Data Sheet

CANopen Message Types
Advanced Digital Motor Controller User Manual 181
Object Dictionary
The CANopen dictionary shown in this section is subject to change. The CANopen EDS
file can be downloaded from the roboteq web site.
The Object Dictionary given in the table below contains the runtime queries and runtime
commands that can be accessed with SDO/PDO messages during controller operation.
TABLE 17-3. Motor Controllers Object Dictionary
Index Sub (Hex) Entry Name
Data Type
& Access Command Name
Runtime Commands
0x2000 01 Set Motor Command, ch1 CG CANGO
02 Set Motor Command, ch2
0x2001 01 to mm (1) Set Position, ch.1 S32 WO P
0x2002 01 to mm (1) Set Velocity S16 WO S
0x2003 01 to ee (2) Set Encoder Counter S32 WO C
0x2004 01 to mm (1) Set Brushless Counter S32 WO CB
0x2005 01 -vv (3) Set User Integer Variable S32 WO VAR
0x2006 01 to mm (1) Set Acceleration S32 WO AC
0x2007 01 to mm (1) Set Deceleration S32 WO DC
0x2008 00 Set All Digital Out bits U8 WO DS
0x2009 00 Set Individual Digital Out bits U8 WO D1
0x200A 00 Reset Individual Digital Out bits U8 WO D0
0x200B 01 to ee (2) Load Home Counter U8 WO H
0x200C 00 Emergency Shutdown U8 WO EX
0x200D 00 Release Shutdown U8 WO MG
0x200E 00 Stop in all modes U8 WO MS
0x200F 01 to mm (1) Set Pos Relative S32 WO PR
0x2010 01 to mm (1) Set Next Pos Absolute S32 WO PX
0x2011 01 to mm (1) Set Next Pos Relative S32 WO PRX
0x2012 01 to mm (1) Set Next Acceleration S32 WO AX
0x2013 01 to mm (1) Set Next Deceleration S32 WO DX
0x2014 01 to mm (1) Set Next Velocity S32 WO SX
0x2015 01 to bb (4) Set User Bool Variable S32 WO B
0x2017 00 Save Config to Flash U8 WO EES
Runtime Queries
0x2100 01 Read Motor Amps S16 RO A
0x2101 01 to mm (1) Read Actual Motor Command S16 RO M
0x2102 01 to mm (1) Read Applied Power Level S16 RO P
0x2103 01 to ee (2) Read Encoder Motor Speed, ch.1 S16 RO S