Table of Contents

Can Open standard SDOs

SDO Areas

Address
HEX 		Address
DEC 		Register Area or signle parameter
0x10004096Device type
0x10014097Error register
0x10024098Alarm register
0x100C4108NodeGuard Guard Time (msec)
0x10174119Heartbeat producer Time (msec)
0x10184120Vendor ID
0x1019 to 0x1FFF4121 to 8191Modbus RTU Drive Registers from 1793 to 5836
0x2000 to 0x3FA48192 to 16292Modbus RTU Drive Registers from 0 to 8100
0x3FA5 to 0x650216293 to 25858SDO area - see the list below

Alarm Register Bits

Alarm type D0 D1 D2 D3 D4 D5 D6 D7
OVERLOAD I2T1XXXXXXX
SINCOS OVERRANGEX1XXXXXX
MOTOR OVERTEMPXX1XXXXX
DCLINK OVERANGEXXX1XXXX
MOTOR OVERCURRENTXXXX1XXX

SDO list

Address
HEX 		Address
DEC 		Description Access
1 0x603F 24639 Error Code Read only
2 0x6040 24640 Controlword Read and write
3 0x6041 24641 Statusword Read only
4 0x605A 24666 Quick stop option code Read and write
5 0x605B 24667 Shutdown option code Read and write
6 0x605C 24668 Disable operation option code Read and write
7 0x605E 24670 Fault reaction option code Read and write
8 0x6060 24672 Modes of operation Read and write
9 0x6061 24673 Modes of operation display Read only
10 0x6062 24674 Position demand value Read only
11 0x6063 24675 Position acutal internal value Read only
12 0x6064 24676 Position actual value Read only
13 0x6065 24677 Following error window Read and write
14 0x6066 24678 Following error time out Read and write
15 0x6067 24679 Position window Read and write
16 0x6068 24680 Position window time Read and write
17 0x606B 24683 Velocity demand Value Read only
18 0x606C 24684 Velocity Actual Value Read only
19 0x606D 24685 Velocity window Read and write
20 0x606E 24686 Velocity window time Read and write
21 0x606F 24687 Velocity threshold Read and write
22 0x6070 24688 Velocity threshold time Read and write
23 0x6071 24689 Target torque Read and write
24 0x6072 24690 Max torque Read and write
25 0x6077 24695 Torque actual value Read only
26 0x607A 24698 Target position Read and write
27 0x607B 24699 Position range limit Read and write
28 0x607C 24700 Home offset Read and write
29 0x607D 24701 Software position limit Read and write
30 0x607E 24702 Polarity Read and write
31 0x607F 24703 Max profile velocity Read and write
32 0x6081 24705 Profile velocity Read and write
33 0x6082 24706 End velocity Read and write
34 0x6083 24707 Profile acceleration Read and write
35 0x6084 24708 Profile deceleration Read and write
36 0x6085 24709 Quick stop deceleration Read and write
37 0x6086 24710 Motion profile type Read and write
38 0x6087 24711 Torque slope Read and write
39 0x6088 24712 Torque profile type Read only
40 0x608F 24719 Position encoder resolution Read and write
41 0x6098 24728 Homing methods Read and write
42 0x6099 24729 Homing speeds Read and write
43 0x609A 24730 Homing acceleration Read and write
44 0x60B0 24752 Position offset Read and write
45 0x60B1 24753 Velocity offset Read and write
46 0x60B2 24754 Torque offset Read and write
47 0x60C2 24770 Interpolation time period Read and write
48 0x60FD 24829 Digital inputs Read only
49 0x60FE 24830 Digital output Read and write
50 0x60FF 24831 Target velocity Read and write
51 0x6502 25858 Supported drive modes Read only