CiA402 Objects (0x6000–0x6FFF)

This page is part of the object dictionary reference; parameter names and default values are kept verbatim from the EDS. Always confirm indexes and semantics against the device firmware.

0x603F–0x605E · Error, control word & stop options

0x603F · Error code (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Error code	0x0006 UNSIGNED16	RO	✓	0	—

0x6040 · Controlword (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Controlword	0x0006 UNSIGNED16	RW (RPDO)	✓	0	—

0x6041 · Statusword (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Statusword	0x0006 UNSIGNED16	RO	✓	0	—

0x605A · Quick stop option code (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Quick stop option code	0x0003 INTEGER16	RW	—	2	Range 0–0x0003; P

0x605B · Shutdown option code (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Shutdown option code	0x0003 INTEGER16	RW	—	1	P

0x605C · Disable option code (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Disable option code	0x0003 INTEGER16	RW	—	1	P

0x605D · Halt option code (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Halt option code	0x0003 INTEGER16	RW	—	1	P

0x605E · Fault option code (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Fault option code	0x0003 INTEGER16	RW	—	2	P

0x6060–0x6068 · Modes of operation & position/velocity windows

0x6060 · Modes of operation (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Modes of operation	0x0002 INTEGER8	RW (RPDO)	✓	0	Range 0–7

0x6061 · Modes of operation display (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Modes of operation display	0x0002 INTEGER8	RO	✓	0	Range 0–7

0x6062 · Position demand value (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Position demand value	0x0004 INTEGER32	RO	✓	0	—

0x6063 · Position actual internal value (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Position actual internal value	0x0004 INTEGER32	RO	✓	0	—

0x6064 · Position actual value (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Position actual value	0x0004 INTEGER32	RO	✓	0	—

0x6065 · Following error window (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Following error window	0x0007 UNSIGNED32	RW (RPDO)	✓	3145728	P

0x6066 · Following error time out (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Following error time out	0x0006 UNSIGNED16	RW (RPDO)	✓	100	P

0x6067 · Position window (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Position window	0x0007 UNSIGNED32	RW (RPDO)	✓	734	P

0x6068 · Position window time (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Position window time	0x0006 UNSIGNED16	RW (RPDO)	✓	10	P

0x606B–0x6070 · Velocity & torque feedback and thresholds

0x606B · Velocity demand value (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Velocity demand value	0x0004 INTEGER32	RO	✓	0	—

0x606C · Velocity actual value (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Velocity actual value	0x0004 INTEGER32	RO	✓	0	—

0x606D · Velocity window (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Velocity window	0x0006 UNSIGNED16	RW (RPDO)	✓	10	P

0x606E · Velocity window time (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Velocity window time	0x0006 UNSIGNED16	RW (RPDO)	✓	1	P

0x606F · Velocity threshold (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Velocity threshold	0x0006 UNSIGNED16	RW (RPDO)	✓	10	P

0x6070 · Velocity threshold time (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Velocity threshold time	0x0006 UNSIGNED16	RW (RPDO)	✓	1	P

0x6071–0x6087 · Targets, limits & ramps

0x6071 · Target torque (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Target torque	0x0003 INTEGER16	RW (RPDO)	✓	0	—

0x6072 · Max torque (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Max torque	0x0006 UNSIGNED16	RW (RPDO)	✓	3500	P

0x6073 · Max current (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Max current	0x0006 UNSIGNED16	RW (RPDO)	✓	8000	P

0x6074 · Torque demand (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Torque demand	0x0003 INTEGER16	RO	✓	0	—

0x6075 · Motor rated current (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Motor rated current	0x0007 UNSIGNED32	RO	—	2500	P

0x6076 · Motor rated torque (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Motor rated torque	0x0007 UNSIGNED32	RO	—	1100	—

0x6077 · Torque actual value (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Torque actual value	0x0003 INTEGER16	RO	✓	0	—

0x607A · Target position (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Target position	0x0004 INTEGER32	RW (RPDO)	✓	0	—

0x607C · Home offset (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Home offset	0x0004 INTEGER32	RW (RPDO)	✓	0	P

0x607D · Software position limit (ARRAY)

Sub	Name	Type	Access	PDO	Default	Notes
00	number of elements	0x0005 UNSIGNED8	RO	—	2	P
01	Min position limit	0x0004 INTEGER32	RW (RPDO)	✓	0	P
02	Max position limit	0x0004 INTEGER32	RW (RPDO)	✓	0	P

0x607E · Polarity (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Polarity	0x0005 UNSIGNED8	RW (RPDO)	✓	0	P

0x607F · Max profile velocity (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Max profile velocity	0x0007 UNSIGNED32	RW (RPDO)	✓	2000000	P

0x6080 · Max Motor Speed (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Max Motor Speed	0x0007 UNSIGNED32	RW (RPDO)	✓	2000000	P

0x6081 · Profile velocity (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Profile velocity	0x0007 UNSIGNED32	RW (RPDO)	✓	100000	P

0x6083 · Profile acceleration (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Profile acceleration	0x0007 UNSIGNED32	RW (RPDO)	✓	5000000	P

0x6084 · Profile deceleration (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Profile deceleration	0x0007 UNSIGNED32	RW (RPDO)	✓	5000000	P

0x6085 · Quick stop deceleration (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Quick stop deceleration	0x0007 UNSIGNED32	RW (RPDO)	✓	5000000	P

0x6086 · Motion profile type (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Motion profile type	0x0003 INTEGER16	RW	—	0	P

0x6087 · Torque slope (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Torque slope	0x0007 UNSIGNED32	RW (RPDO)	✓	500	P

0x6091–0x609A · Gear ratio, feed constant & homing

0x6091 · Gear ratio (ARRAY)

Sub	Name	Type	Access	PDO	Default	Notes
00	Number of entries	0x0005 UNSIGNED8	CONST	—	2	P
01	Motor revolutions	0x0007 UNSIGNED32	RW (RPDO)	✓	1	P
02	Shaft revolutions	0x0007 UNSIGNED32	RW (RPDO)	✓	1	P

0x6092 · Feed constant (ARRAY)

Sub	Name	Type	Access	PDO	Default	Notes
00	Number of entries	0x0005 UNSIGNED8	CONST	—	2	P
01	Feed	0x0007 UNSIGNED32	RW (RPDO)	✓	1000	P
02	Shaft revolutions	0x0007 UNSIGNED32	RW (RPDO)	✓	1	P

0x6098 · Homing method (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Homing method	0x0002 INTEGER8	RW (RPDO)	✓	1	P

0x6099 · Homing speeds (ARRAY)

Sub	Name	Type	Access	PDO	Default	Notes
00	number of elements	0x0005 UNSIGNED8	RO	—	2	P
01	Speed during search for switch	0x0007 UNSIGNED32	RW (RPDO)	✓	30000	P
02	Speed during search for zero	0x0007 UNSIGNED32	RW (RPDO)	✓	30000	P

0x609A · Homing acceleration (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Homing acceleration	0x0007 UNSIGNED32	RW (RPDO)	✓	3000000	P

0x60A3–0x60C6 · Current, interpolation & cyclic sync

0x60A3 · Profile jerk use (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Profile jerk use	0x0005 UNSIGNED8	RW	—	0	P

0x60A4 · Profile Jerk (ARRAY)

Sub	Name	Type	Access	PDO	Default	Notes
00	Highest sub-index supported	0x0005 UNSIGNED8	RO	—	0x02	P
01	Profile Jerk 1	0x0007 UNSIGNED32	RW	—	0	P
02	Profile Jerk 2	0x0007 UNSIGNED32	RW	—	0	P

0x60B0 · Position offset (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Position offset	0x0004 INTEGER32	RW (RPDO)	✓	0x00000000	—

0x60B1 · Velocity offset (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Velocity offset	0x0004 INTEGER32	RW (RPDO)	✓	0x00000000	—

0x60B2 · Torque offset (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Torque offset	0x0003 INTEGER16	RW (RPDO)	✓	0x0000	—

0x60C1 · Interpolated data record (ARRAY)

Sub	Name	Type	Access	PDO	Default	Notes
00	number of elements	0x0005 UNSIGNED8	RO	—	1	Range 0–1
01	1st set-point	0x0004 INTEGER32	RW (RPDO)	✓	0	—

0x60C2 · Interpolation time period (RECORD)

Sub	Name	Type	Access	PDO	Default	Notes
00	number of elements	0x0005 UNSIGNED8	RO	—	2	Range 0–2; P
01	Interpolation time period value	0x0005 UNSIGNED8	RW (RPDO)	✓	2	P
02	Interpolation time index	0x0002 INTEGER8	RW (RPDO)	✓	-3	Range -6–0; P

0x60C5 · Max acceleration (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Max acceleration	0x0007 UNSIGNED32	RW (RPDO)	✓	20000000	P

0x60C6 · Max deceleration (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Max deceleration	0x0007 UNSIGNED32	RW (RPDO)	✓	20000000	P

0x60F4–0x60FF · Following error, gains & digital I/O

0x60F4 · Following error actual value (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Following error actual value	0x0004 INTEGER32	RO	✓	0	—

0x60F6 · Current control parameter set (RECORD)

Sub	Name	Type	Access	PDO	Default	Notes
00	Highest sub-index supported	0x0005 UNSIGNED8	RO	—	0x02	P
01	Current controller p-gain	0x0007 UNSIGNED32	RW	✓	0	P
02	Current controller i-gain	0x0007 UNSIGNED32	RW	✓	0	P

0x60F9 · Velocity control parameter set (RECORD)

Sub	Name	Type	Access	PDO	Default	Notes
00	Highest sub-index supported	0x0005 UNSIGNED8	RO	—	5	P
01	Velocity controller p-gain	0x0007 UNSIGNED32	RW	✓	0	P
02	Velocity controller i-gain	0x0007 UNSIGNED32	RW	✓	0	P
03	Velocity controller d-gain	0x0007 UNSIGNED32	RW	✓	0	P
04	Velocity feed-forward	0x0007 UNSIGNED32	RW	✓	0	P
05	Acceleration feed-forward	0x0007 UNSIGNED32	RW	✓	500	P

0x60FB · Position control parameter set (RECORD)

Sub	Name	Type	Access	PDO	Default	Notes
00	Highest sub-index supported	0x0005 UNSIGNED8	RO	—	0x03	P
01	Position controller p-gain	0x0007 UNSIGNED32	RW	✓	65000	P
02	Velocity feed-forward	0x0007 UNSIGNED32	RW	✓	1000	P
03	Acceleration feed-forward	0x0007 UNSIGNED32	RW	✓	500	P

0x60FC · Position demand internal value (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Position demand internal value	0x0004 INTEGER32	RO	✓	—	—

0x60FD · Digital inputs (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Digital inputs	0x0007 UNSIGNED32	RO	✓	0	—

0x60FE · Digital outputs (ARRAY)

Sub	Name	Type	Access	PDO	Default	Notes
00	number of elements	0x0005 UNSIGNED8	RO	—	1	—
01	Physical outputs	0x0007 UNSIGNED32	RW (TPDO)	✓	0	—

0x60FF · Target velocity (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Target velocity	0x0004 INTEGER32	RW (RPDO)	✓	0	—

0x6502 · Supported drive modes

0x6502 · Supported drive modes (VAR)

Sub	Name	Type	Access	PDO	Default	Notes
00	Supported drive modes	0x0007 UNSIGNED32	RO	—	0x3FD	—