Object Dictionary Information¶

Electronic Datasheet Information¶

Version 1, revision 1
FOC Motor Control Device

Product Information¶

Property	Value
Vendor Name	Advanced Micro Devices, Inc
Vendor ID	0x00000586
Product Name	Kria SOM
Product Code	0x00000013
Revision Number	0x00000011
Order Code	-

Commissioning Information¶

Property	Value
Node ID	0x04
Name
Bitrate	1000 kbps
Network Number	0
Network Name
LSS Serial Number	0x00000000
CANopen Manager	No

PDO Configuration¶

Communication Parameters¶

PDO	COBID	Tx Type	Inhibit Time	Event Time	Sync Start
RPDO1	$NODEID+0x00000200	255
RPDO2	$NODEID+0x00000300	255
RPDO3	$NODEID+0x00000400	255
RPDO4	$NODEID+0x00000500	255
TPDO1	$NODEID+0x40000180	1	0.0 ms	0 ms	0
TPDO2	$NODEID+0x40000280	1	0.0 ms	0 ms	0
TPDO3	$NODEID+0x40000380	1	0.0 ms	0 ms	0
TPDO4	$NODEID+0x40000480	1	0.0 ms	0 ms	0

Mappings¶

PDO	Mappings
RPDO1	[0x6040,0x00] Controlword (Unsigned16)
RPDO2	[0x6040,0x00] Controlword (Unsigned16)
	[0x6060,0x00] Modes of Operation (Integer8)
RPDO3	[0x6040,0x00] Controlword (Unsigned16)
	[0x60FF,0x00] Target Velocity (Integer32)
RPDO4	[0x6040,0x00] Controlword (Unsigned16)
	[0x6071,0x00] Target Torque (Integer16)
TPDO1	[0x6041,0x00] Statusword (Unsigned16)
TPDO2	[0x6041,0x00] Statusword (Unsigned16)
	[0x6061,0x00] Modes of Operation display (Integer8)
TPDO3	[0x6041,0x00] Statusword (Unsigned16)
	[0x606C,0x00] Velocity Actual Value (Integer32)
TPDO4	[0x6041,0x00] Statusword (Unsigned16)
	[0x6064,0x00] Position Actual Value (Integer32)

Object Dictionary¶

Overview¶

Index	Subindex	Name	Type	Access	Default Value
0x1000	0x00	Device type	U32	CO	0xFFFF0192
0x1001	0x00	Error register	U8	RO	0x00
0x1003	0x00	Pre-defined error field	U8	RW
	0x01	Standard error field	U32	RO
	0x02	Standard error field	U32	RO
	0x03	Standard error field	U32	RO
	0x04	Standard error field	U32	RO
	0x05	Standard error field	U32	RO
	0x06	Standard error field	U32	RO
	0x07	Standard error field	U32	RO
	0x08	Standard error field	U32	RO
	0x09	Standard error field	U32	RO
	0x0A	Standard error field	U32	RO
	0x0B	Standard error field	U32	RO
	0x0C	Standard error field	U32	RO
	0x0D	Standard error field	U32	RO
	0x0E	Standard error field	U32	RO
	0x0F	Standard error field	U32	RO
	0x10	Standard error field	U32	RO
0x1005	0x00	COB-ID SYNC message	U32	RW	0x00000080
0x1006	0x00	Communication cycle period	U32	RW	0
0x1007	0x00	Synchronous window length	U32	RW	0
0x1008	0x00	Manufacture Device Name	VisStr	CO	See description
0x1009	0x00	Manufacture hardware version	VisStr	CO	See description
0x100A	0x00	Manufacture software version	U32	CO	4
0x1010	0x00	Store parameters	U8	RO	0x04
	0x01	Save all parameters	U32	RW	0x00000001
	0x02	Save communication parameters	U32	RW	0x00000001
	0x03	Save application parameters	U32	RW	0x00000001
	0x04	Save manufacturer defined parameters	U32	RW	0x00000001
0x1011	0x00	Restore default parameters	U8	RO	0x04
	0x01	Restore all default parameters	U32	RW	0x00000001
	0x02	Restore communication default parameters	U32	RW	0x00000001
	0x03	Restore application default parameters	U32	RW	0x00000001
	0x04	Restore manufacturer defined default parameters	U32	RW	0x00000001
0x1012	0x00	COB-ID time stamp object	U32	RW	0x00000100
0x1014	0x00	COB-ID EMCY	U32	RW	$NODEID+0x80
0x1015	0x00	Inhibit time EMCY	U16	RW	0
0x1016	0x00	Consumer heartbeat time	U8	CO	0x01
	0x01	Consumer heartbeat time	U32	RW	0x00000000
0x1017	0x00	Producer heartbeat time	U16	RW	0
0x1018	0x00	Identity	U8	RO	0x04
	0x01	Vendor-ID	U32	RO	0x00000586
	0x02	Product code	U32	RO	0x00000013
	0x03	Revision number	U32	RO	0x00000011
	0x04	Serial number	U32	RO	0x00000000
0x1019	0x00	Synchronous counter overflow value	U8	RW	0
0x1200	0x00	SDO server parameter	U8	RO	2
	0x01	COB-ID client to server (rx)	U32	RO	$NODEID+0x600
	0x02	COB-ID server to client (tx)	U32	RO	$NODEID+0x580
0x1280	0x00	SDO client parameter	U8	RO	0x03
	0x01	COB-ID client to server (tx)	U32	RW	0x80000000
	0x02	COB-ID server to client (rx)	U32	RW	0x80000000
	0x03	Node-ID of the SDO server	U8	RW	0x01
0x1400	0x00	RPDO communication parameter	U8	RO	0x05
	0x01	COB-ID used by RPDO	U32	RW	$NODEID+0x00000200
	0x02	Transmission type	U8	RW	255
	0x05	Event timer	U16	RW	0
0x1401	0x00	RPDO communication parameter	U8	RO	0x05
	0x01	COB-ID used by RPDO	U32	RW	$NODEID+0x00000300
	0x02	Transmission type	U8	RW	255
	0x05	Event timer	U16	RW	0
0x1402	0x00	RPDO communication parameter	U8	RO	0x05
	0x01	COB-ID used by RPDO	U32	RW	$NODEID+0x00000400
	0x02	Transmission type	U8	RW	255
	0x05	Event timer	U16	RW	0
0x1403	0x00	RPDO communication parameter	U8	RO	0x05
	0x01	COB-ID used by RPDO	U32	RW	$NODEID+0x00000500
	0x02	Transmission type	U8	RW	255
	0x05	Event timer	U16	RW	0
0x1600	0x00	RPDO mapping parameter	U8	CO	0x01
	0x01	Application object 1	U32	RW	0x60400010
0x1601	0x00	RPDO mapping parameter	U8	CO	0x02
	0x01	Application object 1	U32	RW	0x60400010
	0x02	Application object 2	U32	RW	0x60600008
0x1602	0x00	RPDO mapping parameter	U8	CO	2
	0x01	Application object 1	U32	RW	0x60400010
	0x02	Application object 2	U32	RW	0x60FF0020
0x1603	0x00	RPDO mapping parameter	U8	RW	8
	0x01	Application object 1	U32	RW	0x60400010
	0x02	Application object 2	U32	RW	0x60710010
	0x03	Application object 3	U32	RW	0x00000000
	0x04	Application object 4	U32	RW	0x00000000
	0x05	Application object 5	U32	RW	0x00000000
	0x06	Application object 6	U32	RW	0x00000000
	0x07	Application object 7	U32	RW	0x00000000
	0x08	Application object 8	U32	RW	0x00000000
0x1800	0x00	TPDO communication parameter	U8	RO	0x06
	0x01	COB-ID used by TPDO	U32	RW	$NODEID+0x40000180
	0x02	Transmission type	U8	RW	1
	0x03	Inhibit time	U16	RW	0
	0x05	Event timer	U16	RW	0
	0x06	SYNC start value	U8	RW	0
0x1801	0x00	TPDO communication parameter	U8	RO	0x06
	0x01	COB-ID used by TPDO	U32	RW	$NODEID+0x40000280
	0x02	Transmission type	U8	RW	1
	0x03	Inhibit time	U16	RW	0
	0x05	Event timer	U16	RW	0
	0x06	SYNC start value	U8	RW	0
0x1802	0x00	TPDO communication parameter	U8	RO	0x06
	0x01	COB-ID used by TPDO	U32	RW	$NODEID+0x40000380
	0x02	Transmission type	U8	RW	1
	0x03	Inhibit time	U16	RW	0
	0x05	Event timer	U16	RW	0
	0x06	SYNC start value	U8	RW	0
0x1803	0x00	TPDO communication parameter	U8	RO	0x06
	0x01	COB-ID used by TPDO	U32	RW	$NODEID+0x40000480
	0x02	Transmission type	U8	RW	1
	0x03	Inhibit time	U16	RW	0
	0x05	Event timer	U16	RW	0
	0x06	SYNC start value	U8	RW	0
0x1A00	0x00	TPDO mapping parameter	U8	CO	1
	0x01	Application object 1	U32	RW	0x60410010
0x1A01	0x00	TPDO mapping parameter	U8	CO	2
	0x01	Application object 1	U32	RW	0x60410010
	0x02	Application object 2	U32	RW	0x60610008
0x1A02	0x00	TPDO mapping parameter	U8	CO	2
	0x01	Application object 1	U32	RW	0x60410010
	0x02	Application object 2	U32	RW	0x606C0020
0x1A03	0x00	TPDO mapping parameter	U8	CO	2
	0x01	Application object 1	U32	RW	0x60410010
	0x02	Application object 2	U32	RW	0x60640020
0x5FFF	0x00	EmSA	VisStr	RO	See description
0x603F	0x00	Error Code	U16	RO
0x6040	0x00	Controlword	U16	RWW
0x6041	0x00	Statusword	U16	RO
0x605A	0x00	Quick Stop	I16	RW	2
0x605B	0x00	Shutdown	I16	RO
0x605D	0x00	Halt	I16	RW	1
0x6060	0x00	Modes of Operation	I8	RW	0
0x6061	0x00	Modes of Operation display	I8	RO
0x6064	0x00	Position Actual Value	I32	RO
0x606C	0x00	Velocity Actual Value	I32	RO
0x6071	0x00	Target Torque	I16	RW	0
0x6077	0x00	Torque Actual Value	I16	RO	0
0x60FF	0x00	Target Velocity	I32	RW
0x6502	0x00	Supported Drive Modes	U32	RO	0xC

Device type (0x1000)¶


Subindex	0x00
Data Type	Unsigned32
Access	Const
Can be mapped	No
Default Value	0xFFFF0192

Error register (0x1001)¶


Subindex	0x00
Data Type	Unsigned8
Access	ReadOnly
Can be mapped	Yes
Default Value	0x00

Pre-defined error field (0x1003)¶


Subindex	0x00
Name	Number of errors
Data Type	Unsigned8
Access	ReadWrite
Can be mapped	No


Subindex	0x01
Name	Standard error field
Data Type	Unsigned32
Access	ReadOnly
Can be mapped	No


Subindex	0x02
Name	Standard error field
Data Type	Unsigned32
Access	ReadOnly
Can be mapped	No


Subindex	0x03
Name	Standard error field
Data Type	Unsigned32
Access	ReadOnly
Can be mapped	No


Subindex	0x04
Name	Standard error field
Data Type	Unsigned32
Access	ReadOnly
Can be mapped	No


Subindex	0x05
Name	Standard error field
Data Type	Unsigned32
Access	ReadOnly
Can be mapped	No


Subindex	0x06
Name	Standard error field
Data Type	Unsigned32
Access	ReadOnly
Can be mapped	No


Subindex	0x07
Name	Standard error field
Data Type	Unsigned32
Access	ReadOnly
Can be mapped	No


Subindex	0x08
Name	Standard error field
Data Type	Unsigned32
Access	ReadOnly
Can be mapped	No


Subindex	0x09
Name	Standard error field
Data Type	Unsigned32
Access	ReadOnly
Can be mapped	No


Subindex	0x0A
Name	Standard error field
Data Type	Unsigned32
Access	ReadOnly
Can be mapped	No


Subindex	0x0B
Name	Standard error field
Data Type	Unsigned32
Access	ReadOnly
Can be mapped	No


Subindex	0x0C
Name	Standard error field
Data Type	Unsigned32
Access	ReadOnly
Can be mapped	No


Subindex	0x0D
Name	Standard error field
Data Type	Unsigned32
Access	ReadOnly
Can be mapped	No


Subindex	0x0E
Name	Standard error field
Data Type	Unsigned32
Access	ReadOnly
Can be mapped	No


Subindex	0x0F
Name	Standard error field
Data Type	Unsigned32
Access	ReadOnly
Can be mapped	No


Subindex	0x10
Name	Standard error field
Data Type	Unsigned32
Access	ReadOnly
Can be mapped	No

COB-ID SYNC message (0x1005)¶


Subindex	0x00
Data Type	Unsigned32
Access	ReadWrite
Can be mapped	No
Default Value	0x00000080

Communication cycle period (0x1006)¶


Subindex	0x00
Data Type	Unsigned32
Access	ReadWrite
Can be mapped	No
Default Value	0

Synchronous window length (0x1007)¶


Subindex	0x00
Data Type	Unsigned32
Access	ReadWrite
Can be mapped	No
Default Value	0

Manufacture Device Name (0x1008)¶


Subindex	0x00
Data Type	Visible String
Access	Const
Can be mapped	No
Default Value	Kria Motor Kit

Manufacture hardware version (0x1009)¶


Subindex	0x00
Data Type	Visible String
Access	Const
Can be mapped	No
Default Value	Rev 1.0

Manufacture software version (0x100A)¶


Subindex	0x00
Data Type	Unsigned32
Access	Const
Can be mapped	No
Default Value	4

Store parameters (0x1010)¶


Subindex	0x00
Name	Highest sub-index supported
Data Type	Unsigned8
Access	ReadOnly
Can be mapped	No
Default Value	0x04


Subindex	0x01
Name	Save all parameters
Data Type	Unsigned32
Access	ReadWrite
Can be mapped	No
Default Value	0x00000001


Subindex	0x02
Name	Save communication parameters
Data Type	Unsigned32
Access	ReadWrite
Can be mapped	No
Default Value	0x00000001


Subindex	0x03
Name	Save application parameters
Data Type	Unsigned32
Access	ReadWrite
Can be mapped	No
Default Value	0x00000001


Subindex	0x04
Name	Save manufacturer defined parameters
Data Type	Unsigned32
Access	ReadWrite
Can be mapped	No
Default Value	0x00000001