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