CiA 402: How to write the motor type to the servo drive?
In servo drives which implement the CiA 402 standard, the motor type can be written to the drive’s object dictionary. This object can be read or written, but in most applications you just write it once during setup or configuration, or ignore it entirely.
The motor type is stored in the object with index 0x6402, subindex 0x00., which stores a uint16 (16-bit unsigned integer).
The value is optional and many options are unsupported by various drives, so reading or writing it may or may not be supported by your drive.
Hence, you must check your specific drive’s manual to see what values it supports for this object.
Value table for 0x6402:00 (Motor Type)
| Value | Description |
|---|---|
| 0x0000 | Non-standard motor |
| 0x0001 | Phase modulated direct current (DC) motor |
| 0x0002 | Frequency controlled direct current (DC) motor |
| 0x0003 | Permanent magnet (PM) synchronous motor |
| 0x0004 | Field controlled (FC) synchronous motor, Alternating current (AC) synchronous sinewave wound field |
| 0x0005 | Switched reluctance motor, Alternating current (AC) synchronous reluctance switched |
| 0x0006 | Wound rotor induction motor, Alternating current (AC) asynchronous induction polyphase wound rotor |
| 0x0007 | Squirrel cage induction motor, Alternating current (AC) asynchronous induction squirrel cage |
| 0x0008 | Stepper motor, Alternating current (AC) synchronous step |
| 0x0009 | Micro-step stepper motor |
| 0x000A | Sinusoidal permanent magnet (PM) brushless (BL) motor, also known as AC synchronous sinusoidal PM |
| 0x000B | Trapezoidal permanent magnet (PM) brushless (BL) motor, AC synchronous brushless PM trapezoidal |
| 0x000C | Alternating current (AC) synchronous reluctance sync |
| 0x000D | Direct current (DC) commutator permanent magnet (PM) |
| 0x000E | Direct current (DC) commutator wound field series |
| 0x000F | Direct current (DC) commutator wound field shunt |
| 0x0010 | Direct current (DC) commutator wound field compound |
| 0x0011 to 0x7FFE | Reserved |
| 0x7FFF | No motor type assigned |
| 0x8000 to 0xFFFF | Manufacturer-specific |
Besides subindex 0x00, no other subindices are defined for this object.
Source: AEC motors CANOpen manual, CANOpen lift wiki among others.
In case you need to look up this information at the original source: This information can be found in the CiA 402-2 standard, or in the corresponding IEC standard: IEC 61800-7-201 (which is the international standard that corresponds to CiA 402-2).