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7. OBJECT LIBRARY
7. OBJECT LIBRARY
Each data such as control parameters, command values, and feedback values is handled as an object
composed of an address, object name, data type, access rule, and other elements. The object data can be
exchanged between the master station (controller) and the slave stations (servo amplifiers). The aggregate
of these objects is called object library.
7.1 Object library list
Sub
Index
Index
1000
0
Supported profile information (Device Type)
The servo drive defined with the CiA 402 profile is
indicated.
1001
0
Alarm information (Error Register)
The error occurrence is returned.
Bit 0: Turns on when an alarm has occurred.
Bit 1 to Bit 7: Unused
1008
0
Servo amplifier model (Manufacturer Device
Name)
The model name of the servo amplifier is
returned.
1009
0
Hardware version (Manufacturer Hardware
Version)
The hardware version of the network module is
returned.
100A
0
Servo amplifier software version (Manufacturer
Software Version)
The software version of the servo amplifier is
returned.
1010
0
Writing command to EEP-ROM (Store
parameters)
The number of entries is returned.
1
Saving all parameters (Save all parameters)
[Writing]
Writing "save" (= 65766173h) saves all the objects
which can be stored in the EEP-ROM.
[Reading]
Bit 0: 0: The parameter cannot be saved with the
command. (A parameter is being saved.)
1: The parameter can be saved with the
command. (No parameter is being saved.)
Bit 1: 0: The parameter is not automatically saved.
1011
0
Restoring default EEP-ROM parameters (Restore
default parameters)
The number of entries is returned.
1
Restoring all default parameters (Restore all
default parameters)
The parameter of the servo amplifier can be
rewritten with the factory setting.
When "64616F6Ch" (= reverse order of ASCII
code of "load") is written to Restore all default
parameters (1011h: 1) and the power is cycled,
the parameter is initialized.
1018
0
Device information (Identity Object)
The number of entries is returned.
1
Vendor ID (Vendor ID)
The vendor ID of a servo amplifier is returned.
2
Product number (Product Code)
The servo amplifier serial number is returned.
3
Revision number (Revision Number)
The revision number of a servo amplifier is
returned.
4
Serial number (Serial Number)
The serial number of the network module is
returned.
Name and function
Data
Read/
Variable
Initial value
type
write
mapping
4
Reading
Impos-
00020192h
bytes
sible
1
Reading
Impos-
bytes
sible
Character
Reading
Impos-
string
sible
Character
Reading
Impos-
string
sible
Character
Reading
Impos-
string
sible
1
Reading
Impos-
bytes
sible
4
Read/
Impos-
00000001h
bytes
write
sible
1
Reading
Impos-
bytes
sible
4
Read/
Impos-
00000001h
bytes
write
sible
1
Reading
Impos-
bytes
sible
4
Reading
Impos-
00000002h
bytes
sible
4
Reading
Impos-
00001003h
bytes
sible
4
Reading
Impos-
bytes
sible
4
Reading
Impos-
00000000h
bytes
sible
7 - 1
Range
Unit
00020192h
(fixed)
00h
to
01h
1
01h
1
01h (fixed)
4
04h (fixed)
00000002h
(fixed)
00001003h
(fixed)
00000000h
to
FFFFFFFFh
00000000h
to
FFFFFFFFh
Saved
Para-
to EEP-
meter
ROM
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