EtherCAT

User Manual

AMP & MOONS’ Automation

Rev: 2.1
27/4/2021
 Contents
1 Introduction ........................................................................................................... 4
1.1 About this manual .................................................................................... 4
1.2 Reference documents ............................................................................. 4
1.3 Commonly used acronyms ...................................................................... 4
1.4 Revisions ................................................................................................. 5
2 EtherCAT communication specification ................................................................ 7
2.1 Introduction to EtherCAT ......................................................................... 7
2.2 EtherCAT protocol ................................................................................... 7
2.3 CANopen over EtherCAT ........................................................................ 8
2.4 EtherCAT addressing .............................................................................. 9
2.5 EtherCAT slaver information ................................................................... 10
2.6 Distributed clock ...................................................................................... 10
2.7 EtherCAT state machine(ESM) ............................................................... 12
3 Motion control ....................................................................................................... 13
3.1 Control the power drive system ............................................................... 13
3.2 Mode of operation ................................................................................... 15
3.3 Profile position mode ............................................................................... 16
3.3.1 General information .................................................................. 16
3.3.2 Main controlling object.............................................................. 16
3.3.3 Functional description .............................................................. 17
3.4 Profile velocity mode ............................................................................... 21
3.4.1 General information .................................................................. 21
3.4.2 Main controlling object.............................................................. 21
3.4.3 Functional description .............................................................. 22
3.5 Profile torque mode (StepSERVO only) .................................................. 23
3.5.1 General information .................................................................. 23
3.5.2 Main controlling object.............................................................. 23
3.5.3 Functional description .............................................................. 24
3.6 Homing mode .......................................................................................... 25
3.6.1 General information .................................................................. 25
3.6.2 Main controlling object.............................................................. 25
3.6.3 Functional description .............................................................. 26
3.6.4 Method 1 and 2 ........................................................................ 26
3.6.5 Method 3 and 4 ........................................................................ 27
3.6.6 Method 5 and 6 ........................................................................ 27
3.6.7 Method 7 and 8 ........................................................................ 28
3.6.8 Method 9 and 10 ...................................................................... 28
3.6.9 Method 11 and 12 ..................................................................... 29
3.6.10 Method 13 and 14 .................................................................. 29
3.6.11 Method 17 and 18 ................................................................... 30
3.6.12 Method 19 and 20 .................................................................. 30
3.6.13 Method 21 and 22 .................................................................. 31
3.6.14 Method 23 and 24 .................................................................. 31
3.6.15 Method 25 and 26 .................................................................. 32
3.6.16 Method 27 and 28 .................................................................. 32
3.6.17 Method 29 and 30 .................................................................. 33
3.6.18 Method 33 and 34 .................................................................. 33

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 3.6.19 Method 35 .............................................................................. 34
3.6.20 Method 37 .............................................................................. 34
3.6.21 Method -1 ............................................................................... 34
3.6.22 Method -2 ............................................................................... 34
3.6.23 Method -3 ............................................................................... 34
3.6.24 Method -4 ............................................................................... 34
3.7 Cyclic synchronous position mode .......................................................... 35
3.7.1 General information .................................................................. 35
3.7.2 Main controlling object.............................................................. 35
3.7.3 Functional description .............................................................. 36
3.8 Cyclic synchronous velocity mode .......................................................... 37
3.8.1 General information .................................................................. 37
3.8.2 Main controlling object.............................................................. 38
3.8.3 Functional description .............................................................. 38
3.9 Q program mode ..................................................................................... 39
3.9.1 General information .................................................................. 39
3.9.2 Normal Q execution.................................................................. 39
3.10 Touch probe .......................................................................................... 40
3.10.1 General information ................................................................ 40
3.10.2 Main control object ................................................................. 40
3.10.3 Functional description ............................................................ 40
3.10.4 Timing diagrame ..................................................................... 42
4 Object dictionary ................................................................................................... 43
4.1 CoE object dictionary description ............................................................ 43
4.2 Communication profile............................................................................. 43
4.3 Motion control profile ............................................................................... 50
4.4 Manufacturer profile ................................................................................ 65
4.5 Manufacturer parameter for StepSERVO................................................ 70
4.6 Manufacturer parameter for Stepper ....................................................... 81
5 Contact MOONS' ................................................................................................. 93

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1 Introduction

1.1 About this manual

This manual provides the details of EtherCAT communication about MOONS' Stepper and StepSERVO
drives. It is used for engineers or technicians that develop a motion control system with EtherCAT
communication. It is necessary that the user should know both a basic EtherCAT protcol and this
manual.
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation
GmbH,Germany.

1.2 Reference documents

Hardware Manual of MOONS' drive
CiA 402
ETG 1000
ETG 6010
MOONS' Host Command Reference

1.3 Commonly used acronyms

100Base-Tx 100 MBit/s Ethernet on twisted pairs
AL Application Layer
CAN Controller Area Network
CANopen Application layer protocol for the CAN bus
CoE CANopen over EtherCAT
DC Distributed Clocks Mechanism to synchronize EtherCAT slaves and master
DL Data Link Layer
EMCY Emergency Object
ESI EtherCAT Slave Information
ESC EtherCAT Slave Controller
ETG EtherCAT Technology Group
PDO Process Data Object
SDO Service Data Object
XML eXtensible Markup Language - used for the ESI file

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1.4 Revisions
Data Revisions Changes
8/12/2020 2.1 Update and rectification

This manual mainly introduces the communication description of StepSERVO and Stepper drives.
Stepper drives:
Model Firmware
STF03-EC
STF05-EC
STF06-EC
STF10-EC
STF05-ECX-H
STF10-ECX-H

StepSERVO drives:

Model Firmware
SSDC03-EC
SSDC06-EC
SSDC10-EC
SSDC06-ECX-H
SSDC10-ECX-H
SSDC06W-ECX-H

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OD Name SSDC**-EC SSDC**-ECX-H SSDC**-ECX-J SSDC**W-EC-H

0x2036 Move Homeoffset √ √
0x2040 Qcontrolword √ √
0x2041 Qstatusword √ √
0x2230 Full closed-loop Mode √ √ √
0x2231 Secondary Encoder Resolution √ √ √
0x2240 Full closed-loop Position Gain √ √ √
0x2241 Full closed-loop PositionDeri Gain √ √ √
0x2242 Full closed-loop PositionDeri Filter √ √ √
0x2244 Full closed-loop Velocity Gain √ √ √
0x2245 Full closed-loop VelocityInteg Gain √ √ √
0x2246 Full closed-loop AccFeedForward √ √ √
0x2247 Full closed-loop PID Filter √ √ √
0x2250 Full closed-loop Cherk turns √ √ √
0x2251 Full closed-loop Turns Pos Error √ √ √
0x2265 E-Stop on Input X8 √ √
0x22D5 Touch probe1 pos edge counter √ √
0x22D6 Touch probe1 neg edge counter √ √
0x22D7 Touch probe2 pos edge counter √ √
0x22D8 Touch probe2 neg edge counter √ √
0x2270 Encoder error √
0x2271 Clear Multi-Turn √

OD Name STF**-EC STF**-ECX-H

0x2036 Move Homeoffset √
0x2040 Qcontrolword √
0x2041 Qstatusword √
0x2615 StepInputs Counts √

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2 EtherCAT communication specification

2.1 Introduction to EtherCAT

EtherCAT (Ethernet for Control Automation Technology) is a real-time Industrial Ethernet technology
originally developed by Beckhoff Automation. The EtherCAT protocol which is disclosed in the IEC
standard IEC61158 is suitable for hard and soft real-time requirements in automation technology, in
test and measurement and many other applications.
The main focus during the development of EtherCAT was on short cycle times (≤ 100 µs), low jitter for
accurate synchronization (≤ 1 µs) and low hardware costs.

2.2 EtherCAT protocol

EtherCAT embeds its payload in a standard Ethernet frame. The frame is identified with the Identifier
(0x88A4) in the EtherType field. Since the EtherCAT protocol is optimized for short cyclic process data,
the use of protocol stacks, such as TCP/IP or UDP/IP, can be eliminated.

Ethernet header EtherCAT EtherCAT telegram Ethernet

DA SA Type Frame HDR Dategram 1 Dategram 2 Dategram n Fcs

(6 bytes) (6 bytes) (6 bytes) (2 bytes) (44-1498 bytes) (4 bytes)

To ensure Ethernet IT communication between the nodes, TCP/IP connections can optionally be
tunneled through a mailbox channel without impacting real-time data transfer. During startup, the
master device configures and maps the process data on the slave devices. Different amounts of data
can be exchanged with each slave, from one bit to a few bytes, or even up to kilobytes of data.
The EtherCAT frame contains one or more datagrams. The datagram header indicates what type of
access the master device would like to execute:
-Read, write, read-write
Access to a specific slave device through direct addressing, or access to multiple slave devices
through logical addressing (implicit addressing)

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2.3 CANopen over EtherCAT

With the CoE protocol, EtherCAT provides the same communication mechanisms as in CANopen®-
Standard EN 50325-4: Object Dictionary, PDO Mapping (Process Data Objects) and SDO (Service
Data Objects) – even the network management is similar. This makes it possible to implement
EtherCAT with minimal effort in devices that were previously outfitted with CANopen®, and large
portions of the CANopen® Firmware are even reusable. Optionally, the legacy 8-byte PDO limitation
can be waived, and it's also possible to use the enhanced bandwidth of EtherCAT to support the
upload of the entire Object Dictionary. The device profiles, such as the drive profile CiA 402, can also
be reused for EtherCAT.

File
HTTP,
FTP,... Application

CANopen over EtherCAT

TCP UDP
Object dictionary
File over IP
EtherCAT

Ethernet over SDO PDO mapping

EtherCAT

Mailbox Process data

DL message slaver address

FMMU n

EtherCAT data link

Physical layer

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2.4 EtherCAT addressing

EtherCAT communication is that the master read and write the data from the internal flash of EtherCAT
slave. There has two ways for addressing to controll the internal ESC register. EtherCAT addressing is
as follow.

Ethernet data frame header address

MAC address Segment addressing

Device addressing logical addressing

Position addressing Node addressing

Process data address

Physics position Node ID address

address

Ethernet PDU header address area

Hereby we describe about the Node addressing. Node addressing is that the salve adddress is nothing
to do with the physics position of the topology.
There has two ways for addressing:
• -The master configurate the EtherCAT ID to the slave during the data link startup phase.
• - EtherCAT ID upload from EEPROM of slaver during the data link startup phase.
The EtherCAT ID of MOONS' drive is zero in default, it means the master should assign address to the
drive for EhterCAT communication when first power up. If you assign ID to the EhterCAT alias address
from the software or switch of the drive except zero, the master can upload the ID from EtherCAT alias
address of EEPROM with the drive.
Assign EtherCAT ID by software in the picture below:

EtherCAT ID

Plesase reference the hardware manual of drives for details about EtherCAT ID setting.

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2.5 EtherCAT slaver information

For each EtherCAT Slave a device description, the so called EtherCAT Slave Information(ESI) has to
be delivered. This is done in form of an XML file (eXtensible Markup Language). It descibes EtherCAT
specific as well as application specific features of the slave.
The ESI file is used by an EtherCAT configuration tool to generate the EtherCAT Network Information
(ENI).
There is always one unique ESI file for a device. Revision changes on the device's hardware and/or
software may have to be reflected in the ESI of this device(usually by the revision Number).
The XML file can be found from our webside: https://www.moonsindustries.com/.

2.6 Distributed clock

Distributed clock can make all the EtherCAT slave synchronize with a same reference clock. The slave
that supports the distributed clock is called the DC slave. MOONS' Stepper and StepSERVO drive
have three methold for EtherCAT communication；
-Free Run
-SM synchron
-DC synchron

Free Run
With this mode, the data cycle time based on the local timer time. T1 and T2 is that the MPU copy the
data from frame, then set output valid and caculate time.T3 is hardware delay.

Local timer time Local timer time

Cycle Time

Data Frame Data Frame

Minimum Cycle Time

T1 T2 T3

Copy output Capture and copy input data

Output valid Input lock

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SM synchron
Synchronized with data in/out event, the local timer is trigger by the data in/out event.

Data in/out Data in/out

event(SM) event(SM)

Cycle Time

Data Frame Data Frame

Minimum Cycle Time

T1 T2 T3

Copy output Capture and copy input

Output valid Input lock

DC synchron
Synchronized with SYNC event, the EtherCAT master should transmit the data frame before the SYNC
trigger. Then the EtherCAT master should synchronzie with the same clock.

SYNC event SYNC event

Cycle Time

Data Frame Data Frame

Minimum Cycle Time

T1 T2 T3

Copy output Capture and copy input

Output valid Input lock

To improve synchronization performance of slave communication, the master can copy the output
message of receiving process frame when the data frame out/in event is trigger.

Data in/out Data in/out

event(SM) event(SM)

SYNC event SYNC event

Cycle Time

Data Frame Data Frame

Minimum Cycle Time

T1 T2 T2

Copy output

Output valid Input lock

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2.7 EtherCAT state machine(ESM)

ESM (EtherCAT state machine) is used to coordinate the master and slave when in start up or working .
As shown below, It indicate the transition diagram of EtherCAT state.

Init
IP PI IB BI

Pre-operation SI Bootstrap

PS SP
OI

OP Safe-operational
SO OS

Operational

State
Description
transition
IP Start Mailbox Communication
PI Stop mailbox commnunication
PS Start input update
SP Stop input update
SO Start output update
OS Stop output update
OP Stop output update,stop input update
SI Stop input update, stop mailbox communication
OI Stop output update, stop input update, stop mailbox communication
IB Start bootstrap mode
BI Restart device

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3 Motion control

3.1 Control the power drive system

MOONS' drive follows the CANopen protocol in EtherCAT communication(CANopen over EtherCAT) at
application layer. So the PDS FSA control system is aslo suitable for EtherCAT application.

Power off
or reset

Not ready
to switch on

15
Switch on
Fault
disabled

2 7 14

Ready to 13 Fault reaction

12 10
switch on active

3 6
8 9

Switch on

4 5

16
Quick stop Operation
active 11 enabled

The state cording in FSA

Statusword(6041h) PDS FSA state
xxxx xxxx x0xx 0000 Not ready to switch on
xxxx xxxx x1xx 0000 Switch on disabled
xxxx xxxx x01x 0001 Ready to switch on
xxxx xxxx x01x 0011 Switch on
xxxx xxxx x01x 0111 Operation enabled
xxxx xxxx x00x 0111 Quick stop active
xxxx xxxx x0xx 1111 Fault reaction active
xxxx xxxx x0xx 1000 Fault

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Transition Event(s) Action(s)

Drive device self-test and/or self initialization shall be
0 Automatic transition after power-on or reset application
performed.
1 Automatic transition Communication shall be activated.
2 Shut down command from control device or local signal None
Switch on command received from control device or
3 The high-level power shall be switched on, if possible.
local signal
Enable operation command received from control The drive function shall be enabled and all internal set-points
4
device or local signal cleared.
Disable operation command received from control
5 The drive function shall be disabled.
device or local signal
Shut down command received from control device or
6 The high-level power shall be switched off, if possible.
local signal
Quick stop or disable voltage command from control
7 None
device or local signal
The drive function shall be disabled, and the high-level power
8 Shut down command from control device or local signal
shall be switched off, if possible.
Disable voltage command from control device or local The drive function shall be disabled, and the high-level power
9
signal shall be switched off, if possible.
Disable voltage or quick stop command from control
10 The high-level power shall be switched off, if possible.
device or local signal
11 Quick stop command from control device or local signal The quick stop function shall be started.
Automatic transition when the quick stop function is
completed and quick stop option code is 1, 2, 3 or 4, or The drive function shall be disabled, and the high-level power
12
disable voltage command received from control device shall be switched off, if possible.
(depends on the quick stop option code)
13 Fault signal The configured fault reaction function shall be executed.
The drive function shall be disabled; the high-level power shall
14 Automatic transition
be switched off, if possible.
A reset of the fault condition is carried out, if no fault exists
currently on the drive device; after leaving the fault state, the
15 Fault reset command from control device or local signal
fault reset bit in the controlword shall be cleared by the control
device.
Enable operation command from control device, if the
16 The drive function shall be enabled.
quick stop option code is 5, 6, 7, or 8

The command codes with object at 6040h.

Bits of the controlword

Command Transitions
Bit7 Bit3 Bit2 Bit1 Bit0
Shutdown 0 x 1 1 0 2,6,8
Switch on 0 0 1 1 1 3
Switch on + Enable operation 0 1 1 1 1 3+4
Quick stop 0 x x 0 x 7,9,10,12
Disable operation 0 0 1 1 1 5
Enable operation 0 1 1 1 1 4,16
Fault reset ↑ x x x x 15

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3.2 Mode of operation

The following operation modes for MOONS' Stepper and StepSERVO are recommended:
Mode of operation Code(6060)
Profile position mode 1
Profile velocity mode 3
Profile Torque mode 4
Homing mode 6
Cynclic synchronous position mode 8
Cynclic synchronous velocity mode 9
Q mode(manufacturer specific mode) -1

0x6060h object is the register for change control mode. when the mode of operation has been change,
the object 0x6061 will be update too.

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3.3 Profile position mode

3.3.1 General information
Profile position mode is a point to point operating mode using set points which consist of velocity,
acceleration, deceleration, and target position. Once all these parameters have been set, the drive
buffers the commands and begins executing the set point. When using a set of set points method, a
new set point can be sent to the drive while a previously sent set point is still executing.

Target position(607Ah)
Limit
function
Polarity(607Eh)

Profile velocity(6081h) Multiplier

Limit
Max profile velocity(607Fh) function Tragectory
generator
Profile acceleration(6083h)
Profile deceleration(6084h) Limit
Multiplier
function
Quick stop deceleration(6085h)

Quick stop option code(605Ah)

3.3.2 Main controlling object

Index Name Type Access Mapping
0x6040 Controlword UINT16 WO YES
0x6041 Statusword UINT16 RO YES
0x6060 Modes of operation INT8 WO YES
0x6061 Modes of operation display INT8 RO YES
0x607A Target position INT32 RW YES
0x6081 Profile velocity UINT32 RW YES
0x6083 Profile acceleration UINT32 RW YES
0x6084 Profile deceleration UINT32 RW YES
0x6085 Quick stop deceleration UINT32 RW YES
0x605A Quick stop code INT16 RW NO

Controlword of profile position mode (6040h)

15 10 9 8 7 6 5 4 3 0
Change on Change set New set
*** Halt *** Abs/Rel ***
set point immediately point

***: See object description

Bit Name Value Description
0
4 New set point Toggle this bit from 0->1 to clock in a new set point
1
Change set point 0 Positioning shall be completed before the next one gets started
5
immediately 1 Next positioning shall be started immediately
0 Target position shall be an absolute value
6 Abs/Rel
1 Target position shall be an relative value
0 positioning shall be executed or continued
8 Halt
1 Axis shall be stopped
The previous set-point will be completed and the motor will come to rest before a new
0
set point is processed
9 Change of set point The motor will continue at the speed commanded by the previous set point until it
1 has reached the position commanded by the previous set point, then transition to the
speed of the new set point

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Statusword of profile position mode (6041h).

15 14 13 12 11 10 9 0
Following Set point Target
**** **** ****
error acknowledge reached

***: See object description

Bit Name Value Description
Halt (bit 8 in controlword) = 0: Target position not reached
0
Halt (bit 8 in controlword) = 1: Axis decelerates
10 Target reached
Halt (bit 8 in controlword) = 0: Target position reached
1
Halt (bit 8 in controlword) = 1: Velocity of axis is 0
0 Previous set-point already processed, waiting for new set-point
12 Set point ACK
1 Previous set-point still in process, set-point overwriting shall be accepted
0 No following error
13 Following error
1 Following error

3.3.3 Functional description

General
The setting of set-points is controlled by the timing of the new set-point bit and the change set
immediately bit in the controlword as well as the set-point acknowledge bit in the statusword.
If the change set immediately bit of the controlword is set to 1, a single set-point is expected by the
drive device. If the change set immediately bit of the controlword is set to 0, a set of set-points is
expected by the drive device.
Set point
After a set-point is applied to the drive device, the control device signals that the set-point is valid by a
rising edge of the new set-point bit in the controlword. The drive device sets the set-point acknowledge
bit in the statusword to 1, and afterwards, the drive device signals with the set-point acknowledge bit
set to 0 its ability to accept new set-points.

Actual
speed

Time

1
Target position
set point
0

New set point 1

(6040_bit4)
0

1
set point ACK
(6041_bit12)
0

1
Target reach
(6041_bit10)
0

Set-point

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The data of controlling object:

Event Set parameter
Shut down 0x6040=6(06h)
Enable motor power Switch on 0x6040=7(07h)
Switch on + enable operation 0x6040=15(0Fh)
Set mode of operation Profile position mode 0x6060=1(01h)
Distance 0x607A=100000(0186A0h)
Velocity 0x6081=20000(4E20h)
Set motion parameters
Acceleration 0x6083=50000(C350h)
Deceleration 0x6084=50000(C350h)
New set point 0x6040=31(1Fh)
Set point absolute
Clear new set point 0x6040=15(0Fh)
New set point 0x6040=95(5Fh)
Set point relative
Clear new set point 0x6040=79(4Fh)

If one set-point is still in progress and a new one is validated, two methods of handling are supported:
single set-point (change set immediately bit of controlword is 1) and set of set points (change set
immediately bit of controlword is 0).
Single set-point
When a set-point is in progress and a new set-point is validated by the new set-point (bit 4) in the
controlword, the new set-point shall be processed immediately.

Actual
speed

Time

1
Target position
set point
0
1
New set point
(6040_bit4)
0

1
current target
position processed
0

1
set point ACK
(6041_bit12)
0

Target reach 1
(6041_bit10)
0

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The data of controlling object:

Event Set parameter
Shut down 0x6040=6(06h)
Enable motor power Switch on 0x6040=7(07h)
Switch on + enable operation 0x6040=15(0Fh)
Set mode of operation Profile position mode 0x6060=1(01h)
Acceleration 0x6083=50000(C350h)
Set motion parameters
Deceleration 0x6084=50000(C350h)
First part of velocity 0x6081=30000(7530h)
First part of distance 0x607A=200000(030D40h)
New set point 0x6040=639(27Fh)
Clear new set point 0x6040=623(26Fh)
Single set point
Second part of velocity 0x6081=20000(4E20h)
Second part of distance 0x607A=100000(0186A0h)
New set point 0x6040=639(27Fh)
Clear new set point 0x6040=623(26Fh)

Set of set-points
When a set-point is in progress and a new set-point is validated by the new set-point (bit 4) in the
controlword, the new set-point shall be processed only after the previous has been reached.

change on set-point
=1
Actual
speed

=0

Time

1
Target position
set point
0
1
New set point
(6040_bit4)
0

1
current target
position processed
0

1
set point ACK
(6041_bit12)
0

Target reach 1
(6041_bit10)
0

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The data of controlling object:

Event Set parameter Set parameter
Shut down 0x6040=6(06h)
Enable motor power Switch on 0x6040=7(07h)
Switch on + enable operation 0x6040=15(0Fh)
Set mode of operation Profile position mode 0x6060=1(01h)
Acceleration 0x6083=50000(C350h)
Set motion parameters
Deceleration 0x6084=50000(C350h))
First part of velocity 0x6081=30000(7530h)
First part of distance 0x607A=400000(061A80h)
New set point 0x6040=95(5Fh)

Set of set-points with change Clear new set point 0x6040=79(4Fh)

on set-point=0 Second part of velocity 0x6081=20000(4E20h)
Second part of distance 0x607A=300000(7530h)
New set point 0x6040=95(5Fh)
Clear new set point 0x6040=79(4Fh)
First part of velocity 0x6081=30000(7530h)
First part of distance 0x607A=400000(061A80h)
New set point 0x6040=607(25Fh)

Set of set-points with change Clear new set point 0x6040=591(24Fh)

on set-point=1 Second part of velocity 0x6081=20000(4E20h)
Second part of distance 0x607A=300000(0493E0h)
New set point 0x6040=607(25Fh)
Clear new set point 0x6040=591(24Fh)

NOTE: MOONS' EtherCAT drive can be set up with two set-points, if the bit 12 of statusword is 1, then
the buffer is full and another set-point will be ignored.
Stop the motor with halt (0x6040_bit8)
If a drive is processing a set-point, the halt bit (bit 8 of the controlword) can be used to stop the motor
and keep it in position control. After releasing the halt bit the processing of the actual set-point is
continued.

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3.4 Profile velocity mode

3.4.1 General information
Profile Velocity Mode is a relatively simple operating mode. Once the velocity, acceleration, and
deceleration are set, the drive will either command the motor to accelerate to the running velocity
according to the acceleration parameter, or to halt movement according to the deceleration parameter.
Target velocity(60FFh)

Max profile velocity(607Fh) Limit

function

Profile acceleration(6083h) Multiplier Tragectory

Profile deceleration(6084h) Limit generator
Quick stop deceleration(6085h) function

Quick stop option code(605Ah)

3.4.2 Main controlling object

Index Name Type Access Mapping
0x6040 Controlword UINT16 WO YES
0x6041 Statusword UINT16 RO YES
0x6060 Modes of operation INT8 WO YES
0x6061 Modes of operation display INT8 RO YES
0x60FF Target velocity UINT32 RW YES
0x6083 Profile acceleration UINT32 RW YES
0x6084 Profile deceleration UINT32 RW YES

Controlword of profile velocity mode

15 9 8 7 6 5 4 3 0
*** Halt **** *** *** ***

***: See object description

Bit Name Value Description
0 The motion shall be executed or continued
8 Halt
1 Axis shall be stopped according to the halt option code (0x605D)

Statusword of profile velocity mode

15 14 13 12 11 10 9 0
*** Max slippage error Speed *** Target reached ***
***: See object description
Bit Name Value Description
Halt (bit 8 in controlword) = 0: Target not reached
0
Halt (bit 8 in controlword) = 1: Axis decelerates
10 Target reached
Halt (bit 8 in controlword) = 0: Target reached
1
Halt (bit 8 in controlword) = 1: Velocity of axis is 0

0 Speed is not equal 0

12 Speed
1 Speed is equal 0
0 Maximum slippage not reached
13 Max slippage error
1 Maximum slippage reached

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3.4.3 Functional description

Profile velocity mode is according to the specified velocity, acceleration and deceleration value for
moving. And to stopped with halt (6040_bit8) control.
1. Target velocity (60FFh)
2. Profile acceleration (6083h)
3. Profile deceleration (6084h)

Actual
speed

0x60FFh
0x6083h 0x6084h

Time

Event Set parameter

Shut down 0x6040=6(06h)
Enable motor power Switch on 0x6040=7(07h)
Switch on + enable operation +halt 0x6040=271(010Fh)
Set mode of operation Profile velocity mode 0x6060=3(3h)
Target velocity 0x60FF=20000(4E20h)
Set motion parameter Acceleration 0x6083=50000(C350h)
Deceleration 0x6084=50000(C350h)
Start 0x6040=15(Fh)
Velocity mode
Stop 0x6040=271(010Fh)

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3.5 Profile torque mode (StepSERVO only)

3.5.1 General information
Profile Torque mode is a servo-control torque operating mode. It requires knowledge of the Torque
Constant of the motor in mN/A. This information can be found in the motor print.

Target torque(6071h)
Multiplier

Torque
control
Torque slope(6087h)
Torque constant(2216h)

3.5.2 Main controlling object

Index Name Type Access Mapping

0x6040 Controlword UINT16 WO YES
0x6041 Statusword UINT16 RO YES
0x6071 Target torque INT16 RW NO
0x6087 Torque slope INT8 WO YES
0x2216 Torque constant INT8 RO YES

Controlword of profile torque mode

15 9 8 7 0
*** Halt **** ***

***: See object description

Bit Name Value Description
0 The motion shall be executed or continued
8 Halt
1 Axis shall be stopped according to the halt option code (0x605D)

Statusword of profile torque mode

15 14 13 12 11 10 9 0
*** Reserved *** Target reached ***

***: See object description

Bit Name Value Description
Halt (bit 8 in controlword) = 0: Target not reached
0
Halt (bit 8 in controlword) = 1: Axis decelerates
10 Target reached
Halt (bit 8 in controlword) = 0: Target reached
1
Halt (bit 8 in controlword) = 1: Velocity of axis is 0

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3.5.3 Functional description

To operate in profile torque mode, the following parameters must be set:
Index Name Description
0x2216 Torque constants Motor parameter, found on the motor print
0x6071 Target torque Torque to be applied to the motor
0x6087 Torque slope Rate at which to ramp torque to new target

Parameter calculations – example

An application requires a torque of 0.353 Nm, and torque slope of 0.177 Nm/sec. we found the torque
constants is 0.07Nm/A. then we write the value to the object:
Index value Units
0x2216 70 m•Nm/A
0x6071 353 m•Nm
0x6087 177 m•Nm/sec

Current verification – example

It is important to check that the current required of the drive is within the limits of the servo amplifier.
The drive being used, for example, has a continuous rating of 7 amps, and a peak current of 14 amps,
which may be held continuously for 2 seconds. This means that a current of 7 amps can be held
indefinitely, and currents between 7 and 14 amps may be used in short bursts.
Using the target torque and torque constant from the example above the current draw can be checked,
as shown:
0.353Nm/(0.07 Nm/A) = 5.044A
The resultant current, 5.044A, is below the 7A continuous current rating of the drive, and well below the
peak current rating of 14A. It is possible for the drive to maintain a current of 7A indefinitely, and peak up
to 14A for up to two seconds continuously. Values between 7A and 14A may be held proportionally long.
Event Set parameter
Shut down 0x6040=6(06h)
Enable motor power Switch on 0x6040=7(07h)
Switch on + enable operation +halt 0x6040=271(010Fh)
Set mode of operation Profile velocity mode 0x6060=4(04h)
Target torque 0x6071=20(14h)
Set motion parameter Torque slope 0x6087=500(01F4h)
Torque constant 0x2216=100(64h)
Start 0x6040=15(0Fh)
Profile torque mode
Stop 0x6040=271(10Fh)

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3.6 Homing mode

3.6.1 General information
This clause describes the method by which a drive seeks the home position (also called, the datum,
reference point or zero point). There are various methods of achieving this using limit. switches at the
ends of travel or a home switch (zero point switch) in mid-travel, most of the methods also use the
index (zero) pulse train from an incremental encoder.

Homing speed(6099h)
Limit
Homing acceleration(609Ah)
function

Homing
melthod
Homing melthod(6098h)
Home offset(607Ch)

3.6.2 Main controlling object

Index Name Type Access Mapping
0x6040 Controlword UINT16 WO YES
0x6041 Statusword UINT16 RO YES
0x6060 Mode of operation INT8 WO YES
0x6098 Home method INT8 RW NO
0x6099 Homing speed - - -
0x609A Homing acceleration INT32 RW YES
0x2001 Home switch INT8 RW YES
0x607C Homing offset INT32 RW YES

Controlword of homing mode

15 9 8 7 6 5 4 3 0
Homing operation
*** Halt **** Reserved(0) ***
start

***: See object description

Bit Name Value Description
0 Do not start homing procedure
4 Homing operation start
1 Start or continue homing procedure
0 Enable bit4
8 Halt
1 Stop axis according to halt option code (0x605D)

Statusword of homing mode

15 14 13 12 11 10 9 0
*** Homing error Homing attained **** Target reached ***

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**: See object description

Bit13 Bit12 Bit10 definition
0 0 0 Homing procedure is in progress
0 0 1 Homing procedure is interrupted or not started
0 1 0 Homing is attained, but target is not reached
0 1 1 Homing is procedure is completed successfully
1 0 0 Homing error occurred, velocity is not 0
1 0 1 Homing error occurred, velocity is 0
1 1 X Reserved

3.6.3 Functional description

The homing modes are working on logical values of the limit and homing switches (object 60FDh).
The data of controlling object:
Event Set parameter
Shut down 0x6040=06(06h)
Enable motor power Switch on 0x6040=07(07h)
Switch on+ enable operation 0x6040=15(0Fh)
Set mode of operation Homing mode 0x6060=06(06h)
Set home method Home method=13 0x6098=13(0Dh)
Homing acceleration 0x609A=200000(030D40h)
Velocity for switch 0x6099_sub1=20000(4E20h)
Set motion parameters Velocity for index 0x6099_sub2=2000(07D0h)
Homing offset 0x607C=100000(0186A0h)
Homing switch 0x2001=5(05h)
Homing start 0x6040=31(1Fh)
Homing mode
Homing stop 0x6040=287(011Fh)

3.6.4 Method 1 and 2

The initial direction of movement shall be leftward (method 1) or rightward (method 2) if the limit switch
is inactive. The position of home shall be at the first index pulse to the limit switch becomes inactive.

negative positive

CCW_limit CW_limit
Index Index

Home_method 1/2

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3.6.5 Method 3 and 4

The initial direction of movement shall be dependent on the state of the home switch. The home
position shall be at the index pulse to either to the left or the right of the point where the home switch
changes state. If the initial position is situated so that the direction of movement shall reverse during
homing, the point at which the reversal takes place is anywhere after a change of state of the home
switch.

negative positive

3
3

home_switch
Index

Home_method 3/4

3.6.6 Method 5 and 6

The initial direction of movement shall be dependent on the state of the home switch. The home
position shall be at the index pulse to either to the left or the right of the point where the home switch
changes state. If the initial position is situated so that the direction of movement shall reverse during
homing, the point at which the reversal takes place is anywhere after a change of state of the home
switch.

negative positive

5
5

6
home_switch
Index

Home_method 5/6

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3.6.7 Method 7 and 8

The initial direction of movement shall be rightward if the positive limit switch is inactive. With the
method 7, the home position shall be at the first index pulse to the left side of the home switch which
the changes status is on falling edge. The home position shall be at the first index pulse to the left
side of home switch which the changes status is on rising edge that moved from negative to positive on
method 8 .

negative positive

7
7

7
8

8
8

home_switch CW_limit
Index

Home_method 7/8

3.6.8 Method 9 and 10

The initial direction of movement shall be rightward if the positive limit switch is inactive. With the
method 9, the home position shall be at the first index pulse to the right side of the home switch which
the changes status is on rising edge that moved from positive to negative. The home position shall be
at the first index pulse to the right side of home switch which the changes status is on falling edge with
method 10.

negative positive

9 9

10
10
10

home_switch CW_limit
Index

Home_method 9/10

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3.6.9 Method 11 and 12

The initial direction of movement shall be leftward if the negative limit switch is inactive. With the
method 11, the home position shall be at the first index pulse to the right side of the home switch which
the changes status is on falling edge. The home position shall be at the first index pulse on the right
side of home switch which the changes status is on rising edge with method 12.

negative positive

11
11

11
12

12
12

CCW_limit home_switch
Index
Home_method 11/12

3.6.10 Method 13 and 14

The initial direction of movement shall be leftward if the negative limit switch is inactive. With the
method 13, the home position shall be at the first index pulse to the left side of the home switch which
the changes status is on falling edge. The home position shall be at the first index pulse to the left side
of home switch which the changes status is on rising edge that moved from negative to positive on
method 14.

negative positive

13 13

13

14
14 14

CCW_limit home_switch
Index
Home_method 13/14

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3.6.11 Method 17 and 18

The method17 and 18 are similar to methods 1 and 2 except that the home position is not dependent
on the index pulse but only dependent on the relevant home or limit switch transitions.

negative positive

17

18

CCW_limit CW_limit

Home_method 17/18

3.6.12 Method 19 and 20

The method 19 and 20 are similar to methods 3 and 4 except that the home position is not dependent
on the index pulse but only dependent on the relevant home or limit switch transitions.

negative positive

19
19

20

20

home_switch

Home_method 19/20

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3.6.13 Method 21 and 22

The method 21 and 22 are similar to methods 5 and 6 except that the home position is not dependent
on the index pulse but only dependent on the relevant home or limit switch transitions.

negative positive

21
21

22

22
home_switch

Home_method 21/22

3.6.14 Method 23 and 24

The method 23 and 24 are similar to methods 7 and 8 except that the home position is not dependent
on the index pulse but only dependent on the relevant home or limit switch transitions.

negative positive

23
23

23
24
24
24

home_switch CW_limit

Home_method 23/24

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3.6.15 Method 25 and 26

The method 25 and 26 are similar to methods 9 and 10 except that the home position is not dependent
on the index pulse but only dependent on the relevant home or limit switch transitions.

negative positive

25 25

25

26
26
26
home_switch CW_limit

Home_method 25/26

3.6.16 Method 27 and 28

The method 27 and 28 are similar to methods 11 and 12 except that the home position is not
dependent on the index pulse but only dependent on the relevant home or limit switch transitions.

negative positive

27 27

27
28

28
28
CCW_limit home_switch

Home_method 27/28

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3.6.17 Method 29 and 30

The method 29 and 30 are similar to methods 13 and 14 except that the home position is not
dependent on the index pulse but only dependent on the relevant home or limit switch transitions.

negative positive

29
29

29

30
30
30

CCW_limit home_switch

Home_method 29/30

3.6.18 Method 33 and 34

Using these methods, the direction of homing is negative or positive respectively. The home position
shall be at the index pulse found in the selected direction
negative positive

33

34

Index Index

Home_method 33/34

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3.6.19 Method 35
In this method, the current position shall be taken to be the home position. This method does not
require the drive device to be in operational enabled state.

3.6.20 Method 37
In this method, the position sensor information (converted in user-defined position units) shall be taken to
be the home position. This method does not require the drive device to be in operation enabled state. At the
home position (i.e. after the homing process) the position actual value (6064h) is calculated as follows:
Position actual value (6064h) = Home offset (607Ch)
In addition, we provide the hard stop homing without limit switch.
3.6.21 Method -1
In this method, the initial direction of movement shall be rightward and reach the mechanical end
position. Then the motor will return to the first index pulse.

Mechanical end position

negative positive

-1

Index
Home_method -1

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3.6.22 Method -2
In this method, the initial direction of movement shall be leftward and reach the mechanical end position.
Then the motor will return to the first index pulse.

Mechanical end position

negative positive

-2

Index

Home_method -2
3.6.23 Method -3
In this method, the initial direction of movement shall be rightward and reach the mechanical end
position.

Mechanical end position

negative positive

-3

Home_method -3

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3.6.24 Method -4
In this method, the initial direction of movement shall be leftward and reach the mechanical end position.

Mechanical end position

negative positive

-4

Home_method -4

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3.7 Cyclic synchronous position mode

3.7.1 General information
With this mode, the trajectory generator is located in the control device, not in the drive device. In cyclic
synchronous manner, it provides a target position to the drive device, which performs position control,
velocity control and torque control.

Target position(0x607Ah)

Limit
Multiplier
function
Position offset(0x60B0h) Position actual
value(0x6064)
Position range limit (607B) Polarity(0x607E)
Software position limit(607D)
Following error window(6065h)
Following error
Following error time out(6066h) actual value
60F4h
Max motor speed(6080h)
Multiplier

Polarity(0x607Eh) Drive Velocity actual

Velocity offset(60B1h) value(606Ch)
control
Quick stop deceleration(6085h)
Quick stop option code(605Ah)
function
Motion profile type(6086h)
Velocity sensor
Interpolation time period(60C2h) actual value
(6069h)
Torque offset(60B2h)
Multiplier

Motor rated torque(6076h)

Torque actual
Max torque(6072h) value(0x6077)
Multiplier

Motor rated torque(6076h)

3.7.2 Main controlling object

Index Name Type Access Mapping
0x6040 Controlword UINT WO YES
0x6041 Statusword UINT RO YES
0x6060 Mode of operation INT WO YES
0x607A Target position INT WO YES
0x60B0 Position offset DINT RW YES
0x6085 Quick stop deceleration UDINT RW YES
0x605A Quick stop option code INT RW YES
0x6064 Position actual value DINT RO YES
0x60F4 Following error actual value DINT RO YES
0x606C Velocity actual value DINT RO YES
0x6065 Following error window UDINT RW NO

Controlword
The cyclic synchronous position mode uses no mode-specific bits of the controlword .

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Statusword
15 14 13 12 11 10 9 0
*** Following error Drive follows the command value **** Status toggle ***

***: See object description

Bit Value Definition
0 Reserved
10
1 Reserved
0 Target position ignored
12
1 Target position used as input to position control loop
0 No following error
13
1 Following error

In the statusword Bit 12 is mandatory. The Bit 13 is recommended.

The Bit 10 is used in Profile position mode as "Target reached" information. In csp the new target
position is given cyclically be the control device. This bit is used as Status Toggle information to
indicate if the device provides updated input data. The bit shall be toggled with every update of the
input process data. If object 0x60D9 is supported, the Status Toggle function can be enabled or
disabled.
The Bite 12 drive follows the command value shall be zero if the drive does not follow the target
value(position,velocity or torque) because of local reasons(internal set-point settings).E.g. if a local
Input is configured to a halt function or a safety function prevents the drive in operational to follow the
target set point. The control device shal evaluate the bit. The Bit 12 shal be set if the drive is in state
operation enabled and follows the target and set-point values of the control device. In all other cases it
shall be zero. If the bit is not supported it shall be fix set to 1 in the statusword.
3.7.3 Functional description
With this mode, the control device should provide the target position with every cyclic communication.
The velocity, acceleration, deceleration of motor is based on cyclic time and tartget position.
Note: Before the drvie mode has changed to CSP and operation mode, the control device should
update the target position to the same as the position actual valul of drive. if it is not equal to position
actual value of drive, the drive will move to new position when operation mode activated.

Position
2000 100000
Cyclic Cyclic Cyclic Cyclic Cyclic Cyclic Cyclic Cyclic
time time time time time time time time
1800 90000

1600 80000

1400 70000

Target 1200 60000 Actual

position velocity
Velocity
(conuts) (conuts/s)
1000 50000

800 40000

600 30000

400 20000

200 10000

0
0 4 8 12 16 20 24 28 32 36

Time（ms）

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3.8 Cyclic synchronous velocity mode

3.8.1 General information
With this mode, the trajectory generator is located in the control device, not in the drive device. In cyclic
synchronous manner, it provides a target velocity to the drive device, which performs velocity control
and torque control.
Target velocity(60FFh)

Multiplier
Velocity offset(0x60B1h) Position actual
value(0x6064)
Polarity(0x607E)

Max motor speed(6080h)

Multiplier
Velocity actual
value(606Ch)
Polarity(0x607Eh)

Velocity sensor actual value(6069h)

Drive
Quick stop deceleration(6085h) control
Quick stop option code(605Ah) function Velocity sensor
actual value
Motion profile type(6086h) (6069h)
Interpolation time period(60C2h)

Torque offset(60B2h)
Multiplier
Torque actual
value(0x6077)
Motor rated torque(6076h)

Max torque(6072h)
Multiplier

Motor rated torque(6076h)

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3.8.2 Main controlling object

Index Name Type Access Mapping
0x6040 Controlword UINT WO YES
0x6041 Statusword UINT RO YES
0x6060 Mode of operation INT WO YES
0x60FF Target velocity INT WO YES
0x60B1 Velocity offset DINT RW YES
0x6085 Quick stop deceleration UDINT RW NO
0x60FF Target velocity DINT RW YES

Controlword
The cyclic synchronous position mode uses no mode-specific bits of the controlword .
Statusword
15 14 13 12 11 10 9 0
*** Reserved Drive follows the command value **** Reserved ***

***: See object description

Bit Value definition
0 Reserved
10
1 Reserved
0 Target velocity ignored
12
1 Target velocity used as input to velocity control loop
0 Reserved
13
1 Reserved

In the statusword Bit 12 is mandatory.

In CSV mode Bit 10 is used as Status Toggle information to indicate if the device provides updated
input data. The bit shall be toggled with every update of the input process data. If object 0x60D9 is
supported, the Status Toggle function can be enabled or disabled.
The Bite 12 drive follows the command value shall be zero if the drive does not follow the target
value(position,velocity or torque) because of local reasons(internal set-point settings).E.g. if a local
Input is configured to a halt function or a safety function prevents the drive in operational to follow the
target set point. The control device shal evaluate the bit. The Bit 12 shal be set if the drvie is in state
operation enabled and follows the target and set-point values of the control device. In all other cases it
shall be zero. If the bit is not supported it shall be fix set to 1 in the statusword.

3.8.3 Functional description

With CSV mode, drive can change speed with every cyclic time. when drive has been to operation
mode, the motor speed is located with target velocity(0x60FF) object, change target velocity means
change the current velocity on one cyclic time.
The acceleration and deceleration is based on cyclic time and target velocity.

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3.9 Q program mode

3.9.1 General information
In order to expand the functionality of MOONS' EtherCAT drives, the Q programming language may
be used to execute complex motion profiles that may not be possible within the scope of CiA 402. The
Q program must be written and pre-loaded into the EtherCAT drive using Q Programmer. Q Programs
may also access and manipulate the EtherCAT General Purpose registers for use in stored programs.

Q segment NO.(2007h)

Q controlword(2040h)
Q program
Controlword(6040h)
control
Mode of operation(6060h=FFh)

3.9.2 Normal Q execution

To execute a stored Q program on a single drive, a value of -1 (FFh) must be written to the mode of
operation OD entry, located at dictionary address 6060h. The mode of operation can be verified using
OD entry 6061h - mode of operation display - which is updated when the current operation mode is
accepted.
The data of controlling object example of STF**-EC and SSDC**-EC drive:
Event Set parameter
Shut down 0x6040=6(06h)
Enable motor power Switch on 0x6040=7(07h)
Switch on + enable operation +halt 0x6040=271(10Fh)
Set mode of operation Normal Q mode 0x6060= -1(FFh)
Set parameter Q procedure segment 0x2007=1(01h)
Start 0x6040=31(1Fh)
Normal Q mode
Halt 0x6040=287(011Fh)

The data of controlling object example of STF**-ECX and SSDC**-ECX drive:

Event Set parameter
Shut down 0x6040=6(06h)
Enable motor power Switch on 0x6040=7(07h)
Switch on+enable operation 0x6040=15(0Fh)
Set mode of operation Normal Q mode 0x6060=-1(FFh)
Set parameter Q segment NO. 0x2007=1(01h)
Enable Q program 0x2040=15(0Fh)
Execute Q program Start Q program 0x2040=31(1Fh)
Stop Q program 0x2040=256(100h)

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3.10 Touch probe

3.10.1 General information
Touch probe function is used to latch the feedback position by capture the rasing or falling edge of
input sensor and index. With touch probe , assign X7 or X8 to touch probe function is essential by the
software of MOONS' drive.
3.10.2 Main control object
Index Name Type Access Mapping
0x60B8 Touch probe function INT RW YES
0x60B9 Touch probe status UINT RO YES
0x60BA Touch probe pos1 pos value DINT RO YES
0x60BB Touch probe pos1 neg value DINT RO YES
0x60BC Touch probe pos2 pos value DINT RO YES
0x60BD Touch probe pos2 neg value DINT RO YES

3.10.3 Functional description

0x60B8 Touch probe function
This object indicate the configured function of touch probe.
Bit Value Definition
0 0 Swith off touch probe 1
1 Enable touch probe 1
1 0 Trigger first event
1 Continous
3,2 00 Trigger with touch probe 1 input
01 Trigger with zero impulse signal or position encoder
10 Touch probe source as defined in object 60D0, sub-index01
11 Reserved
4 0 Switch off sampling at positive edge of touch probe 1
1 Enable sampling at positive edge of touch probe 1
5 0 Switch off sampling at negtive edge of touch probe 1
1 Enable sampling at negative edge of touch probe 1
6,7 - Reserved
8 0 Swith off touch probe 2
1 Enable touch probe 2
9 0 Trigger first event
1 Continous
11,10 00 Trigger with touch probe 2 input
01 Trigger with zero impulse signal or position encoder
10 Touch probe source as defined in object 60D0, sub-index02
11 Reserved
12 0 Switch off sampling at positive edge of touch probe 2
1 Enable sampling at positive edge of touch probe 2
13 0 Switch off sampling at negtive edge of touch probe 2
1 Enable sampling at negative edge of touch probe 2
14,15 - Reserved

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0x60B9 Touch probe function

This obejct provide the status of touch probe.
Bit Value Definition
0 0 Touch probe 1 is switched off
1 Touch probe 1 is enabled
1 0 Touch probe 1 no positive edge value stored
1 Touch probe 1 positive edge position stored
2 0 Touch probe 1 no negative edge value stored
1 Touch probe 1 negative edge position stored
3...7 - Reserved
8 0 Touch probe 2 is switched off
1 Touch probe 2 is enabled
9 0 Touch probe 2 no positive edge value stored
1 Touch probe 2 positive edge position stored
10 0 Touch probe 2 no negative edge value stored
1 Touch probe 2 negative edge position stored
11...15 - Reserved

0x60BA~0x60BD Touch probe position value

This object shall provide the captual position value of touch probe.

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3.10.4 Timing diagrame

The figure in below shows a timing diagram for an example touch probe configuration and the
corresponding behavior. And the table explains the timing diagram.

0x60B8_Bit 0 1
Enable touch probe1
13

0x60B8_Bit 1
Trigger first event

0x60B8_Bit 4 1

Enable sampling at positive edge

7 9

0x60B8_Bit 5
Enable sampling at negative edge

0x60B9_Bit 0 2 14

Touch probe 1 is enabled

0x60B9_Bit 1 4 8 12 14

Touch probe 1 positive edge stored

0x60B9_Bit 2 6 14

Touch probe 1 negative edge stored

3 5 11
Touch probe signal

0x60BA 4a 8a 10 12a

Touch probe position 1 positive value 0000 yyyy uuuu

0x60BB 6 14a

Touch probe position 1 negative value

0000 XXXX

Number Touch probe behavior

60B8_bit0 = 1 Enable touch probe 1
（1）
60B8_bit1,4,5 Configure and enable touch probe 1 positive and negative edge
（2） →60B9_bit 0 = 1 Status"Touch probe 1 enabled" is set
（3） External touch probe signal has positive edge
（4） →60B9_bit 1 = 1 Status"Touch probe 1 positive edge stored" is set
（4a） →60BA Touch probe position 1 positive value is stored
（5） External touch probe signal has negative edge
（6） →60B9_bit 2 = 1 Status"Touch probe 1 negative edge stored" is set
（6a） 60BB Touch probe positione 1 negative value is stored
（7） 60B8_bit 4 = 0 Sample positive edge is disabled
（8） →60B9_bit 0 = 0 Status"Touch probe 1 positive edge stored" is reset
（8a） →60BA Touch probe position 1 positive value is not changed
（9） 60B8_bit 4 = 1 Sample positive edge is enabled
（10） →60BA Touch probe position 1 positive value is not changed
（11） External touch probe signal has positive edge
（12） → 60B9_bit 1 = 1 Status “Touch probe 1 positve edge stored” is set
（12a） → 60BA Touch probe position 1 positive value is stored
（13） 60B8_bit 0 = 0 Touch probe 1 is disabled
（14） → 60B9_bit 0, 1, 2 = 0 Status bits are reset
（14a） → 60BA, 60BB Touch probe position 1 positive/negative value are not changed

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4 Object dictionary
With CoE protocol, MOONS' Stepper and StepSERVO EtherCAT drives has follow with CANopen
specifiction, the object dictionay is same as CANopen drive. the table obtain the object area of
EtherCAT drives in below.

4.1 CoE object dictionary description

Index Description
0x0000~0x0FFF Data type area
0x1000~0x1FFF CoE communication area
0x2000~0x5FFF Manufacturer specific area
0x6000~0x9FFF Profile area
0xA000~0xFFFF Reserved

4.2 Communication profile

Index Sub Name Access Type Mapping
0x1000 - Device type RO UDINT NO
0x1001 - Error register RO USINT NO
0x1008 - Device name RO STRING(20) NO
0x1009 - Manufacturer hardware version RO STRING(4) NO
0x100A - Manufacturer software version RO STRING(4) NO
- Store parameters - - -
0x1010
1 Store all parameters RW UDINT NO
- Restore default parameters - - -
0x1011
1 Restore default parameters RW UDINT NO
- Identity object - - -

CoE(1000h) 1 Vendor ID RO UDINT NO

0x1018 2 Product code RO UDINT NO
3 Revision RO UDINT NO
4 Serial number RO UDINT NO
- Error settings - - -
0x10F1 1 Local error reaction RW UDINT NO
2 Sync error counter limit RW UINT NO

8 RPDO mapping parameter 1~4 - - -

1 Mapping entry 1 RW UDINT NO

0x1600~
1603 2 Mapping entry 2 RW UDINT NO
... ... RW UDINT NO
12 Mapping entry 12 RW UDINT NO

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Index Sub Name Access Type Mapping

- TPDO mapping parameter1~4 - - -

1 Mapping entry 1 RW UDINT NO

0x1A00~
1A03 2 Mapping entry 2 RW UDINT NO
... ... ... ... -
12 Mapping entry 12 RW UDINT NO
- SYNC manager type - - -
1 SM0 communication type RO USINT NO
0x1C00 2 SM1 communication type RO USINT NO
3 SM2 communication type RO USINT NO
4 SM3 communication type RO USINT NO

- RxPDO~TxPDO assign - - -

1 RxPDO~TxPDO 1 mapping object RW UINT NO

0x1C12~
1C13 2 RxPDO~TxPDO 1 mapping object RW UINT NO
CoE(1000h)
3 RxPDO~TxPDO 1 mapping object RW UINT NO
4 RxPDO~TxPDO 1 mapping object RW UINT NO

- SM output~input parameter - - -

1 Synchronization type RW UINT NO

2 Cycle time RO UDINT NO
3 Shift time RW UDINT NO
4 Synchronization types supported RO UINT NO
5 Minimum cycle time RO UDINT NO
0x1C32~
1C33 6 Calc and copy time RO UDINT NO
8 Get cycle time RW UINT NO
9 Delay time RO UDINT NO
10 Sync0 cycle time RW UDINT NO
11 SYNC-Event missed RO UINT NO
12 Cycle time too small RO UINT NO
32 Sync error RO BOOL NO

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0x1000 Device type

Contains information about the device type. The object at index 1000h describes the type of device
and its functionality. It is composed of a 16-bit field which describes the device profile that is used
and a second 16-bit field which gives additional information about optional functionality of the device.
The Additional Information parameter is device profile specific. Its specification does not fall within the
scope of this document, it is defined in the appropriate device profile. The value 0000h indicates a
device that does not follow a standardized device profile.
Index Sub Name Data Type Access Type PDO mapping Default Value
0x1000 - Device type UDINT32 RO NO -

Bit 0-15: Device profile number

Bit 16-31: Additional information
0x1001 Error register
This object is an error register for the device. The device can map internal errors in this byte. This entry
is mandatory for all devices. It is a part of an Emergency object.
Index Sub Name Data Type Access Type PDO mapping Default Value
0x1001 - Error register USINT8 RO NO -

Bit 0: generic error

Bit 1: current
Bit 2: voltage
Bit 3: temperature
Bit 4: communication error (overrun, error state)
Bit 5-7: Reserved (always 0)
0x1008 Device name
Contains the manufacturer device name.
Index Sub Name Data Type Access Type PDO mapping Default Value
0x1008 - Manufacturer device name STRING(20) CONST NO -

Name of the manufacturer as string.

0x1009 Hardware version
Contains the hardware version description.
Index Sub Name Data Type Access Type PDO mapping Default Value
0x1009 - Hardware version STRING(4) CONST NO -

0x100A Software version

Contains the software version description.
Index Sub Name Data Type Access Type PDO mapping Default Value
0x100A - Software version STRING(4) CONST NO -

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0x1010 Store parameters

This object supports the saving of parameters in non-volatile memory. By read access the device
provides information about its saving capabilities. Several parameter groups are distinguished:
Index Sub Name Data Type Access Type PDO mapping Default Value
0x1010 0 Number of sub-index USINT8 RO NO 1
1 Store parameters UDINT32 RW NO 0

In order to avoid storage of parameters by mistake, storage is only executed when a specific signature
is written to the appropriate Sub-Index 1. The signature is “save”.
MSB LSB
Signature ISO e v a s
8859("ASCII")hex 65h 76h 61h 73h

Storage write access signature

0x1011 Restore default parameters
With this object the default values of parameters according to the communication or device profile are
restored.
Index Sub Name Data Type Access Type PDO mapping Default Value
0x1011 0 Number of sub-index USINT8 RO NO 1
1 Restore parameters UDINT32 RW NO 0

In order to avoid storage of parameters by mistake, storage is only executed when a specific signature
is written to the appropriate Sub-Index 1. The signature is "load".

MSB LSB
Signature ISO e v a s
8859("ASCII")hex 64h 61h 6Fh 6Ch

Storage write access signature

0x1018 Identity object
The object at index 1018h contains general information about the device.
Index Sub Name Data Type Access Type PDO mapping Default Value
0x1018 0 Number of sub-index USINT8 RO NO 4
1 Vendor-ID UDINT32 RO NO -
2 Product code UIDINT32 RO NO -
3 Revision number UDINT32 RO NO -
4 Serial number UDINT32 RO NO -

0x10F1 Error settings

Reserved.
Index Sub Name Data Type Access Type PDO mapping Default Value
0x10F1 0 Number of sub-index USINT8 RO NO 4
1 Local error reaction UDINT32 RW NO 1
2 SYNC error counter limit UIDINT32 RW NO 4

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0x1600~1603 Receive PDO mapping parameter

Contains the mapping for the PDOs the device is able to receive.
Index Sub Name Data Type Access Type PDO mapping Default Value

0 Number of sub-index USINT8 RW NO 4

1 Mapping entry 1 UDINT32 RW NO -

2 Mapping entry 2 UIDINT32 RW NO -
3 Mapping entry 3 UDINT32 RW NO -
4 Mapping entry 4 UDINT32 RW NO -

0x1600- 5 Mapping entry 5 UDINT32 RW NO -

1603 6 Mapping entry 6 UDINT32 RW NO -
7 Mapping entry 7 UDINT32 RW NO -
8 Mapping entry 8 UDINT32 RW NO -
9 Mapping entry 9 UDINT32 RW NO -
10 Mapping entry 10 UDINT32 RW NO -
11 Mapping entry 11 UDINT32 RW NO -
12 Mapping entry 12 UDINT32 RW NO -

0x1A00~1A03 Transmit PDO mapping parameter

Contains the mapping for the PDOs the device is able to transmit.
Index Sub Name Data Type Access Type PDO mapping Default Value

0 Number of sub-index USINT8 RW NO 12

1 Mapping entry 1 UDINT32 RW NO -

2 Mapping entry 2 UIDINT32 RW NO -
3 Mapping entry 3 UDINT32 RW NO -
4 Mapping entry 4 UDINT32 RW NO -
5 Mapping entry 5 UDINT32 RW NO -
0x1A00-1A03
6 Mapping entry 6 UDINT32 RW NO -
7 Mapping entry 7 UDINT32 RW NO -
8 Mapping entry 8 UDINT32 RW NO -
9 Mapping entry 9 UDINT32 RW NO -
10 Mapping entry 10 UDINT32 RW NO -
11 Mapping entry 11 UDINT32 RW NO -
12 Mapping entry 12 UDINT32 RW NO -

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0x1C00 Sync manager type

The sync manager communication type set the communication type of each SM manager. The type of
communication that:
1. Mailbox reception
2. Mailbox sending
3. RxPDO
4. TxPDO
Index Sub Name Data Type Access Type PDO mapping Default Value
0 Number of sub-index USINT8 RW NO 4
1 SM0 communication type UDINT32 RW NO 1
0x1C00 2 SM1 communication type UIDINT32 RW NO 2
3 SM2 communication type UDINT32 RW NO 3
4 SM3 communicaiton type UDINT32 RW NO 4

0x1C12 RxPDO assign object

The sync manager of RxPDO allocation, sub-indx1-4 set to the index of mapping.
Index Sub Name Data Type Access Type PDO mapping Default Value
0 Number of sub-index USINT8 RW NO 1
1 RxPDO1 mapping object UDINT32 RW NO 0x1600
0x1C12 2 RxPDO2 mapping object UIDINT32 RW NO -
3 RxPDO3 mapping object UDINT32 RW NO -
4 RxPDO4 mapping object UDINT32 RW NO -

0x1C13 TxPDO assign object

The sync manager of TxPDO allocation, sub-indx1-4 set to the index of mapping.
Index Sub Name Data Type Access Type PDO mapping Default Value
0 Number of sub-index USINT8 RW NO 1
1 TxPDO1 mapping object UDINT32 RW NO 0x1A00
0x1C13 2 TxPDO2 mapping object UIDINT32 RW NO -
3 TxPDO3 mapping object UDINT32 RW NO -
4 TxPDO4 mapping object UDINT32 RW NO -

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0x1C32 SM output parameter

The SYNC manager parameter.
Index Sub Name Data Type Access Type PDO mapping Default Value
0 Number of sub-index USINT8 RO NO 32
1 Synchronization type UINT16 RW NO 2
2 Cycle time UDINT32 RO NO 0
3 Shift time UDINT32 RW NO 0
4 Synchronization types supported UDINT32 RO NO 0x401F
5 Minimum cycle time UDINT32 RO NO 0x7A120
0x1C32 6 Calc and copy time UINT16 RW NO 0
8 Get cycle time UINT RW NO 0
9 Delay time UDINT RO NO 0
10 Sync0 cycle time UDINT RW NO 0x3D0900
11 SM-event missed UINT RO NO 0
12 Cycle time too small UINT RO NO 0
32 Sync error BOOL RO NO false

0x1C33 SM intput parameter

The SYNC manager parameter.
Index Sub Name Data Type Access Type PDO mapping Default Value
0 Number of sub-index USINT8 RO NO 32
1 Synchronization type UINT16 RW NO 2
2 Cycle time UDINT32 RO NO 0
3 Shift time UDINT32 RW NO 0
4 Synchronization types supported UDINT32 RO NO 0x401F
5 Minimum cycle time UDINT32 RO NO 0x7A120
0x1C33 6 Calc and copy time UINT16 RW NO 0
8 Get cycle time UINT RW NO 0
9 Delay time UDINT RO NO 0
10 Sync0 cycle time UDINT RW NO 0x3D0900
11 SM-event missed UINT RO NO 0
12 Cycle time too small UINT RO NO 0
32 Sync error BOOL RO NO false

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4.3 Motion control profile

Index Sub Name Access Type Mapping
0x603F - Error code RO UINT16 YES
0x6040 - Controlword WO UINT16 YES
0x6041 - Statusword RO UINT16 YES
0x605A - Quick stop option code RW INT16 NO
0x605B - Shut down option code RW INT16 NO
0x605C - Disable operation option code RW INT16 NO
0x605D - Halt option code RW INT16 NO
0x605E - Fault reaction code RW INT16 NO
0x6060 - Modes of operation WO INT8 YES
0x6061 - Modes of operation display RO INT8 YES
0x6064 - Position actual value RO INT32 YES
0x6065 - Following error window RW UINT32 NO
0x606C - Velocity actual value RO INT32 YES
0x6071 - Target torque RW INT16 YES
0x6073 - Max current RW UINT16 YES
0x6074 - Torque demand RO INT16 YES
0x6077 - Torque actual value INT YES
0x6078 - Current actual value RO INT16 YES
0x607A - Target position RW INT32 YES

CoE(6000) 0x607C - Home offset RW INT32 YES

0x607D - Software position limit - - -
1 Min position limit RW DINT NO
2 Max position limit RW DINT NO
0x607E - Polarity RW UINT8 YES
0x607F - Max profile velocity RW UINT32 YES
0x6081 - Profile velocity RW UINT32 YES
0x6083 - Profile acceleration RW UINT32 YES
0x6084 - Profile deceleration RW UINT32 YES
0x6085 - Quick stop deceleration RW UINT32 YES
0x6087 - Torque slope RW UINT32 YES
0x6098 - Homing method RW INT8 YES
0x6099 - Homing speed - ARRAY -
1 Search switch RW UDINT YES
2 Search zero RW UDINT YES
0x609A - Homing acceleration RW UDINT32 YES
0x60B0 Position offset RW DINT32 YES
0x60B1 - Velocity offset RW DINT YES
0x60B2 Torque offset RW DINT YES
0x60B8 Touch probe function RW UINT YES
0x60B9 Touch probe status RO UINT YES

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Index Sub Name Access Type Mapping

0x60BA Touch probe pos1 pos value RO DINT YES
0x60BB Touch probe pos2 pos value RO DINT YES
0x60BC Touch probe pos3 pos value RO DINT YES
0x60BD Touch probe pos4 pos value RO DINT YES
0x60E0 Positive torque limit value RW UINT YES
0x60E1 - Negative torque limit value RW UINT YES
CoE(6000)
0x60F4 - Following error actual value RO DINT YES
0x60FD - Digital inputs RO UDINT YES
0x60FE 2 Digital outputs - ARRAY NO
0x60FF - Target velocity RW DINT YES
1 Physical outputs RW UDINT YES
2 Bit mask RW UDINT NO
0x6502 - Supported drive modes RO UDINT NO

0x603F Error code

The error code captures the alarm code of the last error that occurred in the drive.
Index Sub Name Data Type Access Type PDO mapping Default Value
0x603F - Error code UINT RO YES -

Each bit in code indicate one type alarm or faults status.

Error Code Description
0x7500 EtherCAT Communication Error
0xFF01 Over Current
0xFF02 Over Voltage
0xFF03 Over Temperature
0xFF04 Open Motor Winding
0xFF05 Internal Voltage Bad
0xFF06 Position limit
0xFF07 Encoder bad
0xFF08 Fc position limit
0xFF09 Fc encoder bad
0xFF0A Regen failed
0xFF0B STO
0xFF31 CW Limit
0xFF32 CCW Limit
0xFF33 CCW CW limit
0xFF34 Current limit
0xFF35 Move When Disable
0xFF36 Voltage Low
0xFF37 Qprogram Blank
0xFF41 Save Failed
0xFF42 Xmlread Failed
0xFFFF Other Error

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0x6040 Controlword
This object shall indicate the received command controlling the PDS FSA. The bits 7, 3, 2, 1, and
0 shall be supported. The bits 0 to 9 shall be supported according to the mode of operation. If the
related functionality is not available, an appropriate emergency message shall be generated. The
manufacturer-specific bits may be supported.
All implemented bits of the controlword are valid independent of the PDS FSA state. Starting of any
movement is operation mode specific and is described in the related clause.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x6040 - Controlword RW UINT YES -

The bits of the controlword are defined as follows:

15 11 10 9 8 7 6 4 3 2 1 0
Operation mode Enable Enable
manufacturer specific reserved halt Fault reset Quick stop Switch on
specific operation voltage
O O O M O M M M M
MSB LSB
0 - Optional M - Mandatory

0x6041 Statusword
The status word indicates the current state of the drive. No bits are latched. The status word consist of
bits for:
Index Sub Name Access Type Data Type PDO mapping Default Value
0x6041 - Statusword RO UINT YES -

The bits of the statuslword are defined as follows:

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

ms oms ila tr rm ms w sod qs ve f oe so rtso

Key: ms manufacturer specific

oms operation mode specific
ila internal limit active
tr target reached
rm remote
w warning
sod switch on disabled
qs quick stop
ve voltage enabled
f fault
oe operation enabled
so switched on
rtso ready to switch on
statusword(6041h) PDS FSA state
xxxx xxxx x0xx 0000 Not ready to switch on
xxxx xxxx x1xx 0000 Switch on disabled
xxxx xxxx x01x 0001 Ready to switch on
xxxx xxxx x01x 0011 Switch on
xxxx xxxx x01x 0111 Operation enabled
xxxx xxxx x00x 0111 Quick stop active
xxxx xxxx x0xx 1111 Fault reaction active
xxxx xxxx x0xx 1000 Fault

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0x605A Quick stop option code

The parameter quick stop option code determines what action should be taken if the Quick Stop
Function is executed.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x605A - Quick stop option code RW INT NO -

Quick stop option code Action

-32768…-1 Manufacturer Specific
0 Disable drive function
1 Slow down on slow down ramp and transit into switch on disabled
2 Slow down on quick stop ramp and transit into switch on disabled
3 Slow down on the current limit and transit into switch on disabled
4 Slow down on the voltage limit and transit into switch on disabled
5 Slow down on slow down ramp and stay in quick stop active
6 Slow down on quick stop ramp and stay in quick stop active
7 Slow down on slow current limit and stay in quick stop active
8 Slow down on voltage limit and stay in quick stop active
9…32767 Reserved

It is only supported of option code 1 and 2 feature at this moment.

0x605B Shutdown option code
This object shall indicate what action is performed if there is a transition from operation enabled
state to ready to switch on state. The slow down ramp is the deceleration value of the used mode of
operations.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x605B - Shutdown option code RW INT NO -

Value Action
-32768…-1 Manufacturer Specific
0 Disable drive function(switch-off drive power stage)
1 Slow down on slow down ramp disable of the drive function
2…32767 Reserved

0x605C Disable operation option code

This object shall indicate what action is performed if there is a transition from operation enabled state
to switched on state. The slow down ramp is the deceleration value of the used mode of operations.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x605C - Disable operation option code RW INT NO -

Value Action
-32768…-1 Manufacturer Specific
0 Disable drive function(switch-off drive power stage)
1 Slow down on slow down ramp and then disable of the drive function
2…32767 Reserved

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0x605D Halt option code

This object shall indicate what action is performed when the halt function is executed. The slow down
ramp is the deceleration value of the used mode of operations.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x605D - Halt option code RW INT NO -

Value Action
-32768…-1 Manufacturer Specific
0 Reserved
1 Slow down on slow down ramp and stay in operation enabled
2 Slow down on quick stop ramp and stay in operation enabled
3 Slow down on current limit and stay in operation enabled
4 Slow down on voltage limit and atay in operation enabled
5 + 32767 Reserved

0x605E Fault reaction option code

This object shall indicate what action is performed when fault is detected in the PDS. The slow down
ramp is the deceleration value of the used mode of operations.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x605E - Fault reaction option code RW INT NO -

Value Action
-32768…-1 Manufacturer Specific
0 Disable drive function, motor is free t rotate
1 Slow down on slow down ramp
2 Slow down on quick stop ramp
3 Slow down on current limit
4 Slow down on voltage limit
5 + 32767 Reserved

0x6060 Mode of operation

The parameter modes of operation switches the actually chosen operation mode.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x6060 - Mode of operation RW SINT NO -

Mode of operation Value

Profile position mode 1
Profile velicuty mode 3
Profile Torque mode 4
Homing mode 6
Cynclic synchronous position mode 8
Cynclic synchronous velocity mode 9
Q mode(manufacturer specific mode) -1

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0x6061 Mode of operation display

The modes of operation display shows the current mode of operation. The meaning of the returned
value corresponds to that of the modes of operation option code (index 6060h).
Index Sub Name Access Type Data Type PDO mapping Default Value
0x6060 - Modes of operation display RO SINT YES -

0x6064 Position actual value

This object represents the actual value of the position.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x6064 - Position actual value RO DINT YES -

0x6065 Following error window

The following error window defines a range of tolerated position values symmetrically to the position
demand value. It is the position fault limit in encoder counts. As it is in most cases used with user
defined units, a transformation into increments with the position factor is necessary. If the position
actual value is out of the following error window, a following error occurs
A following error might occur when:
• A drive is blocked
• Unreachable profile velocity occurs
• At wrong closed loop coefficients
If the value of the following error window is 0 ,the following control is switched off.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x6065 - Following error window RW UDINT NO -

0x606C Velocity actual value

The velocity actual value is also represented in velocity units and is coupled to the velocity used as
input to the velocity controller.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x606C - Velocity actual value RO DINT YES -

The unit of this object is in counts/s.

0x6071 Target torque
This parameter is the input value for the torque controller in profile torque mode and the value is given
per thousand of rated torque.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x6071 - Target torque RW INT YES -

This object only can be accessed in StepSERVO drives and this object parameters is related to the
other torque values, such as current actual value (index 0x6078) and torque constant (index 0x2216).

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0x6073 Max current

This value represents the maximum permissible torque creating current in the motor.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x6073 - Max current RW UINT NO -

The unit of this object is 0.01Amps.

0x6074 Torque demand
This parameter is the output value of the torque limit function (if the torque control and power-stage
function are available).
Index Sub Name Access Type Data Type PDO mapping Default Value
0x6074 - Torque demand value RO INT YES -

This object is only available on StepSERVO drives and the unit of this object is mNm.
0x6077 torque actual value
This object shall provide the actual value of the torque. It shall correspond to the instantaneous torque
in the motor.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x6077 - Torque actual value RO INT YES -

0x6078 Current actual value

This object shall provide the actual value of the current. It shall correspond to the current in the motor.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x6078 - Current actual value RO INT YES -

This object is only available on StepSERVO drives and the unit of object is 0.01Amps.
0x607A Target position
This object is the position that the drive should move to in position profile mode using the current
settings of motion control parameters such as velocity, acceleration, deceleration, motion profile type
etc. The target position is given in terms of Electrical Gear parameters steps per motor shaft revolution.
The target position will be interpreted as absolute or relative depending on the ‘abs / rel' flag in the
controword.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x607A - Target position RW DINT YES -

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0x607C Home offset

The home offset object is the difference between the zero position for the application and the machine
home position (found during homing), it is measured in position units. During homing the machine
home position is found and once the homing is completed the zero position is offset from the home
position by adding the home offset to the home position. All subsequent absolute moves shall be taken
relative to this new zero position. This is illustrated in the following diagram.

Home position zero position

Home offset

Index Sub Name Access Type Data Type PDO mapping Default Value
0x607C - Home offset RW DINT YES -

0x607D Software position limit

This object shall indicate the configured maximal and minimal software position limits. These
parameters shall define the absolute position limits for the position demand value and the position
actual value as specified in below.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x607D 0 Number of sub-index RW USINT8 NO 2
1 Min position limit RW DINT NO -
2 Max position limit RW DINT NO -

Min position limit Zero position

Max position limit
Enc.=0

Stroke area

0x607E Polarity
Position demand value and position actual value are multiplied by 1 or -1 depending on the value of the
polarity flag. PP PV Mode.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x607E - Polarity RW USINT YES -

7 6 5 4 3 2 1 0

Position Velocity
Reserved
Polarity Polarity

MSB LSB
Value Description
0 Multiply by 1
1 Multiply by -1

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0x607F Max profile speed

The max profile velocity is the maximum allowed speed in either direction during a profiled move. It is
given in the same units as profile velocity.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x607F - Max profile speed RW UDINT YES -

The unit of this object is in counts/s.

0x6081 Profile velocity
The profile velocity is the velocity normally attained at the end of the acceleration ramp during a
profiled move and is valid for both directions of motion.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x6081 - Profile velocity RW UDINT YES -

The unit of this object is in counts/s.

0x6083 Profile acceleration
The profile acceleration is given in counts/s^2. It is converted to position increments per second2 using
the normalizing factors.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x6083 - Profile acceleration RW UDINT YES -

0x6084 Profile deceleration

The profile deceleration is given in the same units as profile acceleration.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x6084 - Profile deceleration RW UDINT YES -

0x6085 Quick stop deceleration

The quick stop deceleration is the deceleration used to stop the motor if the ‘Quick Stop’ command is
given and the quick stop option code (see 605Ah) is set to 2. The quick stop deceleration is given in
the same units as the profile acceleration.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x6085 - Quick stop deceleration RW UDINT NO -

0x6087 Torque slope

This parameter describes the rate of change of torque in units of per thousand of rated torque per
second.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x6087 - Torque slope RW UDINT YES -

The units is Nm/s.

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0x6098 Home method

The homing method object determines the method that will be used during homing.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x6098 - Home method RW SINT YES -

Value Description
128 manufacturer specific
0 No homing operation required
1…37 Methods 1 to 37
38-127 Reserved

0x6099 Homing speed

This entry in the object dictionary defines the speeds used during homing.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x6099 0 Number of sub-index RW USINT8 NO 2
1 Search switch RW UDINT NO -
2 Search zero RW UDINT NO -

The value shall be given in counts/s.

0x609A Homing acceleration
The homing acceleration establishes the acceleration to be used for all accelerations and decelerations
with the standard homing modes.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x609A - Homing acceleration RW UDINT YES -

The value units should be the same as profile acceleration/deceleration objects.

0x60B0 Position offset
This object shall provide the offset of the target position.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x60B0 - Position offset RW DINT YES -

0x60B1 Velocity offset

This object shall provide the offset for the velocity value. In cyclic synchronous position mode, this
object contains the input value for velocity feed forward. In cyclic synchronous velocity mode, it
contains the commanded offset of the drive device.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x60B1 - Velocity offset RW DINT YES -

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0x60B2 Torque offset

This object shall provide the offset for the torque value. In cyclic synchronous position mode and
cyclic synchronous velocity mode, this object contains the input value for torque feed forward. In cyclic
synchronous torque mode. it contains the commanded additive torque of the drive, which is added to
the target torque value.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x60B2 - Torque offset RW INT YES -

0x60B8 Touch probe function

This object shall indicate the configured function of the touch probe.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x60B8 - Touch probe function RW UINT YES -

Bit Value Definition

0 0 Swith off touch probe 1
1 Enable touch probe 1
1 0 Trigger first event
1 Continous
3,2 00 Trigger with touch probe 1 input
01 Trigger with zero impulse signal or position encoder
10 Touch probe source as defined in object 60D0, sub-index01
11 Reserved
4 0 Switch off sampling at positive edge of touch probe 1
1 Enable sampling at positive edge of touch probe 1
5 0 Switch off sampling at negtive edge of touch probe 1
1 Enable sampling at negative edge of touch probe 1
6,7 - Reserved
8 0 Swith off touch probe 2
1 Enable touch probe 2
9 0 Trigger first event
1 Continous
11,10 00 Trigger with touch probe 2 input
01 Trigger with zero impulse signal or position encoder
10 Touch probe source as defined in object 60D0, sub-index02
11 Reserved
12 0 Switch off sampling at positive edge of touch probe 2
1 Enable sampling at positive edge of touch probe 2
13 0 Switch off sampling at negtive edge of touch probe 2
1 Enable sampling at negative edge of touch probe 2
14,15 - Reserved

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0x60B9 Touch probe status

This object shall provide the status of the touch probe.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x60B9 - Velocity offset RW DINT YES -

Bit Value Definition

0 0 Touch probe 1 is switched off
1 Touch probe 1 is enabled
1 0 Touch probe 1 no positive edge value stored
1 Touch probe 1 positive edge position stored
2 0 Touch probe 1 no negative edge value stored
1 Touch probe 1 negative edge position stored
3...7 - Reserved
8 0 Touch probe 2 is switched off
1 Touch probe 2 is enabled
9 0 Touch probe 2 no positive edge value stored
1 Touch probe 2 positive edge position stored
10 0 Touch probe 2 no negative edge value stored
1 Touch probe 2 negative edge position stored
11...15 - Reserved

0x60BA Touch probe 1 positive edge

This object shall provide the position value of the touch probe 1 at positive edge.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x60BA - Touch probe 1 positive edge RO DINT YES -

0x60BB Touch probe 1 negative edge

This object shall provide the position value of the touch probe 1 at negative edge.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x60BB - Touch probe 1 negative edge RO DINT YES -

0x60BC Touch probe 2 positive edge

This object shall provide the position value of the touch probe 2 at positive edge.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x60BD - Touch probe 1 negative edge RO DINT YES -

0x60BD Touch probe 2 negative edge

This object shall provide the position value of the touch probe 2 at negative edge.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x60BD - Touch probe 1 negative edge RO DINT YES -

0x60E0 Positive torque limit value

This object shall indicate the configured maximum positive torque in the motor. Positive torque takes
effect in the case of motive operation is positive velocity or regenerative operation is negative velocity.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x60E0 - Positive torque limit value RW UINT YES -

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0x60E1 Negative torque limit value

This object shall indicate the configured maximum negative torque in the motor. Negative torque takes
effect in the case of motive operation is negative velocity or regenerative operation is positive velocity.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x60E1 - Positive torque limit value RW UINT YES -

0x60F4 Follow error actual value

This object shall provide the actual value of the following error.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x60F4 - Follow error actual value RO DINT YES -

0x60FD Digital inputs

This object shall provide digital inputs. This object shall represent the logical input levels.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x60FD - Digital inputs RO UDINT YES -

31 24 23 22 21 20 19 18 17 16 15 4 3 2 1 0
Home Positive limit Negative
Reserved X8 X7 X6 X5 X4 X3 X2 X1 Reserved Interlock
switch switch limit switch
MSB LSB

Bit 3 (interlock) provides the state of the interlock input. If the logical input signal changes to not
activated, the drive shall enter the switch on disabled or fault reaction active state. This means the
power stage of the drive is disabled and locked against switching on.

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0x60FE Digital outputs

This object shall command the digital outputs. This object shall represent the logical output levels.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x60FE 0 Number of sub-index RW USINT8 NO 2
1 Physical outputs RW UDINT YES -
2 Bit mask RW UDINT NO -

The first sub-index defines the assigned outputs. The second sub-index describes a mask to specify
which of the outputs shall be used.
Note: the second sub-index are edge triggered, you must set the second sub-index first and then set
the bit of first sub-index for change the status of output.
Physical outputs:
31 20 19 18 17 16 15 0
Reserved Y4 Y3 Y2 Y1 Reserved
MSB LSB

Field Value Definition

0 Switch off
Each bit
1 Switch on

Bit mask:
31 20 19 18 17 16 15 0
Reserved Y4 Y3 Y2 Y1 Reserved
MSB LSB

Field Value Definition

0 Disable output
Each bit
1 Enable output

0x60FF Target velocity

This object shall indicate the configured target velocity and shall be used as input for the trajectory
generator. The value shall be given in counts/s.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x60FF - Target velocity RW DINT YES -

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0x6502 Supported drive modes

This object shall provide information on the supported drive modes.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x6502 - Supported drive modes RO UDINT NO -

31 16 15 11 10 9 8 7 6 5 4 3 2 1 0

Reserved Reserved CSTCA CST CSV CSP IP HM R TQ PV VL PP

MSB LSB

The supported mode in Moons' EtherCAT drive:

• Bit0: Profile Position Mode
• Bit2: Profile Velocity Mode
• Bit3: Profile Torque Mode ( StepSERVO)
• Bit5: Homing Mode
• Bit7: CSP
• Bit8: CSV

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4.4 Manufacturer profile

Index Sub Name Access Type Mapping
0x2001 - Home switch RW UINT8 YES
0x2002 - Output status RO UDINT NO
0x2006 - Clear alarm WO UINT8 YES
0x2007 - Q segment NO. RW UINT8 YES
0x200B - DSP status code RO UINT32 YES
0x200C - Zero position WO UINT8 NO
0x200F - DSP alarm code RO UINT32 YES
0x2019 - Device temperature RO UINT NO
0x201F - S-Curve filter time RW UINT NO
0x2020 - Physical address RW UINT16 NO
0x2000~
0x2021 - EtherCAT ID RW UINT16 NO
2100h
0x2022 - Alias source RO UINT NO
0x2030 - Bus voltage RO UINT16 NO
0x2031 - DSP version RO STRING(10) NO
0x2036 - Move homeoffset RW UINT NO
0x2040 - Q controlword RW UINT YES
0x2041 - Q statusword RW UINT YES
0x2100 - User registers - - -
1 User register 1 RW DINT YES
2 User register 2 RW DINT YES
... ... ... ... ...
23 User register 23 RW DINT YES

0x2001 Home switch

This object shall configure the number of Inputs as the Home switch in Homing mode.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2001 - Home switch RW USINT NO -

Value 8 7 6 5 4 3 2 1
Output X8 X7 X6 X5 X4 X3 X2 X1

0x2002 Output status

This object shall indicate the digital output status.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2002 - Output status RO UDINT NO 0x000F0000

Bit 31 20 19 18 17 16 15 0
Output Reserved Y4 Y3 Y2 Y1 Reserved

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0x2006 Clear alarm

This object provides the feature to clear alarm of the drives.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2006 - Clear alarm RW USINT YES -

STF**-EC, SSDC**-EC: Set to 0x01 can clear all alarm

STF**-ECX, SSDC**-ECX: Set the value with 0x55 to 0xAA can clear all alarm
0x2007 Q segment NO.
This object shall configure the number of Q Segment will be executed in Q mode.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2007 - Q segment NO. RW USINT YES 0

0x200B DSP status code

This object represents the current status code of the drive.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x200B - DSP status code RO UDINT YES -

BIT Status Code Bit Definition

0 Motor Enabled - motor disabled is this bit = 0
1 Sampling - for Quick Tuner
2 Drive Fault - check alarm code
3 In Position - motor is in position
4 Moving - motor is moving
5 Jogging - currently in jog mode
6 Stopping - in the process of stopping from a stop command
7 Waiting - for an input
8 Saving - parameter data is being saved
9 Alarm present - check alarm code
10 Homing - executing an SH command
11 Wait Time - executing a WT command
12 Wizard running - timing wizard is running
13 Checking encoder - timing wizard is running
14 Q Program is running
15 Initializing

0x200C Zero position

This object provides the feature to zero all position parameters, such as position actual value (which
index is 0x6064h).Set this value to 01h can zero all position parameters.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x200C - Zero position RW USINT NO -

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0x200F DSP alarm code

This object shall indicate the high 16bit field of alarm code about the object at 0x603F.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x200F - DSP alarm code RO UDINT YES -

0x2019 Device temperature

This object contains the information of device temperature.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2019 - Device temperature RO UINT NO -

The unit of this object is in 0.1 centigrade.

0x201F S-Curve filter time
This object is used to be set the S-Curve fliter time.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x201F - S-Curve filter time RW UINT NO -

0x2020 Physical address

This object contains the physical address of drives.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2020 - Physical address RO UINT NO -

0x2021 EtherCAT ID
This object contains the EtherCAT ID of drives.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2021 - EtherCAT ID RO UINT NO -

0x2022 Alias source

This object is used to set the methold of EtherCAT address setting. The value is 0 means that set by
software, 1 means set by the EtherCAT master.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2022 - Alias source RO UINT NO -

0x2030 Bus voltage

This object shall provide the present value of drive's DC bus voltage.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2030 - Bus voltage RO UINT NO -

The voltage reads out in 0.1 volts revolution.

0x2031 DSP version
This object shall provide the DSP version of the drive.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2031 - DSP version RO STRING(10) NO -

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0x2036 Homing offset mode

This object is used to set homing offset mode.
Object Type Data Type Access Type PDO mapping COS Default Value
VAR UINT16 RW NO NO 0

Set the value to 0:

The motor will be stopped on machine home position and the current position value is the home offset.
Set the value to 1:
The motor will moving with a distance that home offset provided after the machine home position has
found. The new position is the zero position.

Home position zero position

Home offset

0x2009h=0 0x2009h=1
the motor will be stopped the motor will be stopped
here and set the position here after found the
with home offset machine home position

0x2040 Q controlword
This object is used to execute the Q program.
Index Sub Name Access type Date type PDO mapping Default value
0x2040 - Q controlword RW UINT YES 0

0x2041 Q controlword
This object provide the status of Q program.
Index Sub Name Access type Date type PDO mapping Default value
0x2041 - Q statusword RO UINT YES 0x400

The value is 0x400 means that the Q program is not running, 0x000 means that is running.

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0x2100 User registers

This object provide user 23 general purpose registers. They are volatile, so the information sent there
will not be saved after a power cycle.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2100 0 Number of sub-index RO USINT NO 23
1 User register1 RW DINT YES -
2 User register2 RW DINT YES -
3 User register3 RW DINT YES -
4 User register4 RW DINT YES -
5 User register5 RW DINT YES -
6 User register6 RW DINT YES -
7 User register7 RW DINT YES -
8 User register8 RW DINT YES -
9 User register9 RW DINT YES -
10 User register10 RW DINT YES -
11 User register11 RW DINT YES -
12 User register12 RW DINT YES -
13 User register13 RW DINT YES -
14 User register14 RW DINT YES -
15 User register15 RW DINT YES -
16 User register16 RW DINT YES -
17 User register17 RW DINT YES -
18 User register18 RW DINT YES -
19 User register19 RW DINT YES -
20 User register20 RW DINT YES -
21 User register21 RW DINT YES -
22 User register22 RW DINT YES -
23 User register23 RW DINT YES -

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4.5 Manufacturer parameter for StepSERVO

Index Sub Name Access Type Mapping
0x2200 - Continuous current RW UINT NO
0x2201 - Peak current RW UINT NO
0x2202 - Hard stop current limit RW UINT NO
0x2203 - Idle current RW UINT NO
0x2204 - Idle current delay time RW UINT NO
0x2205 - Acceleration current RW UINT NO
0x2206 - Stall prevention time RW UINT NO
0x2207 - Steps per rev RO UINT NO
0x2208 - Reverse motor direction RW UINT NO
0x2209 - Powerup probing RW UINT NO
0x220B - Fault output on Y1 RW UINT NO
0x220C - Brake output on Y2 - - -
1 Brake output RW UINT NO
2 Brake disengage delay RW UINT NO
3 Brake engage delay RW UINT NO
0x220D - Motion output - - -
1 Motion output on Y1 RW UINT NO
2 Motion output on Y2 RW UINT NO
3 Motion output on Y3 RW UINT NO

0x2200~ 4 Motion output on Y4 RW UINT NO

2300h 0x220E - Alarm reset on input X6 RW UINT NO
0x220F - Define limits RW UINT NO
0x2210 - Inputs filter - - -
1 Inputs filter X1 filter time RW UINT NO
2 Inputs filter X2 filter time RW UINT NO
... ... ... ... ...
8 Inputs filter X8 filter time RW UINT NO
0x2211 - Notch filter - - -
1 Notch filter_paraA RW INT NO
2 Notch filter_paraB RW INT NO
... ... ... ... ...
8 Notch filter_paraH RW INT NO
0x2212 - Analog configuration - - -
1 Analog deadband RW UINT NO
2 Analog offset vallue RW UINT NO
3 Analog filter RW UINT NO
4 Analog threshold RW UINT NO
5 Analog scaling RW UINT NO
0x2213 - Analog auto zero RW UINT NO
0x2214 - Operation mode RW UINT NO
0x2215 - Jog mode RW UINT NO

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Index Sub Name Access Type Mapping

0x2216 - Torque constant RW UINT NO
0x2218 - Encoder resolution RO UINT NO
0x2220 - Position gain RW UINT NO
0x2221 - Positionderi gain RW UINT NO
0x2222 - Positionderi filter RW UINT NO
0x2224 - Velocity gain RW UINT NO
0x2225 - Velocityinterg gain RW UINT NO
0x2226 - Accfeedforward RW UINT NO
0x2227 - PID filter RW UINT NO
0x2252 - Inposition counts RW UINT NO
0x2200~
0x2253 - CSP complete time RW UINT NO
2300h
0x2254 - Inposition error range RW UINT NO
0x2255 - Inposition time RW UINT NO
0x2260 - Actual current RO INT NO
0x2261 - Analog reading RO INT NO
1 Analog reading value RO INT YES
2 Analog reading input 1 RO INT YES
3 Analog reading input 2 RO INT YES
0x2262 - Motor name RO STRING(5) NO
0x2265 - E-Stop on input X8 RW UINT NO
0x2270 - Encoder error RO UINT NO
0x2271 - Clear Multi-turn RW UINT NO

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0x2200 Continuous current

This object is used to set the continuous (RMS) current of the StepSERVO drives.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2200 - Continuous current RW UINT NO -

0x2201 Peak current

This object is used to set the peak (RMS) current of the StepSERVO drives.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2201 - Peak current RW UINT NO -

0x2202 Hardstop current limit

This object is used for hard stop homing mode that setting the current when the motor hit the hard stop
position.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2202 - Hardstop current limit RW UINT NO -

0x2203 Idle current

This object configures monitors the motor holding current of the device in idle mode.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2203 - Idle current RW UINT NO -

The value shall be given in mA, If the reading value is 100. That means 1.00Amps.
0x2204 Idle current delay time
This object is used to set the amount of time the drive will delay before transitioning from full current
(CC) to idle current(CI).
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2204 - Idle current delay time RW UINT NO -

The value shall be given in second, If the reading value is 10. That means 1.0 seconds.
0x2205 Acceleration current
This object shall provide the acceleration current when the motor is running with stepper mode.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2205 - Acceleration current RW UINT NO -

If the reading value is 100 that means 1.00Amps.

0x2206 Stall prevention time
This obeject is used to set the stall prevention time.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2206 - Stall precention time RW UINT NO -

If the value is 10 means set to 0.1 second.

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0x2207 Steps per rev

This object is used to get the steps per revolution about motor.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2207 - Step per rev RO UINT NO -

The value shall be given in steps/rev.

0x2208 Reverse motor direction
This object is used to reverse motor rotating direction.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2208 - Reverse motor direction RW UINT NO -

The value can be set to 0 - 1.

Value =0 default rotating direction
=1 reverse rotating direction

0x2209 Powerup probing

This obejct is used to set the drive to probe when power up.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2209 - Powerup probing RW UINT NO -

Value =0 NO probing
=1 Probing

0x220B Fault output on Y1

This object is used to set the fault output on Y1.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x220B - Fault output on Y1 RW UINT NO -

Value =1 output Y1 is open when the driver is fault

=2 output Y1 is closed when the driver is fault
=3 output Y1 is used for general purpose

0x220C Brake output on Y2

This object at 0x220C is used to set the parameter of brake configuration. There has 3 sub-index to
configure brake, the first is used for brake output, and the second is used for disengage delay. The last
is used to set brake engage delay.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x220C 0 Number of sub-index RO USINT8 NO 3
1 Brake output RW UINT NO -
2 Brake disengage delay RW UINT NO -
3 Brake engage delay RW UINT NO -

Brake output:
Value =1 output is closed when drive is enabled, and open when the drive is disabled.
=2 output is open when drive is enabled, and closed when the drive is disabled.
=3 output is not used as a brake output and can be used as g general purpose output.
Brake disengage delay and brake engage delay
The units is 1ms, if write 100 to the index means 0.1s.

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0x220D Motion output

This object is used to define the drive Motion output function.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x220D 0 Number of sub-index RO USINT8 NO 3
1 Motion output on Y1 RW UINT NO -
2 Motion output on Y2 RW UINT NO -
3 Motion output on Y3 RW UINT NO -
4 Motion output on Y4 RW UINT NO -

They can be set to various functions.

Value =1 Open when static position error less than in-position counts.
=2 Closed when static position error less than in-position counts.
=3 General purpose
=4 Tach output with 100 pulses/rev
=5 Tach output with 200 pulses/rev
=6 Tach output with 400 pulses/rev
=7 Tach output with 800 pulses/rev
=8 Tach output with 1600 pulses/rev
=9 Closed (energized) when dynamic position error is less than set value.
=10 Open (de-energized) when dynamic position error is less than set value.
=11 Timing out (50 pulses/rev)

0x220E Alarm reset on input X6

This object is used to set usage of the alarm reset input. Input X6 is the default AR input on MOONS'
drive.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x220E - Alarm reset on input X6 RW UINT NO -

Value =1 input x6 is used for drive alarm reset when open

=2 input x6 is used for drive alarm reset when closed
=3 input x6 is used for general purpose

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0x220F Define limits

This object is used to set the definition of limit.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x220F - Define limits RW UINT NO -

Value =0x01 At end of travel, (X3=CW,X4=CCW)will be closed

=0x02 At end of travel, (X3=CW,X4=CCW)will be open
=0x07 At end of travel, X3=CW will be closed, X4=GP
=0x08 At end of travel, X3=CW will be open, X4=GP
=0x09 At end of travel, X4=CCW will be closed, X3=GP
=0x0A At end of travel, X4=CCW will be open, X3=GP
=0x0B At end of travel, (X3=CCW,X4=CW)will be closed
=0x0C At end of travel, (X3=CCW,X4=CW)will be open
=0x11 At end of travel, X3=CCW will be closed, X4=GP
=0x12 At end of travel, X3=CCW will be open, X4=GP
=0x13 At end of travel, X4=CW will be closed, X3=GP
=0x14 At end of travel, X4=CW will be open, X3=GP
=0x15 At end of travel, (X3=CW,X4=CCW)will be closed[No Alarm]
=0x16 At end of travel, (X3=CW,X4=CCW)will be open[No Alarm]
=0x1B At end of travel, X3=CW will be closed, X4=GP[No Alarm]
=0x1C At end of travel, X3=CW will be open, X4=GP[No Alarm]
=0x1D At end of travel, X4=CCW will be closed, X3=GP[No Alarm]
=0x1E At end of travel, X4=CCW will be open, X3=GP[No Alarm]
=0x1F At end of travel, (X3=CCW,X4=CW)will be closed[No Alarm]
=0x20 At end of travel, (X3=CCW,X4=CW)will be open[No Alarm]
=0x25 At end of travel, X3=CCW will be closed, X4=GP[No Alarm]
=0x26 At end of travel, X3=CCW will be open, X4=GP[No Alarm]
=0x27 At end of travel, X4=CW will be closed, X3=GP[No Alarm]
=0x28 At end of travel, X4=CW will be open, X3=GP[No Alarm]

0x2210 Input filter

This object is used to set a digital filter to the input.

Index Sub Name Access Type Data Type PDO mapping Default Value
0x2210 0 Number of sub-index RO USINT8 NO 8
1 Input X1 filter time RW UINT NO -
2 Input X2 filter time RW UINT NO -
3 Input X3 filter time RW UINT NO -
4 Input X4 filter time RW UINT NO -
5 Input X5 filter time RW UINT NO -
6 Input X6 filter time RW UINT NO -
7 Input X7 filter time RW UINT NO -
8 Input X8 filter time RW UINT NO -

The unit of this parameter is 200us. If the value you set to 100, means 20ms delay.

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0x2211 Notch filter

These eight objects shall configure the Notch Filter parameters in torque mode. This object is only
available on StepSERVO drive.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2211 0 Number of sub-index RO USINT8 NO 8
1 Notch filter_paraA RW INT NO -
2 Notch filter_paraB RW INT NO -
3 Notch filter_paraC RW INT NO -
4 Notch filter_paraD RW INT NO -
5 Notch filter_paraE RW INT NO -
6 Notch filter_paraF RW INT NO -
7 Notch filter_paraG RW INT NO -
8 Notch filter_paraH RW INT NO -

0x2212 Analog configuration

This object shall indicate the configuration of running mode about analog. We should set the value of
this object when running with analog velocity/position/torque mode.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2212 0 Number of sub-index RO USINT8 NO 5
1 Analog deadband RW UINT NO -
2 Analog offset value RW UINT NO -
3 Analog filter RW UINT NO -
4 Analog threshold RW UINT NO -
5 Analog scaling RW UINT NO -

Analog deadband
The unit is in 0.001volit
Analog offset value
The unit is in 0.001volit
Analog filter
Filter value = 72090 / [ (1400 / x ) + 2.2 ]. Where x = desired value of the analog filter in Hz
Analog threshold
Sets or requests the Analog Input Threshold that is used by the “Feed to Sensor” command. The
threshold value sets the Analog voltage that determines a sensor state or a trigger value.
Analog scaling
Value =0 single-ended +/- 10 volts
=1 single-ended 0 - 10 volts
=2 single-ended +/- 5 volts
=3 single-ended 0 - 5 volts
=4 differential +/- 10 volts
=5 differential 0 - 10 volts
=6 differential +/- 5 volts
=7 differential 0 - 5 volts

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0x2213 Analog auto zero

This object is used to set the current analog to zero, the value can be set to 1.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2213 - Analog auto zero RW UINT NO -

0x2214 Operation mode

This object is used to set the power-up mode of the drive.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2214 - Operation mode RW UINT NO -

Value =1 Si program
=2 Q/SCL(drive enabled)
=3 Quick tuner(servos) or Configurator(steppers)
=4 SiNET Hub
=5 Q/SCL(drive disabled)
=6 not used
=7 Q program, auto-execute

0x2215 Jog mode

This object is used to set the jog mode. There has two mode for MOONS' drive.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2215 - Jog mode RW UINT NO -

Value =1 position-type servo control when jogging

=2 velocity-type servo control when jogging
0x2216 Torque constant
This object shall configure the motor's torque constant in manufacturer specific units. The units should
be m Nm/Amps.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2216 - Torque constant RW UINT NO -

This object only supported in StepSERVO drives.

0x2218 Encoder resolution
This object shall provide the encoder configuration of the motor. It contains how many counts per
revolution.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2218 - Encoder resolution RO UINT NO -

0x2220 Position gain

This object shall configure the proportional Gain in Position loop to StepSERVO drives.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2220 - Position gain RW UINT NO -

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0x2221 Position derigain

This object shall configure the Derivative Gain in Position loop to StepSERVO drives.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2221 - Positionderi gain RW UINT NO -

0x2222 Position derifilter

This object provides a very simple single-pole low pass filter that is used to limit this high frequency
noise and make the system quieter and more stable.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2222 - Positionderi filter RW UINT NO -

0x2224 Velocity gain

This object shall configure the proportional Gain in Velocity loop to StepSERVO drives.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2224 - Velocity gain RW UINT NO -

0x2225 Velocityinterg gain

This object shall configure the Integral Gain in Velocity loop to StepSERVO drive.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2225 - Velocityinterg gain RW UINT NO -

0x2226 Accfeedforward
This object shall configure to add a feed forward acceleration/deceleration to the torque command to
faster the system's response.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2226 - Accfeedforward RW UINT NO -

0x2227 PID filter

This object provide a torque command over-all filter at the end of Velocity loop. The filter is a very
simple single-pole low pass filter that is used to limit the high frequency response of the Velocity and
therefore the Position control loops.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2227 - PID filter RW UINT NO -

0x2252 Inposition counts

This object is used to set static in-position error range.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2252 - Inposition counts RW UINT NO -

0x2253 CSP complete time

This object is used to set the delay time that the motor is in completion of rotating with CSP mode.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2253 - CSP complete time RW UINT NO -

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The units is 0.001 second.

0x2254 In position error range
This object is used to set static in-position error range. When the actual position is within the target In
position error range for a time duration that exceeds the PE specified timing, then the driver will define
the motion complete or motor in-position.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2254 - In position error range RW UINT NO -

0x2255 In position time

This object is used to set the time duration for in range determination. For example, when In position
error PD is defined, PE will set the time duration for in-position test condition. The drive defines the
motor as in position when the actual position is within the target position range (PD) for the defined
minimum time (PE).
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2255 - In position time RW UINT NO -

0x2260 Actual current

This object shall provide the current of the motor.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2260 - Actual current RO INT NO -

0x2261 Analog reading

This object shall provide the analog value of drive.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2261 0 Number of sub-index RO USINT8 NO 3
1 Analog reading RW INT YES -
2 Analog reading input 1 RW INT YES -
3 Analog reading inupt 2 RW INT YES -

0x2262 Motor name

This object shall provide the name of the motor.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2262 - Motor RO STRING(15) NO -

0x2265 E-Stop on input X8

This object is used to set the E-Stop function on input X8.
Index Sub Name Access type Date type PDO mapping Default value
0x2265 - E-Stop on input X8 RW UINT NO 0

Value =1 Emergency stop when closed(fault)

=2 Emergency stop when open(fault)
=3 General purpose/Touch probe2
=5 Emergency stop when closed(warning)
=6 Emergency stop when open(warning)
=7 Emergency stop when closed(auto clear alarm)
=8 Emergency stop when open(auto clear alarm)

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0x2270 Encoder error

This object shall provide the error of encoder for absolute encoder stepper motor.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2270 - Encoder error RO UINT NO -

0X2271 Clear multi-turn

This obejct is used to clear the multi-turn position of absolute encoder motor.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2271 - Clear multi-turn RW UINT NO -

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4.6 Manufacturer parameter for Stepper

Index Sub Name Access Type mapping
0x2600 - Running current RW UINT NO
0x2601 - Idle current RW UINT NO
0x2602 - ldle current delya time RW UINT NO
0x2603 - Acceleration current RW UINT NO
0x2604 - Steps per rev RW UINT NO
0x2605 - Reverse motor direction RW UINT NO
0x2606 - Fault output on Y1 RW UINT NO
0x2607 - Brake output on Y2 - - -
- Brake output RW UINT NO
- Brake disengage delay RW UINT NO
- Brake engage delay RW UINT NO
0x2608 - Motion output - - -
- MO on output Y1 RW UINT NO
- MO on output Y2 RW UINT NO
- MO on output Y3 RW UINT NO
- MO on output y4 RW UINT NO
0x2609 - Alarm reset on input X6 RW UINT NO
0x260B - Define limits RW UINT NO
0x260C - Inputs filter - - -
- Inputs X1 filter time RW UINT NO
0x2600~
Inputs X2 filter time RW UINT NO
2700
... ... ... ...
Inputs X8 filter time RW UINT NO
0x260D - Dynamic open winding detection RW UINT NO
0x260E - Open winding detect speed limit RW UDINT NO
0x260F - Powerup open winding detection RW UINT NO
0x2610 - Motor model number RW UINT NO
0x2611 - Load ratio RW UINT NO
0x2612 - Third party motor parameters - ARRAY NO
1 MotorName 1 RW UDINT NO
2 MotorName 2 RW UDINT NO
3 MotorName 3 RW UDINT NO
4 MotorName 4 RW UDINT NO
5 MotorPara_01 RW UINT NO
6 MotorPara_01 RW UINT NO
... ... ... ... ...
12 MotorPara_14 RW UINT NO
13 Reserved_01 RW UINT NO
14 Reserved_02 RW UINT NO
... .. ... ... ...
18 Reserved_06 RW UINT NO
0x2615 - StepInputs counts RO DINT NO

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Index Sub Name Access Type Mapping

0x2617 - E-stop on input X8 RW UINT NO
0x2618 - Waveform smoothing - - -
1 Harmonic gain RW UINT NO

0x2600~ 2 Harmonic RW INT NO

2700h 0x2619 - Current coeff RW UINT NO
0x26D5 - Touch probe 1 pos edge counter RW UINT NO
0x26D6 - Touch probe 1 neg edge counter RW UINT NO
0x26D7 - Touch probe 2 pos edge counter RW UINT NO
0x26D8 - Touch probe 2 neg edge counter RW UINT NO

0x2600 Running current

This object is used to set the continuous (RMS) current of the Stepper drives.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2600 - Running current RW UINT NO -

0x2601 Idle current

This object configures monitors the motor holding current of the device in idle mode.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2601 - Idle current RW UINT NO -

If the reading value is 100. That means 1.00Amps.

0x2602 Idle current delay time
This object is used to set the amount of time the drive will delay before transitioning from full current
(CC) to idle current(CI).
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2602 - Idle current delay time RW UINT NO -

If the reading value is 10. That means 1.0 seconds.

0x2603 Acceleration current
This object shall provide the acceleration current when the motor is running with stepper mode.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2603 - Acceleration current RW UINT NO -

If the reading value is 100 that means 1.00Amps.

0x2604 Steps per rev
This object is used to get the steps per revolution about motor.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2604 - Step per rev RW UINT NO -

The value shall be given in steps/rev.

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0x2605 Reverse motor direction

This object is used to reverse motor rotating direction.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2605 - Reverse motor direction RW UINT NO -

The value can be set to 0 - 1.

Value =0 default rotating direction
=1 reverse rotating direction

0x2606 Fault output on Y1

This object is used to set the fault output on Y1.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2606 - Fault output on Y1 RW UINT NO -

Value =1 output Y1 is open when the driver is fault

=2 output Y1 is closed when the driver is fault
=3 output Y1 is used for general purpose

0x2607 Brake output on Y2

This object at 0x2607 is used to set the parameter of brake configuration. There has 3 sub-index to
configure brake, the first is used for brake output, and the second is used for disengage delay. The last
is used to set brake engage delay.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2607 0 Number of sub-index RO USINT8 NO 3
1 Brake output RW UINT NO -
2 Brake disengage delay RW UINT NO -
3 Brake engage delay RW UINT NO -

Brake output:
Value =1 output is closed when drive is enabled, and open when the drive is disabled.
=2 output is open when drive is enabled, and closed when the drive is disabled.
=3 output is not used as a brake output and can be used as g general purpose output.

Brake disengage delay and brake engage delay

The units is 1ms, if write 100 to the index means 0.1s.X

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0x2608 Motion output

This object is used to define the drive Motion output function.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2608 0 Number of sub-index RO USINT8 NO 3
1 Motion output on Y1 RW UINT NO -
2 Motion output on Y2 RW UINT NO -
3 Motion output on Y3 RW UINT NO -
4 Motion output on Y4 RW UINT NO -

Value =1 Open when static position error less than in-position counts.
=2 Closed when static positi
on error less than in-position counts.
=3 General purpose (fault output or brake output)
=4 Tach output with 100 pulses/rev
=5 Tach output with 200 pulses/rev
=6 Tach output with 400 pulses/rev
=7 Tach output with 800 pulses/rev
=8 Tach output with 1600 pulses/rev
=9 Closed (energized) when dynamic position error is less than set value.
=10 Open (de-energized) when dynamic position error is less than set value.
=11 Timing out (50 pulses/rev)

0x2609 Alarm reset on input X6

This object is used to set usage of the alarm reset input. Input X6 is the default AR function on
MOONS' drive.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2609 - Alarm reset on input X6 RW UINT NO -

Value =1 input x6 is used for drive alarm reset when open

=2 input x6 is used for drive alarm reset when closed
=3 input x6 is used for general purpose

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0x260B Define limits

This object is used to set the definition of limit.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x260B - Alarm reset on input X6 RW UINT NO -

Value =0x01 At end of travel, (X3=CW,X4=CCW)will be closed

=0x02 At end of travel, (X3=CW,X4=CCW)will be open
=0x07 At end of travel, X3=CW will be closed, X4=GP
=0x08 At end of travel, X3=CW will be open, X4=GP
=0x09 At end of travel, X4=CCW will be closed, X3=GP
=0x0A At end of travel, X4=CCW will be open, X3=GP
=0x0B At end of travel, (X3=CCW,X4=CW)will be closed
=0x0C At end of travel, (X3=CCW,X4=CW)will be open
=0x11 At end of travel, X3=CCW will be closed, X4=GP
=0x12 At end of travel, X3=CCW will be open, X4=GP
=0x13 At end of travel, X4=CW will be closed, X3=GP
=0x14 At end of travel, X4=CW will be open, X3=GP
=0x15 At end of travel, (X3=CW,X4=CCW)will be closed[No Alarm]
=0x16 At end of travel, (X3=CW,X4=CCW)will be open[No Alarm]
=0x1B At end of travel, X3=CW will be closed, X4=GP[No Alarm]
=0x1C At end of travel, X3=CW will be open, X4=GP[No Alarm]
=0x1D At end of travel, X4=CCW will be closed, X3=GP[No Alarm]
=0x1E At end of travel, X4=CCW will be open, X3=GP[No Alarm]
=0x1F At end of travel, (X3=CCW,X4=CW)will be closed[No Alarm]
=0x20 At end of travel, (X3=CCW,X4=CW)will be open[No Alarm]
=0x25 At end of travel, X3=CCW will be closed, X4=GP[No Alarm]
=0x26 At end of travel, X3=CCW will be open, X4=GP[No Alarm]
=0x27 At end of travel, X4=CW will be closed, X3=GP[No Alarm]
=0x28 At end of travel, X4=CW will be open, X3=GP[No Alarm]

0x260C Inputs filter

This object is used to set a digital filter to the input.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2210 0 Number of sub-index RO USINT8 NO 8
1 Input X1 filter time RW UINT NO -
2 Input X2 filter time RW UINT NO -
3 Input X3 filter time RW UINT NO -
4 Input X4 filter time RW UINT NO -
5 Input X5 filter time RW UINT NO -
6 Input X6 filter time RW UINT NO -
7 Input X7 filter time RW UINT NO -
8 Input X8 filter time RW UINT NO -

The unit of this parameter is 200us. If the value you set to 100, means 20ms delay.
0x260D Dynamic open winding detection
This object is used to set the function of Dynamic open winding detection.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x260D - Dynamic open winding detection RW UINT NO -

Value =0 disable
=1 enable

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0x260E Open winding detection speed limit

This object is used to set the velocity limit of the open winding status detect when the motor is moving.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x260E - Open winding detection speed limit RW UDINT NO -

The unit of this object is counts/s.

0x260F Powerup open winding detection
This object is used to configurate the detection of open winding when power up.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x260F - Powerup open winding detection RW UINT NO -

0x2610 Motor model number

This object provide the model number of motor.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2610 - Motor model number RW UINT NO -

0x2611 Load ratio

This object sets the ratio of the load inertia to the rotor inertia.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2611 - Load ratio RW UINT NO -

Value =1 1x rotor inertia

=2 1x-3x rotor inertia
=3 3x-5x rotor inertia
=4 5x-7x rotor inertia
=5 7x-10x rotor inertia

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0x2612 Third party motor parameters

This object shall indicate the motor of custom.
Index Sub Name Access Type Data Type PDO mapping -Default Value-
0x2612 0 Number of sub-index RO USINT8 NO 25
1 MotorName_1 RW UDINT NO -
2 MotorName_2 RW UDINT NO -
3 MotorName_3 RW UDINT NO -
4 MotorName_4 RW UDINT NO -
5 MotorPara_1 RW UINT NO -
6 MotorPara_2 RW UINT NO -
7 MotorPara_3 RW UINT NO -
8 MotorPara_4 RW UINT NO -
9 MotorPara_5 RW UINT NO -
A MotorPara_6 RW UINT NO -
B MotorPara_7 RW UINT NO -
C MotorPara_8 RW UINT NO -
D MotorPara_9 RW UINT NO -
E MotorPara_10 RW UINT NO -
F MotorPara_11 RW UINT NO -
10 MotorPara_12 RW UINT NO -
11 MotorPara_13 RW UINT NO -
12 MotorPara_14 RW UINT NO -
13 Reseverd_01 RW UINT NO -
14 Reseverd_02 RW UINT NO --
15 Reseverd_03 RW UINT NO -
16 Reseverd_04 RW UINT NO -
17 Reseverd_05 RW UINT NO -
18 Reseverd_06 RW UINT NO -

0x2615 StepInputs counts

This object provide the pulse counter coming into the X1/STEP and X2/DIR input of the drive.
Index Sub Name Access type Date type PDO mapping Default value
0x2615 - StepInputs counts RO DINT YES 0

0x2617 E-stop on input X8

This object is used to set usage of the E-stop input.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2617 - E-stop on input X8 RW UINT NO -

Value =1 Emergency stop when closed(fault)

=2 Emergency stop when open(fault)
=3 General purpose/Touch probe2
=5 Emergency stop when closed(warning)
=6 Emergency stop when open(warning)
=7 Emergency stop when closed(auto clear alarm)
=8 Emergency stop when open(auto clear alarm)

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0x2618 Waveform smoothiing

This object is used to set the 4th harmonic filter gain/phase setting.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2618 0 Number of sub-index RO USINT8 NO 2
1 Harmonic gain RW UINT NO -
2 Harmonic phase RW UINT NO -

0x2619 Current coeff

This object shall indicate the value of current coefficient, the value should be given per hundard of
rated current.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x2619 - Current coeff RW UINT NO -

0x26D5 Touch probe 1 pos edge counter

This object shall provide the position value of the touch probe 1 at positive edge.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x26D5 - Touch probe 1 pos edge counter RO UINT YES -

0x26D6 Touch probe 1 neg edge counter

This object shall provide the position value of the touch probe 1 at negitive edge.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x26D6 - Touch probe 1 pos edge counter RO UINT YES -

0x26D7 Touch probe 2 pos edge counter

This object shall provide the position value of the touch probe 2 at positive edge.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x26D7 - Touch probe 1 pos edge counter RO UINT YES -

0x26D8 Touch probe 2 neg edge counter

This object shall provide the position value of the touch probe 2 at negitive edge.
Index Sub Name Access Type Data Type PDO mapping Default Value
0x26D8 - Touch probe 1 pos edge counter RO UINT YES -

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5 Contact MOONS'

Customer Service Center

400-820-9661
MOONS’ Headquarters
168 Mingjia Road, Minhang District, Shanghai
201107, P.R. China

Domestic Offices North America Company

Shenzhen MOONS’ INDUSTRIES (AMERICA), INC. (Chicago)
Room 503, Building A7,Nanshan iPark,No.1001,Xueyuan Ave, 1113 North Prospect Avenue, Itasca, IL 60143 USA
Nanshan Dist, Shenzhen 518071, P.R. China
MOONS’ INDUSTRIES (AMERICA), INC. (Boston)
Beijing 36 Cordage Park Circle, Suite 310 Plymouth, MA 02360 USA
Room 816, Tower B, China Electronics Plaza, 3 Danling
Street, Haidian District, Beijing 100080, P.R. China APPLIED MOTION PRODUCTS, INC.
404 Westridge Dr. Watsonville, CA 95076 USA
Nanjing
Room 1101-1102, Building 2，New Town Development LIN ENGINEERING, INC.
Center，No.126 Tianyuan Road ，Moling Street， 16245 Vineyard Blvd., Morgan Hill, CA 95037 USA
Jiangning District，Nanjing 211106, P.R. China
Europe Company
Qingdao
Room 1012, Zhuoyue Tower, No.16 Fengcheng Road, MOONS’ INDUSTRIES (EUROPE) S.R.L.
Shibei District, Qingdao 26000, P.R. China Via Torri Bianche n.1 20871 Vimercate (MB) Italy

Wuhan AMP & MOONS’ AUTOMATION (GERMANY) GMBH

Room 3001, World Trade Tower, 686 Jiefang Avenue, Borsenstrabe 14
Jianghan District, Wuhan 430022, P.R. China 60313 Frankfurt am Main Germany

Chengdu South-East Asia Company

Room 1917, Western Tower, 19, 4th Section of South People
Road, Wuhou District, Chengdu 610041, P.R. China MOONS’ INDUSTRIES (SOUTH-EAST ASIA) PTE. LTD.
33 Ubi Avenue 3 #08-23 Vertex Singapore 408868
Xi’ an
Room 1006, Tower D, Wangzuo International City, Japan Company
1 Tangyan Road, Xi’ an 710065, P.R. China
MOONS’ INDUSTRIES JAPAN CO., LTD.
Ningbo Room 602, 6F, Shin Yokohama Koushin Building,
Room 309, Tower B, Taifu Plaza, 565 Jiangjia Road, 2-12-1, Shin-Yokohama, Kohoku-ku, Yokohama,
Jiangdong District, Ningbo, 315040, P.R. China Kanagawa, 222-0033, Janpan

Guangzhou
Room 4006, Tower B, China Shine Plaza, 9 Linhe Xi Road,
Tianhe District, Guangzhou 510610, P.R. China

Chongqing
Rm. 2108, South yuanzhu Buliding 20, No.18 Fuquan Rd.,
Jiangbei District, Chongqing 400000 P.R. China

https://www.moonsindustries.com
E-mail:[email protected]

• All the specifications, technical parameters of the products provided in this catalog are for reference only, subject to change without notice.
For the latest details, please contact our sales department.