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List of Object Groups
Object Group 6000h
Object group 6000h contains supported sub-protocol DSP 402 related objects.
Index
(hex)
Sub-
index
(hex)
Name Access
PDO
Mapping
Data
Type
Unit Data Range Default SC EC
603F 00 Error code RO TPDO UINT16 - - - - -
6040 00 Control word RW RPDO UINT16 - 0–0xFFFF 0
Run
settings
Imme-
diate
6041 00 Status word RO TPDO UINT16 - - - - -
605A 00
Quickstop
option code
RW NO INT16 - 0–0x07 0x02
Run
settings
Upon
stop
605C 00
Disable
operation
option code
RW NO INT16 - 0–0x01 0
Run
settings
Upon
stop
605D 00
Halt option
code
RW NO INT16 - 0x01–0x03 0x01
Run
settings
Upon
stop
605E 00
Fault
reaction
option code
RW NO INT16 - 0–0x02 0x02
Run
settings
Upon
stop
6060 00
Modes of
operation
RW RPDO INT8 - 0–0x0A 0
Run
settings
Imme-
diate
6061 00
Modes of
operation
display
RO TPDO INT8 - - - - -
6062 00
Position
demand
value
RO TPDO INT32
Reference
unit
- - - -
6063 00
Position
actual
internal
value
RO TPDO INT32
Encoder
unit
- - - -
6064 00
Position
actual value
RO TPDO INT32
Reference
unit
- - - -
6065 00
Following
error window
RW RPDO UINT32
Reference
unit
0–
0xFFFFFFFF
0x00300000
Run
settings
Imme-
diate
6066 00
Following
error time
out
RW RPDO UINT32 ms 0–0xFFFF 0
Run
settings
Imme-
diate
6067 00
Position
window
RW RPDO UINT32
Reference
unit
0–
0xFFFFFFFF
0x000002DE
Run
settings
Imme-
diate
6068 00
Position
window time
RW RPDO UINT16 ms 0–0xFFFF 0
Run
settings
Imme-
diate
606C 00
Velocity
actual value
RO TPDO INT32
Reference
unit/s
- - - -
606D 00
Velocity
window
RW RPDO UINT16 RPM 0–0xFFFF 0x0A
Run
settings
Imme-
diate
606E 00
Velocity
window time
RW RPDO UINT16 ms 0–0xFFFF 0
Run
settings
Imme-
diate
606F 00
Velocity
threshold
RW RPDO UINT16 RPM 0–0xFFFF 0x0A
Run
settings
Imme-
diate
6070 00
Velocity
threshold
time
RW RPDO UINT16 ms 0–0xFFFF 0
Run
settings
Imme-
diate
6071 00 Target torque RW RPDO INT16 0.1%
0xF448–
0x0BB8
0
Run
settings
Imme-
diate
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