YARP CiA-402 EtherCAT Device 0.6.0
YARP device plugin for EtherCAT CiA-402 drives
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EtherCAT protocol map (PDOs and SDOs)

Table of Contents

Summary

Concise reference of the EtherCAT objects the device uses, where they are mapped, and how they are interpreted. Use this as the single source for indices, types, and meanings.

Quick reference

RxPDO (master → slave)

Name Index:Sub Type Used in Notes
Controlword 0x6040:00 UINT16 CiA‑402 state machine Transitions (shutdown/switch on/enabled)
Modes of operation 0x6060:00 INT8 Op‑mode command 0=no mode, 1=PP, 8=CSP, 9=CSV, 10=CST
Target torque 0x6071:00 INT16 CST (torque/current) Per‑thousand of rated motor torque (see 0x6076)
Target position 0x607A:00 INT32 PP/CSP Counts on loop shaft
Target velocity 0x60FF:00 INT32 CSV rpm on loop shaft

Notes:

  • Only the target relevant to the active op‑mode is written.
  • PP profiles use SDOs 0x6081 (velocity) and 0x6083 (acceleration).

TxPDO (slave → master)

Name Index:Sub Type Used in Notes
Statusword 0x6041:00 UINT16 CiA‑402 status Enabled/fault/target reached
OpMode display 0x6061:00 INT8 Diagnostics Current op‑mode
Position actual value 0x6064:00 INT32 Feedback (position) Counts
Velocity actual value 0x606C:00 INT32 Feedback (velocity) rpm
STO status (vendor) 0x6621:01 UINT8 Safety Safe Torque Off bit
SBC status (vendor) 0x6621:02 UINT8 Safety Safe Brake Control bit
Enc1 position (vendor) 0x2111:02 INT32 Feedback (position) If mapped
Enc1 velocity (vendor) 0x2111:03 INT32 Feedback (velocity) rpm, if mapped
Enc2 position (vendor) 0x2113:02 INT32 Feedback (position) If mapped
Enc2 velocity (vendor) 0x2113:03 INT32 Feedback (velocity) rpm, if mapped

Notes:

  • Additional entries may roll into 0x1A01/0x1A02.
  • On non‑Synapticon drives, 0x211x/0x6621 may be unavailable.

SDOs (init & configuration)

Name Index:Sub Type Dir. Purpose Values/Notes
Position control strategy 0x2002:00 UINT16 Write Selects position control mode 1 = simple PID, 2 = cascaded PID
Position loop source (vendor) 0x2012:09 UINT8 Read Which encoder feeds position loop 1=Enc1, 2=Enc2
Simple PID Kp 0x2012:01 REAL32 Write Position P gain Config in Nm/deg → mNm/inc
Simple PID Ki 0x2012:02 REAL32 Write Position I gain Forced to 0.0
Simple PID Kd 0x2012:03 REAL32 Write Position D gain Config in Nm*s/deg → mNm*s/inc
Velocity loop source (vendor) 0x2011:05 UINT8 Read Which encoder feeds velocity loop 1=Enc1, 2=Enc2
Gear ratio numerator 0x6091:01 UINT32 Read Motor:Load gear ratio (numerator) Defaults to 1
Gear ratio denominator 0x6091:02 UINT32 Read Motor:Load gear ratio (denominator) Defaults to 1
Profile velocity 0x6081:00 INT32 R/W PP profile parameter Units per drive
Profile acceleration 0x6083:00 INT32 R/W PP profile parameter Units per drive
Rated motor torque 0x6076:00 INT16/* Read Scale for 0x6071 Nm, vendor sizing may vary
Error code 0x603F:00 UINT16 Read Fault diagnostics Decoded in driver

Usage by mode

  • CSV writes 0x60FF each cycle; reads 0x606C.
  • CST writes 0x6071 each cycle; torque/current converted to per‑thousand of 0x6076.
  • PP writes 0x607A on demand; uses 0x6081/0x6083 for profile; checks 0x6041 "target reached".

Conversions

Path Formula
counts → deg deg = counts × (360 / CPR)
rpm → deg/s deg/s = rpm × 360 / 60
joint ↔ motor shaft apply gear ratio and mounting sign
Nm → 0x6071 (motorNm / ratedNm) × 1000 (clamped)
Kp cfg → drive Kp[mNm/inc] = (Kp_cfg[Nm/deg] / gearRatio) × 1000 × counts_per_deg
Kd cfg → drive Kd[mNm*s/inc] = (Kd_cfg[Nm*s/deg] / gearRatio) × 1000 × counts_per_deg

Notes:

  • The 0x2012:* unit interpretation depends on 0x2002:00. The conversions above apply to the simple PID structure (0x2002:00 = 1).

See dual_encoder_handling.md for encoder CPR, mounting, and shaft transforms.

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