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Why are there duplicated registers and which ones should I use?

The 0x6*** and the 0x2*** can be seen as duplicates with the only difference being the units. The 0x6*** are the registers as determined by the CANopen standard while the 0x2*** are our own OEM registers. For EtherCAT, you can use either of them as they are connected internally so the unit transformation will be done automatically. 

Full information on these registers can be seen in the tables below.

Comparison Overview

CiA Registers

Acc

Type

Units

Manufacturer Registers

Acc

Type

Units

Conversion

0x6040 - Control Word

RW

UINT16

-

0x2010 - Control word

RW

UINT16

-

See: Control Word Conversion Table

0x6041 - Status Word

RO

UINT16

-

0x2011 - Status word

RO

UINT16

-

See: Status Word Conversion Table

0x605A - Quick stop option code

RW

INT16

-

0x260B - Quick stop option code

RW

INT16

-

No conversion.

0x605D - Halt option code

RW

INT16

-

0x2620 - Halt option code

RW

INT16

-

No conversion.

0x6060 - Operation mode

RW

INT8

-

0x2014 - Operation mode

RW

UINT16

-

See: Operation Mode Conversion Table

0x6061- Operation mode display

RO

INT8

-

0x2015 - Operation mode display

RO

UINT16

-

See: Operation Mode Conversion Table

0x6064 - Actual position

RO

INT32

Encoder counts

0x2030 - Actual position

RO

INT32

Encoder counts

No conversion.

0x6065 - Position following error window

RW

UINT32

Encoder units

0x21EC - Position following error window

RW

FLOAT

Encoder units

Type conversion.

0x6066 - Position following error timeout

RW

UINT16

ms

0x21ED - Position following error timeout

RW

UINT32

ms

Type conversion.

0x606C - Actual velocity

RO

INT32

mrev/s

0x2031 - Actual velocity

RO

FLOAT

rev/s

Unit conversion and Type conversion.

0x606F - Velocity threshold

RW

UINT16

mrev/s

0x21D6 - Velocity threshold

RW

FLOAT

rev/s

Unit conversion and Type conversion.

0x6070 - Velocity threshold time

RW

UINT16

ms

0x21D7 - Velocity threshold time

RW

UNIT32

ms

Type conversion.

0x6071 - Target torque

RW

INT16

‰ rated torque

0x2022 - Torque set-point

RW

FLOAT

Nm

Read 0x6076 - Motor rated torque to perform the conversion.

0x6073 - Max. current

RW

UINT16

‰ rated current

0x21E0 - Max. current

RW

FLOAT

A

Read 0x6075 - Motor rated current to perform the conversion.

0x6074 - Torque demand

RO

INT16

‰ rated torque

0x2053 - Torque demand

RO

FLOAT

Nm

Read 0x6076 - Motor rated torque to perform the conversion.

0x6075 - Motor rated current

RW

UINT32

mA

0x2100 - Rated current

RW

FLOAT

A

Unit conversion.

0x6076 - Motor rated torque

RW

UINT32

mNm

0x209A - Rated torque

RW

FLOAT

Nm

Unit conversion.

0x6077 - Torque actual value

RO

INT16

‰ rated torque

0x2029 - Actual torque

RO

FLOAT

Nm

Read 0x6076 - Motor rated torque to perform the conversion.

0x6078 - Current actual value

RO

INT16

‰ rated current

0x2076 - Current actual value

RO

FLOAT

A

Read 0x6075 - Motor rated current to perform the conversion.

0x607A - Position set-point

RW

INT32

Encoder counts

0x2020 - Position set-point

RW

INT32

Encoder counts

No conversion.

0x607B - Position range limit

RW

INT32

Encoder counts

0x21DE - Min position range limit

RW

INT32

Encoder counts

No conversion.

0x607B - Position range limit

RW

INT32

Encoder counts

0x21DF - Max position range limit

RW

INT32

Encoder counts

No conversion.

0x607C - Homing offset

RW

INT32

Encoder counts

0x2451 - Homing offset

RW

INT32

Encoder counts

No conversion.

0x607D - Software position limit

RW

INT32

Encoder counts

0x21EA - Min position

RW

INT32

Encoder counts

No conversion.

0x607D - Software position limit

RW

INT32

Encoder counts

0x21EB - Max position

RW

INT32

Encoder counts

No conversion.

0x6081 - Profile velocity

RW

UINT32

mrev/s

0x2025 - Profiler max. velocity

RW

FLOAT

rev/s

Unit conversion.

0x6083 - Profile acceleration

RW

UINT32

mrev/s2

0x2026 - Profiler max. acceleration

RW

FLOAT

rev/s2

Unit conversion.

0x6084 - Profile deceleration

RW

UINT32

mrev/s2

0x2027 - Profiler max. deceleration

RW

FLOAT

rev/s2

Unit conversion.

0x6098 - Homing method

RW

INT8

-

0x2450 - Homing mode

RW

UINT16

-

See: Homing Conversion Table

0x6099 - Homing search velocities

RW

UINT32

mrev/s

0x2453 - Homing limit search speed

RW

FLOAT

rev/s

Unit conversion.

0x6099 - Homing search velocities

RW

UINT32

mrev/s

0x2454 - Homing zero search speed

RW

FLOAT

rev/s

Unit conversion.

0x60B1 - Velocity loop input offset

RW

INT32

mrev/s

0x207B - Velocity loop input offset

RW

FLOAT

rev/s

Unit conversion.

0x60B2 - Torque offset

RW

INT32

‰ rated torque

0x2080 - Torque loop input offset

RW

FLOAT

Nm

Unit conversion.

0x60C2 - Interpolation time period

RW

UINT8

(10itx) sec

itx = interpolation time index

0x21EF - Interpolation time mantissa

RW

FLOAT

sec

Type conversion.

0x60C2 - Interpolation time period

RW

INT8

-

0x21F0 - Interpolation time exponent

RW

FLOAT

-

See Interpolation time exponent conversion table.

0x60F2 - Positioning option code

RW

UINT16 

-

0x2024 - Positioning option code

RW

UINT16 

-

No conversion.

0x60F4 - Position following error

RO

INT32

Encoder counts

0x21E2 - Position control loop error

RO

INT32

Encoder counts

No conversion.

0x60FF - Target Velocity

RW

INT32

mrev/s

0x2021 - Velocity set-point

RW

FLOAT

rev/s

Unit conversion and Type conversion.

Control Word Conversion Table

Bit

Mode

CiA Function

Manufacturer Function

Conversion

0

All modes

Switch On

Switch On

Identical value in both registers.

1

All modes

Enable Voltage

Enable Voltage

Identical value in both registers.

2

All modes

Quick Stop

Quick Stop

Identical value in both registers.

3

All modes

Enable Operation

Enable Operation

Identical value in both registers.

4

Profile position

Latch set-point

Run Set-Point Manager

CiA bit is written to Manufacturer bit 9.

Homing

Homing operation start

CiA bit is written to Manufacturer bit 9.

Other modes

Unused

Ignore

5

Profile position

Change immediately

Reserved

No dependency. A change in the CiA bit produces no changes in the Manufacturer register.

Other modes

Not specified

Ignore

6

Profile position

Abs/Rel

Reserved

CiA bit is written to Manufacturer bit 11.

Other modes

Unused

Ignore

7

All modes

Fault reset

Fault reset

Identical value in both registers.

8

All profiler modes

Halt

Halt

Identical value in both registers.

Currently the halt bit has the same behavior in both registers.

Rest of modes

Unused

9

Profile position

Unused

New set-point

Manufacturer bit is written in CiA bit 4.

Profile velocity

New set-point

Manufacturer bit is written in CiA bit 11.

Homing

Homing operation start

Manufacturer bit is written in CiA bit 4.

Rest of modes

Unused

Ignore

10

All modes

Reserved

Unused

Ignore

11

Profiler modes (including Profile Velocity)

Unused (Manuf. Spec)

Abs/Rel

Manufacturer bit is written to CiA bit 6.

Profile Velocity

Latch set-point

CiA bit is written to Manufacturer bit 9.

Rest of modes

Unused (Manuf. Spec)

Unused

Ignore

12

All modes

Manufacturer Specific

Unused

Ignore

13

All modes

Manufacturer Specific

Unused

Ignore

14

All modes

Manufacturer Specific

Unused

Ignore

15

All modes

Manufacturer Specific

Unused

Ignore

Status Word Conversion Table

Bit

Mode

CiA Function

Manufacturer Function

Conversion

0

All modes

Ready to switch on

Ready to switch on

Identical value in both registers.

1

All modes

Switched on

Switched on

Identical value in both registers.

2

All modes

Operation enabled

Operation enabled

Identical value in both registers.

3

All modes

Fault

Fault

Identical value in both registers.

4

All modes

Voltage enabled

Voltage enabled

Identical value in both registers.

5

All modes

Quick stop

Quick stop

Identical value in both registers.

6

All modes

Switch on disabled

Switch on disabled

Identical value in both registers.

7

All modes

Warning

Warning

Identical value in both registers.

8

All modes

Reserved

Reserved

Identical value in both registers.

9

All modes

Remote

Reserved

Ignore this field as it is not implemented

10

All modes

Target reached

Target reached

Identical value in both registers.

11

All modes

Internal limit active

Reserved

12

Homing

Homing attained

Homing attained

Identical value in both registers.

CST, CSV, CSP

Drive follows the command value

Not used

Profile position

Set-point ack.

Profile velocity

Speed

Speed

Identical value in both registers.

13

Homing

Homing error

Homing error

Identical value in both registers.

CST, CSV, CSP

Following error

Not used

Profile position

Following error

Following error

Identical value in both registers.

Profile velocity

Following error

Following error

Identical value in both registers.

14

All modes

Initial angle determination process finished

Commutation feedback aligned

Identical value in both registers.

15

All modes

Reserved

User bit

Operation Mode Conversion Table

Operation Mode

CiA Value

Manufacturer Value

Current Amplifier

-4

0x0001

Cyclic sync current mode

-3

0x0022

Current mode

-2

0x0002

Voltage mode

-1

0x0000

Profile position mode

1

0x0014

Profile velocity mode

3

0x0013

Homing mode

6

0x0113

Cyclic sync position mode

8

0x0024

Cyclic sync velocity mode

9

0x0023

Cyclic sync torque mode

10

0x0025

Profile position S-curve

-1

0x0044

Interpolated position

-1

0x00A4

Buffered PVT

-1

0x00B4

Position

-1

0x0004

Velocity

-1

0x0003

Torque

-1

0x0005

Writing "-1" to the CiA Register will always modify the Manufacturer Register value to "0x0001". On the other hand, writing values "0x0001", "0x0044", "0x00A4" and "0x00B4" to the Manufacturer Register, will always modify the CiA Register value to "-1".

This is why reading "-1" from the CiA Register, doesn't necessarily mean that the drive is in Voltage Mode.

Homing Conversion Table

Homing Mode

CiA Value

Manufacturer Value

No homing method assigned

0

 

Homing on the negative limit switch and index pulse

1

6

Homing on the positive limit switch and index pulse

2

5

Homing on the negative limit switch

17

2

Homing on the positive limit switch

18

1

Homing on negative index pulse

33

4

Homing on positive index pulse

34

3

Homing on current position

37

0

Interpolation time exponent conversion table

Int. Time exponent

CiA Value

Manufacturer Value

10-5

-5

0.00001

10-4

-4

0.0001

10-3

-3

0.001

10-2

-2

0.01

10-1

-1

0.1

10-0

0

1

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