• Scope
  • Conventions
  • Overview
  • Service Data Objects (SDOs)
  • Process Data Objects (PDOs)
  • CANopen Object Indices
  • CiA402 State Machine
  • Local / Remote Mode
  • Error Mechanisms
    • SDO Abort Codes
    • Emergency Messages
    • CiA402 Error Codes
  • Physical Units
  • Modes of Operation
    • Cyclic Synchronous Position (CSP)
    • Homing (HM)
  • Object Reference
    • Device-Scope Object Reference
      • Device type (0x1000)
      • Error register (0x1001)
      • Manufacturer device name (0x1008)
      • Manufacturer software version (0x100A)
      • Identity (0x1018)
      • Device identification reload (0x10E0)
      • Error settings (0x10F1)
      • Diagnosis history (0x10F3)
      • Timestamp object (0x10F8)
      • RxPDO mapping (0x1600–0x17FF)
      • TxPDO mapping (0x1A00–0x1BFF)
      • Sync manager communication type (0x1C00)
      • Sync manager RxPDO assignment (0x1C12)
      • Sync manager TxPDO assignment (0x1C13)
      • Sync manager RxPDO parameter (0x1C32)
      • Sync manager TxPDO parameter (0x1C33)
      • Remote mode (0x2000)
      • Analog inputs (0x2001)
      • Analog outputs (0x2002)
    • Axis-Scope Object Reference
      • Peripheral data (0x2400)
      • Manual homing reference (0x2401)
      • Abort connection option code (0x6007)
      • Error code (0x603F)
      • Controlword (0x6040)
      • Statusword (0x6041)
      • Quick stop option code (0x605A)
      • Shutdown option code (0x605B)
      • Disable operation option code (0x605C)
      • Halt option code (0x605D)
      • Modes of operation (0x6060)
      • Modes of operation display (0x6061)
      • Position demand value (0x6062)
      • Position actual value (0x6064)
      • Following error window (0x6065)
      • Following error time out (0x6066)
      • Velocity actual value (0x606C)
      • Target position (0x607A)
      • Position range limit (0x607B)
      • Software position limit (0x607D)
      • Profile deceleration (0x6084)
      • Quick stop deceleration (0x6085)
      • Acceleration factor (0x6097)
      • Homing method (0x6098)
      • Homing speeds (0x6099)
      • Supported homing methods (0x60E3)
      • Following error actual value (0x60F4)
      • Digital inputs (0x60FD)
      • Digital outputs (0x60FE)
      • Supported drive modes (0x6502)
      • Single device type (0x67FF)
  • Appendix A: EtherCAT
    • EtherCAT State Machine (ESM)
    • Distributed Clock (DC)
    • Fieldbus Memory Management Unit (FMMU)
    • Sync Manager (SM)
    • Application Layer Status Codes (AL Status Codes)