Description of the object dictionary 1000h Device Type 1001h Error Register 1003h Pre-defined Error Field 1005h COB-ID Sync 1007h Synchronous Window Length 1008h Manufacturer Device Name 1009h Manufacturer Hardware Version 100Ah Manufacturer Software Version 100Ch Guard Time 100Dh Live Time Factor 1010h Store Parameters 1011h Restore Default Parameters 1014h COB-ID EMCY 1017h Producer Heartbeat Time 1018h Identity Object 1020h Verify Configuration 1029h Error Behavior 1400h Receive PDO 1 Communication Parameter 1401h Receive PDO 2 Communication Parameter 1402h Receive PDO 3 Communication Parameter 1403h Receive PDO 4 Communication Parameter 1404h Receive PDO 5 Communication Parameter 1405h Receive PDO 6 Communication Parameter 1406h Receive PDO 7 Communication Parameter 1407h Receive PDO 8 Communication Parameter 1600h Receive PDO 1 Mapping Parameter 1601h Receive PDO 2 Mapping Parameter 1602h Receive PDO 3 Mapping Parameter 1603h Receive PDO 4 Mapping Parameter 1604h Receive PDO 5 Mapping Parameter 1605h Receive PDO 6 Mapping Parameter 1606h Receive PDO 7 Mapping Parameter 1607h Receive PDO 8 Mapping Parameter 1800h Transmit PDO 1 Communication Parameter 1801h Transmit PDO 2 Communication Parameter 1802h Transmit PDO 3 Communication Parameter 1803h Transmit PDO 4 Communication Parameter 1804h Transmit PDO 5 Communication Parameter 1805h Transmit PDO 6 Communication Parameter 1806h Transmit PDO 7 Communication Parameter 1807h Transmit PDO 8 Communication Parameter 1A00h Transmit PDO 1 Mapping Parameter 1A01h Transmit PDO 2 Mapping Parameter 1A02h Transmit PDO 3 Mapping Parameter 1A03h Transmit PDO 4 Mapping Parameter 1A04h Transmit PDO 5 Mapping Parameter 1A05h Transmit PDO 6 Mapping Parameter 1A06h Transmit PDO 7 Mapping Parameter 1A07h Transmit PDO 8 Mapping Parameter 1F50h Program Data 1F51h Program Control 1F57h Program Status 2005h CANopen Baudrate 2006h CANopen WheelConfig 2007h CANopen Config 2009h CANopen NodeID 2030h Pole Pair Count 2031h Maximum Current 2032h Maximum Speed 2033h Plunger Block 2034h Upper Voltage Warning Level 2035h Lower Voltage Warning Level 2036h Open Loop Current Reduction Idle Time 2037h Open Loop Current Reduction Value/factor 2039h Motor Currents 203Ah Homing On Block Configuration 203Bh I2t Parameters 203Dh Torque Window 203Eh Torque Window Time 2050h Encoder Alignment 2051h Encoder Optimization 2052h Encoder Resolution 2056h Limit Switch Tolerance Band 2057h Clock Direction Multiplier 2058h Clock Direction Divider 2059h Encoder Configuration 205Ah Encoder Boot Value 205Bh Clock Direction Or Clockwise/Counter Clockwise Mode 2060h Compensate Polepair Count 2061h Velocity Numerator 2062h Velocity Denominator 2063h Acceleration Numerator 2064h Acceleration Denominator 2065h Jerk Numerator 2066h Jerk Denominator 2084h Bootup Delay 2101h Fieldbus Module Availability 2102h Fieldbus Module Control 2103h Fieldbus Module Status 2300h NanoJ Control 2301h NanoJ Status 2302h NanoJ Error Code 230Fh Uptime Seconds 2310h NanoJ Input Data Selection 2320h NanoJ Output Data Selection 2330h NanoJ In/output Data Selection 2400h NanoJ Inputs 2410h NanoJ Init Parameters 2500h NanoJ Outputs 2600h NanoJ Debug Output 2700h User Storage Area 2701h Customer Storage Area 2800h Bootloader And Reboot Settings 3202h Motor Drive Submode Select 320Ah Motor Drive Sensor Display Open Loop 320Bh Motor Drive Sensor Display Closed Loop 3210h Motor Drive Parameter Set 3212h Motor Drive Flags 3220h Analog Inputs 3221h Analogue Inputs Control 3225h Analogue Inputs Switches 3240h Digital Inputs Control 3241h Digital Input Capture 3242h Digital Input Routing 3250h Digital Outputs Control 3252h Digital Output Routing 3320h Read Analogue Input 3321h Analogue Input Offset 3322h Analogue Input Pre-scaling 3700h Following Error Option Code 4012h HW Information 4013h HW Configuration 4014h Operating Conditions 4040h Drive Serial Number 4041h Device Id 603Fh Error Code 6040h Controlword 6041h Statusword 6042h Vl Target Velocity 6043h Vl Velocity Demand 6044h Vl Velocity Actual Value 6046h Vl Velocity Min Max Amount 6048h Vl Velocity Acceleration 6049h Vl Velocity Deceleration 604Ah Vl Velocity Quick Stop 604Ch Vl Dimension Factor 605Ah Quick Stop Option Code 605Bh Shutdown Option Code 605Ch Disable Option Code 605Dh Halt Option Code 605Eh Fault Option Code 6060h Modes Of Operation 6061h Modes Of Operation Display 6062h Position Demand Value 6063h Position Actual Internal Value 6064h Position Actual Value 6065h Following Error Window 6066h Following Error Time Out 6067h Position Window 6068h Position Window Time 606Bh Velocity Demand Value 606Ch Velocity Actual Value 606Dh Velocity Window 606Eh Velocity Window Time 6071h Target Torque 6072h Max Torque 6074h Torque Demand 6077h Torque Actual Value 607Ah Target Position 607Bh Position Range Limit 607Ch Home Offset 607Dh Software Position Limit 607Eh Polarity 6081h Profile Velocity 6082h End Velocity 6083h Profile Acceleration 6084h Profile Deceleration 6085h Quick Stop Deceleration 6086h Motion Profile Type 6087h Torque Slope 608Fh Position Encoder Resolution 6091h Gear Ratio 6092h Feed Constant 6098h Homing Method 6099h Homing Speed 609Ah Homing Acceleration 60A4h Profile Jerk 60C1h Interpolation Data Record 60C2h Interpolation Time Period 60C4h Interpolation Data Configuration 60C5h Max Acceleration 60C6h Max Deceleration 60F2h Positioning Option Code 60F4h Following Error Actual Value 60FDh Digital Inputs 60FEh Digital Outputs 60FFh Target Velocity 6502h Supported Drive Modes 6505h Http Drive Catalogue Address Overview This chapter contains a description of all objects. You will find information here on: Functions Object descriptions ("Index") Value descriptions ("Subindices") Descriptions of bits Description of the object Structure of the object description The description of the object entries always has the same structure and usually consists of the following sections: Function The function of the object dictionary is briefly described in this section. Object description This table provides detailed information on the data type, preset values and similar. An exact description can be found in section "Object description" Value description This table is only available with the "Array" or "Record" data type and provides exact information about the sub-entries. A more exact description of the entries can be found in section "Value description" Description Here, more exact information on the individual bits of an entry is provided or any compositions explained. A more exact description can be found in section "Description" Object description The object description consists of a table that contains the following entries: Index Designates the object index in hexadecimal notation. Object name The name of the object. Object Code The type of object. This can be one of the following entries: VARIABLE: In this case, the object consists of only a variable that is indexed with subindex 0. ARRAY: These objects always consists of a subindex 0 – which specifies the number of sub-entries – and the sub-entries themselves, beginning with index 1. The data type within an array never changes, i.e., sub-entry 1 and all subsequent entries are always of the same data type. ARRAY: These objects always consists of a subindex 0 – which specifies the number of sub-entries – and the sub-entries themselves, beginning with index 1. Unlike an ARRAY, the data type of the sub-entries can vary. This means that, e.g., sub-entry 1 may be of a different data type than sub-entry 2. VISIBLE_STRING: The object describes a character string coded in ASCII. The length of the string is specified in subindex 0; the individual characters are stored beginning in subindex 1. These character strings are not terminated by a null character. Data type The size and interpretation of the object is specified here. The following notation is used for the "VARIABLE" object code: A distinction is made between entries that are signed; these are designated with the prefix "SIGNED". For entries that are unsigned, the prefix "UNSIGNED" is used. The size of the variable in bits is placed before the prefix and can be 8, 16 or 32. Savable Described here is whether this object is savable and, if so, in which category. Firmware version The firmware version beginning with which the object is available is entered here. Change history (ChangeLog) Any changes to the object are noted here. There are also the following table entries for the "VARIABLE" data type: Access The access restriction is entered here. The following restrictions are available: "read/write": The object can both be read as well as written "read only": The object can only be read from the object dictionary. It is not possible to set a value. PDO mapping Some bus systems, such as CANopen or EtherCAT, support PDO mapping. Described in this table entry is whether the object can be inserted into a mapping and, if so, into which. The following designations are available here: "no": The object may not be entered in a mapping. "TX-PDO": The object may be entered in an RX mapping. "RX-PDO": The object may be entered in a TX mapping. Allowed values In some cases, only certain values may be written in the object. If this is the case, these values are listed here. If there are no restrictions, the field is empty. Preset value To bring the controller to a secured state when switching on, it is necessary to preset a number of objects with values. The value that is written in the object when the controller is started is noted in this table entry. Value description Note: For the sake of clarity, a number of subindices are grouped together if the entries all have the same name. Listed in the table with the "Value description" heading are all data for sub-entries with subindex 1 or higher. The table contains the following entries: Subindex Number of the currently written sub-entry. Name Name of the sub-entry. Data type The size and interpretation of the sub-entry is specified here. The following notation always applies here: A distinction is made between entries that are signed; these are designated with the prefix "SIGNED". For entries that are unsigned, the prefix "UNSIGNED" is used. The size of the variable in bits is placed before the prefix and can be 8, 16 or 32. Access The access restriction for the sub-entry is entered here. The following restrictions are available: "read/write": The object can both be read as well as written "read only": The object can only be read from the object dictionary. It is not possible to set a value. PDO mapping Some bus systems, such as CANopen or EtherCAT, support PDO mapping. Described in this table entry is whether the sub-entry can be inserted into a mapping and, if so, into which. The following designations are available here: "no": The object may not be entered in a mapping. "TX-PDO": The object may be entered in an RX mapping. "RX-PDO": The object may be entered in a TX mapping. Allowed values In some cases, only certain values may be written in the sub-entry. If this is the case, these values are listed here. If there are no restrictions, the field is empty. Preset value To bring the controller to a secured state when switching on, it is necessary to preset a number of sub-entries with values. The value that is written in the sub-entry when the controller is started is noted in this table entry. Description This section may be present if use requires additional information. If individual bits of an object or sub-entry have different meaning, diagrams as shown in the following example are used. Example: The object is 8 bits in size; bit 0 and bit 1 have different functions. Bits 2 and 3 are grouped into one function; the same applies for bits 4 to 7. Example  Description of bit 4 up to and including bit 7; these bits are logically related. The 4 in square brackets specifies the number of related bits. A list with possible values and their description is often attached at this point. Example  Description of bits 3 and 2; these bits are logically related. The 2 in square brackets specifies the number of related bits. Value 00b: The description here applies if bit 2 and bit 3 are "0". Value 01b: The description here applies if bit 2 is "0" and bit 3 is "1". Value 10b: The description here applies if bit 2 is "1" and bit 3 is "0". Value 11b: The description here applies if bit 2 and bit 3 are "1". B Description of bit B; no length is specified for a single bit. A Description of bit A; bits with a gray background are not used.