CanOPEN PDO Example

The mode of operation is mapped at index 0x6060 subindex 0 with size of 1 byte. For example: Profile position is 1, Profile velocity is 3, Torque profile is 4, Interpolated position is 7.

The Control Word is mapped at index 0x6040 subindex 0 with size of 2byte. The Status Word is mapped at index 0x6041 subindex 0 with size of 2byte

The communication is with DS402 Profile on CiA 301 (CAN in Automation). Reference: https://en.wikipedia.org/wiki/CANopen

PDOs must be transmitted and received at every Sync, COB ID = 0x80. Master can access the parameter inside the slave using SDO read and write.
See here: https://www.nilab.at/dokuwiki/doku.php?id=mbd_servo_drive:registers|

Additional parameter are 0x6087 ⇒ Torque Slope and 0x6088 ⇒ Torque profile type (0 = Linear ramp)

SERVO-ON: is procedure that Master should read Statusword from driver and send corresponded Controlword (command) to driver to make it change to final state, Operation Enable. The common SERVO-ON path in CiA 402 state machine is: (1) → (2) → (3) → (4) or (13) → (14) → (15) → (2) → (3) → (4)
From the specification when disabled you need to pass from SWITCH ON.
DISABLED to READY TO SWITCH ON then to SWITCHED ON then finally OPERATION ENABLED

For example: You do that through the controlword where you set bit1 and bit 2 with bit 0 and bit 3 reset (0x06 READY TO SWITCH ON) then you set bit 0,bit1 and bit 2(0x07 READY TO SWITCH ON) them finally bit0,bit1,bit2,bit3 all set (0x0F OPERATION ENABLED).

SERVO-OFF: is procedure to switch off servo drive, that is moving its state to 'Switch On Disabled' state. The shorted path is transition (9) in which Master send Controlword of 0 to an operating driver.

EDS File: https://www.nilab.at/download/mbd-tbs1-eds-file/?wpdmdl=2134&refresh=637351b05ed9d1668501936

XML File: https://www.nilab.at/download/mbd-tbs1-ethercat-eds-file/?wpdmdl=3335&refresh=637351b0868111668501936