Access Read Only
PDO Mapping NO
Value Range 01h - 02h
Default Value 02h (velocity mode)

Object 6064h: Position Actual Value

Object Description
INDEX 6064h
Name Position Actual Value
Object Code Var
Data Type Integer 32

Value Description
Access Read Only
PDO Mapping Possible
Value Range -232 ÷ +232
Default Value (drive output variable)

Object 6510h: MCDS2000 Parameter

Object Description
INDEX 6510h
Name MCDS2000 Parameter
Object Code Array
Number of elements 2
Data Type Integer 16

Value Description
Sub-Index 01h
Description Kp – Proportional Gain
Access Read / Write
PDO Mapping NO
Value Range
Default Value

Sub-Index 02h
Description Ki – Integral Gain
Access Read / Write
PDO Mapping NO
Value Range
Default Value
37
CAN data:
Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Hex
Byte0 1 0 0 0 0 0 0 0 80
Byte1 xx Xx xx xx xx xx xx xx xx LSB Index
Byte2 xx Xx xx xx xx xx xx xx xx MSB Index
Byte3 xx Xx xx xx xx xx xx xx xx subindex
Byte4 AC0.7 AC0.6 AC0.5 AC0.4 AC0.3 AC0.2 AC0.1 AC0.0 xx AC 0
Byte5 AC1.7 AC1.6 AC1.5 AC1.4 AC1.3 AC1.2 AC1.1 AC1.0 xx AC 1
Byte6 EC0.7 EC0.6 EC0.5 EC0.4 EC0.3 EC0.2 EC0.1 EC0.0 xx EC 0
Byte7 CL1.7 CL1.6 CL1.5 CL1.4 CL1.3 CL1.2 CL1.1 CL1.0 xx CL 1

Object NOT available: Sub Index NOT available:

AC 0 = 00 AC 0 = 11
AC 1 = 00 AC 1 = 00
EC 0 = 02 EC 0 = 09
CL 1 = 06 CL 1 = 06

Value range exceeded: Object cannot be mapped

AC 0 = 30 AC 0 = 41
AC 1 = 00 AC 1 = 00
EC 0 = 09 EC 0 = 04
CL 1 = 06 CL 1 = 06

Save Error General Error

AC 0 = 20 AC 0 = 00
AC 1 = 00 AC 1 = 00
EC 0 = 00 EC 0 = 00
CL 1 = 08 CL 1 = 08

Save Error State

AC 0 = 22
AC 1 = 00
EC 0 = 00
CL 1 = 08

38
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