Allocation List of Object Group 1000h
| Index | Sub-Index | Name | Access | PDO mapping | Data type | Unit | Range | Default |
| 1000 | 0 | Drive type | RO | NO | UINT32 | - | - | 0x00020192 |
| 1008 | 0 | Drive name | RO | NO | - | - | - | SV35-ECAT |
| 1009 | 0 | Hardware version | RO | NO | - | - | - | Depends on the software version |
| 100A | 0 | Software version | RO | NO | - | - | - | Depends on the hardware version |
| 1018 | ID object | |||||||
| 0 | Max. subindex number included by ID object | RO | NO | UINT8 | - | - | 04 hex | |
| 1 | Supplier ID | RO | NO | UINT32 | - | - | 0010 0000 hex | |
| 2 | Product code | RO | NO | UINT32 | - | - | 0x000C0108 | |
| 3 | Revision No. | RO | NO | UINT32 | - | - | 0x00010001 | |
| 1C00 | Manufacturer's software version | |||||||
| 0 | Max. subindex number of synchronous management communication type | RO | NO | UINT8 | - | - | 04 hex | |
| 1 | SM0 communication type | RO | NO | UINT8 | - | - | 01hex | |
| 2 | SM1 communication type | RO | NO | UINT8 | - | - | 02hex | |
| 3 | SM2 communication type | RO | NO | UINT8 | - | - | 03hex | |
| 4 | SM3 communication type | RO | NO | UINT8 | - | - | 04hex | |
| 1600 | RxPDO1 Mapping object 1st | |||||||
| 0 | RxPDO1 Number of supported mapping objects | RW | NO | UINT8 | - | 0~10 | 3 | |
| 1 | The first mapping object | RW | NO | UINT32 | - | 0~4294967295 | 6040 0010 | |
| 2 | The second mapping object | RW | NO | UINT32 | - | 0~4294967295 | 607A 0020 | |
| 3 | The third mapping object | RW | NO | UINT32 | - | 0~4294967295 | 60B8 0010 | |
| 4 | The fourth mapping object | RW | NO | UINT32 | - | 0~4294967295 | - | |
| 5 | The fifth mapping object | RW | NO | UINT32 | - | 0~4294967295 | - | |
| 6 | The sixth mapping object | RW | NO | UINT32 | - | 0~4294967295 | - | |
| 7 | The seventh mapping object | RW | NO | UINT32 | - | 0~4294967295 | - | |
| 8 | The eighth mapping object | RW | NO | UINT32 | - | 0~4294967295 | - | |
| 9 | The ninth mapping object | RW | NO | UINT32 | - | 0~4294967295 | - | |
| 0A | The tenth mapping object | RW | NO | UINT32 | - | 0~4294967295 | - | |
| 1701 | RxPDO1 Mapping object 258th | |||||||
| 0 | RxPDO1 Number of supported mapping objects | RO | NO | UINT8 | - | - | 04hex | |
| 1 | The first mapping object | RO | NO | UINT32 | - | - | 6040 0010 | |
| 2 | The second mapping object | RO | NO | UINT32 | - | - | 607A 0020 | |
| 3 | The third mapping object | RO | NO | UINT32 | - | - | 60B8 0010 | |
| 4 | The fourth mapping object | RO | NO | UINT32 | - | - | 60FE 0120 | |
| 1702 | RxPDO1 Mapping object 259th | |||||||
| 0 | RxPDO259 Number of supported mapping objects | RO | NO | UINT8 | - | - | 07 hex | |
| 1 | The first mapping object | RO | NO | UINT32 | - | - | 6040 0010 | |
| 2 | The second mapping object | RO | NO | UINT32 | - | - | 607A 0020 | |
| 3 | The third mapping object | RO | NO | UINT32 | - | - | 60FF 0020 | |
| 4 | The fourth mapping object | RO | NO | UINT32 | - | - | 6071 0010 | |
| 5 | The fifth mapping object | RO | NO | UINT32 | - | - | 6060 0008 | |
| 6 | The sixth mapping object | RO | NO | UINT32 | - | - | 60B8 0010 | |
| 7 | The seventh mapping object | RO | NO | UINT32 | - | - | 607F0020 | |
| 1703 | RxPDO1 Mapping object 260th | |||||||
| 0 | RxPDO260 Number of supported mapping objects | RO | NO | UINT8 | - | - | 07 hex | |
| 1 | The first mapping object | RO | NO | UINT32 | - | - | 6040 0010 | |
| 2 | The second mapping object | RO | NO | UINT32 | - | - | 607A 0020 | |
| 3 | The third mapping object | RO | NO | UINT32 | - | - | 60FF 0020 | |
| 4 | The fourth mapping object | RO | NO | UINT32 | - | - | 6060 0008 | |
| 5 | The fifth mapping object | RO | NO | UINT32 | - | - | 60B8 0010 | |
| 6 | The sixth mapping object | RO | NO | UINT32 | - | - | 60E0 0010 | |
| 7 | The seventh mapping object | RO | NO | UINT32 | - | - | 60E1 0010 | |
| 1704 | RxPDO1 Mapping object 261st | |||||||
| 0 | RxPDO261 Number of supported mapping objects | RO | NO | UINT8 | - | - | 09 hex | |
| 1 | The first mapping object | RO | NO | UINT32 | - | - | 6040 0010 | |
| 2 | The second mapping object | RO | NO | UINT32 | - | - | 607A 0020 | |
| 3 | The third mapping object | RO | NO | UINT32 | - | - | 60FF 0020 | |
| 4 | The fourth mapping object | RO | NO | UINT32 | - | - | 6071 0010 | |
| 5 | The fifth mapping object | RO | NO | UINT32 | - | - | 6060 0008 | |
| 6 | The sixth mapping object | RO | NO | UINT32 | - | - | 60B8 0010 | |
| 7 | The seventh mapping object | RO | NO | UINT32 | - | - | 607F0020 | |
| 8 | The eighth mapping object | RO | NO | UINT32 | - | - | 60E0 0010 | |
| 9 | The ninth mapping object | RO | NO | UINT32 | - | - | 60E1 0010 | |
| 1705 | RxPDO1 Mapping object 262nd | |||||||
| 0 | RxPDO262 Number of supported mapping objects | RO | NO | UINT8 | - | - | 08hex | |
| 1 | The first mapping object | RO | NO | UINT32 | - | - | 6040 0010 | |
| 2 | The second mapping object | RO | NO | UINT32 | - | - | 607A 0020 | |
| 3 | The third mapping object | RO | NO | UINT32 | - | - | 60FF 0020 | |
| 4 | The fourth mapping object | RO | NO | UINT32 | - | - | 6060 0008 | |
| 5 | The fifth mapping object | RO | NO | UINT32 | - | - | 60B8 0010 | |
| 6 | The sixth mapping object | RO | NO | UINT32 | - | - | 60E0 0010 | |
| 7 | The seventh mapping object | RO | NO | UINT32 | - | - | 60E1 0010 | |
| 8 | The eighth mapping object | RO | NO | UINT32 | - | - | 60B2 0010 | |
| 1A00 | TxPDO1 Mapping object 1st | |||||||
| 0 | TxPDO1 Number of supported mapping objects | RW | NO | UINT8 | - | 0~10 | 7 | |
| 1 | The first mapping object | RW | NO | UINT32 | - | 0~4294967295 | 6041 0010 | |
| 2 | The second mapping object | RW | NO | UINT32 | - | 0~4294967295 | 6064 0020 | |
| 3 | The third mapping object | RW | NO | UINT32 | - | 0~4294967295 | 60B9 0010 | |
| 4 | The fourth mapping object | RW | NO | UINT32 | - | 0~4294967295 | 60BA 0020 | |
| 5 | The fifth mapping object | RW | NO | UINT32 | - | 0~4294967295 | 60BC0020 | |
| 6 | The sixth mapping object | RW | NO | UINT32 | - | 0~4294967295 | 603F0010 | |
| 7 | The seventh mapping object | RW | NO | UINT32 | - | 0~4294967295 | 60FD0020 | |
| 8 | The eighth mapping object | RW | NO | UINT32 | - | 0~4294967295 | - | |
| 9 | The ninth mapping object | RW | NO | UINT32 | - | 0~4294967295 | - | |
| 0A | The tenth mapping object | RW | NO | UINT32 | - | 0~4294967295 | - | |
| 1B01 | TxPDO258 Mapping object | |||||||
| 0 | TxPDO258 Number of supported mapping objects | RO | NO | UINT8 | - | - | 8 | |
| 1 | The first mapping object | RO | NO | UINT32 | - | - | 603F0010 | |
| 2 | The second mapping object | RO | NO | UINT32 | - | - | 6041 0010 | |
| 3 | The third mapping object | RO | NO | UINT32 | - | - | 6064 0020 | |
| 4 | The fourth mapping object | RO | NO | UINT32 | - | - | 6077 0010 | |
| 5 | The fifth mapping object | RO | NO | UINT32 | - | - | 60F40020 | |
| 6 | The sixth mapping object | RO | NO | UINT32 | - | - | 60B90010 | |
| 7 | The seventh mapping object | RO | NO | UINT32 | - | - | 60BA0020 | |
| 8 | The eighth mapping object | RO | NO | UINT32 | - | - | 60FD0020 | |
| 1B02 | TxPDO259 Mapping object | |||||||
| 0 | TxPDO259 Number of supported mapping objects | RO | NO | UINT8 | - | - | 9 | |
| 1 | The first mapping object | RO | NO | UINT32 | - | - | 603F0010 | |
| 2 | The second mapping object | RO | NO | UINT32 | - | - | 6041 0010 | |
| 3 | The third mapping object | RO | NO | UINT32 | - | - | 6064 0020 | |
| 4 | The fourth mapping object | RO | NO | UINT32 | - | - | 6077 0010 | |
| 5 | The fifth mapping object | RO | NO | UINT32 | - | - | 6061 0008 | |
| 6 | The sixth mapping object | RO | NO | UINT32 | - | - | 60B9 0010 | |
| 7 | The seventh mapping object | RO | NO | UINT32 | - | - | 60BA 0020 | |
| 8 | The eighth mapping object | RO | NO | UINT32 | - | - | 60BC0020 | |
| 9 | The ninth mapping object | RO | NO | UINT32 | - | - | 60FD0020 | |
| 1B03 | TxPDO260 Mapping object | |||||||
| 0 | TxPDO260 Number of supported mapping objects | RO | NO | UINT8 | - | - | 10 | |
| 1 | The first mapping object | RO | NO | UINT32 | - | - | 603F0010 | |
| 2 | The second mapping object | RO | NO | UINT32 | - | - | 6041 0010 | |
| 3 | The third mapping object | RO | NO | UINT32 | - | - | 6064 0020 | |
| 4 | The fourth mapping object | RO | NO | UINT32 | - | - | 6077 0010 | |
| 5 | The fifth mapping object | RO | NO | UINT32 | - | - | 60F4 0020 | |
| 6 | The sixth mapping object | RO | NO | UINT32 | - | - | 6061 0008 | |
| 7 | The seventh mapping object | RO | NO | UINT32 | - | - | 60B9 0010 | |
| 8 | The eighth mapping object | RO | NO | UINT32 | - | - | 60BA 0020 | |
| 9 | The ninth mapping object | RO | NO | UINT32 | - | - | 60BC0020 | |
| 0A | The tenth mapping object | RO | NO | UINT32 | - | - | 60FD0020 | |
| 1B04 | TxPDO261 Mapping object | |||||||
| 0 | TxPDO261 Number of supported mapping objects | RO | NO | UINT8 | - | - | 10 | |
| 1 | The first mapping object | RO | NO | UINT32 | - | - | 603F0010 | |
| 2 | The second mapping object | RO | NO | UINT32 | - | - | 6041 0010 | |
| 3 | The third mapping object | RO | NO | UINT32 | - | - | 6064 0020 | |
| 4 | The fourth mapping object | RO | NO | UINT32 | - | - | 6077 0010 | |
| 5 | The fifth mapping object | RO | NO | UINT32 | - | - | 6061 0008 | |
| 6 | The sixth mapping object | RO | NO | UINT32 | - | - | 60F4 0020 | |
| 7 | The seventh mapping object | RO | NO | UINT32 | - | - | 60B9 0010 | |
| 8 | The eighth mapping object | RO | NO | UINT32 | - | - | 60BA 0020 | |
| 9 | The ninth mapping object | RO | NO | UINT32 | - | - | 60BC0020 | |
| 0A | The tenth mapping object | RO | NO | UINT32 | - | - | 606C0020 | |
| 1C12 | Sync management 2_ RxPDO allocation | |||||||
| 0 | Sync management 2_RxPDO allocation Max. subindex No. | RW | NO | UINT8 | - | 0~1 | 1 | |
| 1 | Index of RxPDO allocation objects | RW | YES | UINT16 | - | 0~65535 | 0x1701 | |
| 1C13 | Sync management 2_TxPDO allocation | RW | NO | UINTER16 | - | OD data range | OD Default | |
| 0 | Sync management 2_TxPDO allocation Max. subindex No. | RW | NO | UINT8 | - | 0~1 | 1 | |
| 1 | Index of TxPDO allocation objects | RW | YES | UINT16 | - | 0~65535 | 0x1B01 | |
| 1C32 | Sync management 2 Synchronize output parameters | |||||||
| 0 | Sync management 2 Maximum sub-index number of synchronization parameters | RO | NO | UINT8 | - | - | 0x20 | |
| 1 | Synchronization type | RO | NO | UINT16 | - | - | 0x0002 | |
| 2 | Cycle time | RO | NO | UINT32 | ns | - | 0 | |
| 4 | Supported synchronization types | RO | NO | UINT16 | - | - | 0x0004 | |
| 5 | Min. cycle time | RO | NO | UINT32 | ns | - | 0x0001E848 | |
| 6 | Calculate and copy time | RO | NO | UINT32 | ns | - | - | |
| 9 | Delay time | RO | NO | UINT32 | ns | - | - | |
| 20 | Sync error | RO | NO | BOOL | - | - | - | |
| 1C33 | Sync management 2 Synchronize input parameters | |||||||
| 0 | Sync management 2 Maximum sub-index number of synchronization parameters | RO | NO | UINT8 | - | - | 0x20 | |
| 1 | Synchronization type | RO | NO | UINT16 | - | 0x0002 | ||
| 2 | Cycle time | RO | NO | UINT32 | ns | - | 0 | |
| 4 | Supported synchronization types | RO | NO | UINT16 | - | - | 0x0004 | |
| 5 | Min. cycle time | RO | NO | UINT32 | ns | - | 0x0001E848 | |
| 6 | Calculate and copy time | RO | NO | UINT32 | ns | - | - | |
| 9 | Delay time | RO | NO | UINT32 | ns | - | - | |
| 20 | Sync error | RO | NO | BOOL | - | - | - | |
Allocation List of Object Group 2000h
|
Index |
Sub-Index |
Parameter |
Name |
Property |
Unit |
Range |
Default |
Setting mode |
Enable mode |
|
2000 Motor parameters |
|||||||||
|
2000 |
04h |
P0003 |
Motor property |
RW |
- |
0~65535 |
0 |
Stop change |
Immediate effect |
|
2000 |
0Bh |
P0010 |
Rated voltage of motor |
RW |
V |
0:220V |
0 |
Stop change |
Power-on reset |
|
1:380V |
|||||||||
|
2000 |
0Ch |
P0011 |
Rated current of motor |
RW |
0.01A |
0~65535 |
100 |
Stop change |
Power-on reset |
|
2000 |
0Dh |
P0012 |
Rated power of motor |
RW |
0.01kW |
0~65535 |
75 |
Stop change |
Power-on reset |
|
2000 |
0Eh |
P0013 |
Rated torque |
RW |
0.01Nm |
0~4294967295 |
239 |
Stop change |
Power-on reset |
|
2000 |
12h |
P0017 |
Rated speed |
RW |
rpm |
0~65535 |
3000 |
Stop change |
Power-on reset |
|
2001 Encoder parameters |
|||||||||
|
2001 |
01h |
P0100 |
Encoder communication protocol |
RW |
- |
0~65535 |
11233 |
Stop change |
Power-on reset |
|
2001 |
04h |
P0103 |
Encoder version No. |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2001 |
06h |
P0105 |
Encoder wire count |
RW |
- |
0~4294967295 |
1048576 |
Stop change |
Power-on reset |
|
2002 Drive Parameters |
|||||||||
|
2002 |
01h |
P0200 |
MCU software version No. |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2002 |
02h |
P0201 |
FPGA software version No. |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2002 |
03h |
P0202 |
MCU non-standard No. |
RO |
- |
0~4294967295 |
0 |
Display |
Immediate effect |
|
2002 |
05h |
P0204 |
FPGA non-standard No. |
RO |
- |
0~4294967295 |
0 |
Display |
Immediate effect |
|
2002 |
0Dh |
P0212 |
Drive input voltage |
RO |
- |
0~65535 |
220 |
Display |
Immediate effect |
|
2002 |
0Eh |
P0213 |
Drive rated power |
RO |
0.01kW |
1~65535 |
75 |
Display |
Immediate effect |
|
2002 |
10h |
P0215 |
Drive rated current |
RO |
0.01A |
1~65535 |
550 |
Display |
Immediate effect |
|
2002 |
23h |
P0234 |
Regenerative resistance selection |
RW |
- |
0: Built-in regenerative resistor |
0 |
Stop change |
Immediate effect |
|
1: External regenerative resistance, natural cooling |
|||||||||
|
2: external regenerative resistance, forced air cooling |
|||||||||
|
3: No regenerative resistance |
|||||||||
|
2002 |
24h |
P0235 |
Heat radiation coefficient of regenerative resistance |
RW |
- |
10~100 |
30 |
Stop change |
Immediate effect |
|
2002 |
25h |
P0236 |
Built-in regenerative resistor power |
RO |
W |
1~65535 |
40 |
Display |
Immediate effect |
|
2002 |
26h |
P0237 |
Built-in regenerative resistance |
RO |
Ω |
1~1000 |
50 |
Display |
Immediate effect |
|
2002 |
27h |
P0238 |
Min. external regenerative resistance |
RO |
Ω |
1~1000 |
40 |
Display |
Immediate effect |
|
2002 |
28h |
P0239 |
External regenerated resistor power |
RW |
W |
1~65535 |
40 |
Stop change |
Immediate effect |
|
2002 |
29h |
P0240 |
External regenerative resistance |
RW |
Ω |
1~1000 |
50 |
Stop change |
Immediate effect |
|
2003 IO Parameters |
|||||||||
|
2003 |
01h |
P0300 |
DI1 function |
RW |
- |
0: no definition |
9 |
Stop change |
Immediate effect |
|
1: Servo enabled |
|||||||||
|
2: Emergency shutdown |
|||||||||
|
3: Command forbidden |
|||||||||
|
4: Position deviation cleared |
|||||||||
|
5: Reset the Error |
|||||||||
|
6: Zero speed retention |
|||||||||
|
7: Forward jogging |
|||||||||
|
8: Reverse jogging |
|||||||||
|
9: Forwar limit |
|||||||||
|
10: Reverse limit |
|||||||||
|
11: Origin switch |
|||||||||
|
12: Zero to return enabled |
|||||||||
|
13: Speed limit selection |
|||||||||
|
14: Forward torque limit selection |
|||||||||
|
15: Reverse torque limit selection |
|||||||||
|
16: Preset position enabled |
|||||||||
|
19: Torque instruction reversing |
|||||||||
|
20: Speed instruction reversing switch |
|||||||||
|
21: Position command reversing switch |
|||||||||
|
22: Gain switch selection |
|||||||||
|
23: Operation command switch |
|||||||||
|
24: Mode switch 1 |
|||||||||
|
25: Mode switch 2 |
|||||||||
|
26: Electronic gear switch |
|||||||||
|
27: Preset command selection 1 |
|||||||||
|
28: Preset command selection 2 |
|||||||||
|
29: Preset command selection 3 |
|||||||||
|
30: Preset command selection 4 |
|||||||||
|
31: Current DI trigger point as the origin |
|||||||||
|
33: Probe 1 |
|||||||||
|
34: Probe 2 |
|||||||||
|
2003 |
02h |
P0301 |
DI1 Polarity |
RW |
- |
0: Normally open |
0 |
Stop change |
Immediate effect |
|
1: Normally close |
|||||||||
|
2003 |
03h |
P0302 |
DI2 function |
RW |
- |
Refer to DI1 function |
10 |
Stop change |
Immediate effect |
|
2003 |
04h |
P0303 |
DI2 polarity |
RW |
- |
0: Normally open |
0 |
Stop change |
Immediate effect |
|
1: Normally close |
|||||||||
|
2003 |
05h |
P0304 |
DI3 function |
RW |
- |
Refer to DI1 function |
11 |
Stop change |
Immediate effect |
|
2003 |
06h |
P0305 |
DI3 polarity |
RW |
- |
0: Normally open |
0 |
Stop change |
Immediate effect |
|
1: Normally close |
|||||||||
|
2003 |
07h |
P0306 |
DI4 function |
RW |
- |
Refer to DI1 function |
0 |
Stop change |
Immediate effect |
|
2003 |
08h |
P0307 |
DI4 polarity |
RW |
- |
0: Normally open |
0 |
Stop change |
Immediate effect |
|
1: Normally close |
|||||||||
|
2003 |
09h |
P0308 |
DI5 function |
RW |
- |
Refer to DI1 function |
0 |
Stop change |
Immediate effect |
|
2003 |
0Ah |
P0309 |
DI5 polarity |
RW |
- |
0: Normally open |
0 |
Stop change |
Immediate effect |
|
1: Normally close |
|||||||||
|
2003 |
13h |
P0318 |
Initial effect DI function 1 |
RW |
- |
0: no definition |
0 |
Stop change |
Power-on reset |
|
1: Servo enabled |
|||||||||
|
2: Emergency shutdown |
|||||||||
|
3: Command forbidden |
|||||||||
|
4: Position deviation cleared |
|||||||||
|
5: Reset the Error |
|||||||||
|
6: Zero lock |
|||||||||
|
7: Forward jogging |
|||||||||
|
8: Reverse jogging |
|||||||||
|
9: Forwar limit |
|||||||||
|
10: Reverse limit |
|||||||||
|
11: Origin switch |
|||||||||
|
12: Zero to return enabled |
|||||||||
|
13: Speed limit selection |
|||||||||
|
14: Forward torque limit selection |
|||||||||
|
15: Reverse torque limit selection |
|||||||||
|
16: Preset position enabled |
|||||||||
|
2003 |
14h |
P0319 |
Initial effect DI function 2 |
RW |
- |
0: no definition |
0 |
Stop change |
Power-on reset |
|
19: Torque instruction reversing |
|||||||||
|
20: Speed instruction reversing switch |
|||||||||
|
21: Position command reversing switch |
|||||||||
|
22: Gain switch selection |
|||||||||
|
23: Speed command source switch |
|||||||||
|
24: Mode switch 1 |
|||||||||
|
25: Mode switch 2 |
|||||||||
|
26: Electronic gear switch |
|||||||||
|
27: Preset command selection 1 |
|||||||||
|
28: Preset command selection 2 |
|||||||||
|
29: Preset command selection 3 |
|||||||||
|
30: Preset command selection 4 |
|||||||||
|
31: Current DI trigger point as the origin |
|||||||||
|
2003 |
15h |
P0320 |
DO1 function |
RW |
- |
0: no definition |
17 |
Stop change |
Immediate effect |
|
1: Rdy |
|||||||||
|
2: Run |
|||||||||
|
3: Warn |
|||||||||
|
4: Error |
|||||||||
|
5: TGon |
|||||||||
|
6: Zero |
|||||||||
|
7: VCmp |
|||||||||
|
8: VArr |
|||||||||
|
9: TArr |
|||||||||
|
10: Near |
|||||||||
|
11: Coin |
|||||||||
|
12: Clt |
|||||||||
|
13: Vlt |
|||||||||
|
14: HomeOK |
|||||||||
|
15: eHomeOK |
|||||||||
|
17: BK |
|||||||||
|
18: DB |
|||||||||
|
19: AngRdy |
|||||||||
|
2003 |
16h |
P0321 |
DO1 polarity |
RW |
- |
0: Normally open |
0 |
Stop change |
Immediate effect |
|
1: Normally close |
|||||||||
|
2003 |
17h |
P0322 |
DO2 function |
RW |
- |
Refer to DO1 function |
2 |
Stop change |
Immediate effect |
|
2003 |
18h |
P0323 |
DO2 polarity |
RW |
- |
0: Normally open |
0 |
Stop change |
Immediate effect |
|
1: Normally close |
|||||||||
|
2003 |
19h |
P0324 |
DO3 function |
RW |
- |
Refer to DO1 function |
4 |
Stop change |
Immediate effect |
|
2003 |
1Ah |
P0325 |
DO3 polarity |
RW |
- |
0: Normally open |
0 |
Stop change |
Immediate effect |
|
1: Normally close |
|||||||||
|
2003 |
1Fh |
P0330 |
DIDO enforcement |
RW |
- |
0: no operation is performed |
0 |
Arbitrary change |
Immediate effect |
|
1: Forcibly DI enabled |
|||||||||
|
2: Forcibly DO enabled |
|||||||||
|
3: Forcibly DIDO enabled |
|||||||||
|
4: Bus forcibly DO enabled |
|||||||||
|
2003 |
20h |
P0331 |
DI Enforcement |
RW |
- |
0~447 |
447 |
Arbitrary change |
Immediate effect |
|
2003 |
21h |
P0332 |
DO Channel selection |
RW |
- |
0~7 |
0 |
Arbitrary change |
Immediate effect |
|
2003 |
23h |
P0334 |
Communication forcibly DO output switch |
RW |
- |
0~7 |
0 |
Stop change |
Immediate effect |
|
2004 Motion control parameters |
|||||||||
|
2004 |
01h |
P0400 |
Control mode |
RW |
- |
0: Speed mode |
10 |
Stop change |
Immediate effect |
|
1: Position mode |
|||||||||
|
2: Torque mode |
|||||||||
|
3: Torque mode → speed mode |
|||||||||
|
4: Speed mode → position mode |
|||||||||
|
5: Torque mode → position mode |
|||||||||
|
6: Torque mode → speed mode → position hybrid mode |
|||||||||
|
10: EtherCAT bus mode |
|||||||||
|
2004 |
02h |
P0401 |
Direction of motor rotation |
RW |
- |
0: CCW as positive direction |
0 |
Stop change |
Power-on reset |
|
1: CW as positive direction |
|||||||||
|
2004 |
03h |
P0402 |
Position feedback system |
RW |
- |
0: Incremental mode |
0 |
Stop change |
Power-on reset |
|
1: Absolute linear mode |
|||||||||
|
2: Absolute rotation mode |
|||||||||
|
2004 |
0Bh |
P0410 |
Type I Error stop mode |
RW |
- |
0: Free stop, keep free state |
2 |
Stop change |
Immediate effect |
|
1: DB stop, keep free state |
|||||||||
|
2: DB stop, keep DB state |
|||||||||
|
2004 |
0Ch |
P0411 |
Type II Error stop mode |
RW |
- |
0: Free stop, keep free state |
2 |
Stop change |
Immediate effect |
|
1: Zero speed stop, keep free state |
|||||||||
|
2: Zero speed stop, keep DB state |
|||||||||
|
3: DB stop, keep free state |
|||||||||
|
4: DB stop, keeps DB statte |
|||||||||
|
2004 |
0Dh |
P0412 |
Selection of disable stop mode |
RW |
- |
0: Free stop |
2 |
Stop change |
Immediate effect |
|
1: DB stop |
|||||||||
|
2: Zero speed stop |
|||||||||
|
2004 |
0Eh |
P0413 |
Selection of disable stop state |
RW |
- |
0: Keep free state |
1 |
Stop change |
Immediate effect |
|
1: Keep DB state |
|||||||||
|
2004 |
0Fh |
P0414 |
Selection of power-off stop mode |
RW |
- |
0: Disabled mode |
0 |
Stop change |
Immediate effect |
|
1: Forced zero speed mode |
|||||||||
|
2004 |
10h |
P0415 |
Overrun stop mode |
RW |
- |
0: Free stop, keep free running state |
1 |
Stop change |
Immediate effect |
|
1: Zero speed stop, keep position locked state |
|||||||||
|
2: Zero speed stop, keep free running state |
|||||||||
|
2004 |
18h |
P0423 |
Torque for emergency stop |
RW |
0.1% |
0~3000 |
1000 |
Stop change |
Immediate effect |
|
2005 Function setting parameters |
|||||||||
|
2005 |
01h |
P0500 |
Manufacturer's password |
RW |
- |
0~65535 |
0 |
Arbitrary change |
Immediate effect |
|
2005 |
02h |
P0501 |
Initialization of system parameters |
RW |
- |
0: no operation is performed |
0 |
Stop change |
Immediate effect |
|
1: Parameter initialization |
|||||||||
|
2005 |
0Bh |
P0510 |
Save for communication write parameters |
RW |
- |
0: Not save |
3 |
Arbitrary change |
Immediate effect |
|
1:2000 group save |
|||||||||
|
2:6000 groups save |
|||||||||
|
3:2000 group and 6000 group save |
|||||||||
|
2005 |
0Ch |
P0511 |
Save for power-off parameters |
RW |
- |
0: Not save |
0 |
Arbitrary change |
Immediate effect |
|
1: Save |
|||||||||
|
2005 |
0Dh |
P0512 |
Holding brake enable switch |
RW |
- |
0: Disable |
1 |
Stop change |
Immediate effect |
|
1: Enable |
|||||||||
|
2005 |
0Eh |
P0513 |
Holding brake switch off to receive command delay |
RW |
ms |
0~500 |
250 |
Arbitrary change |
Immediate effect |
|
2005 |
0Fh |
P0514 |
Holding brake switch on zero speed time |
RW |
ms |
1~1000 |
150 |
Arbitrary change |
Immediate effect |
|
2005 |
10h |
P0515 |
Holding brake switch on speed threshold |
RW |
rpm |
0~3000 |
30 |
Arbitrary change |
Immediate effect |
|
2005 |
11h |
P0516 |
Holding brake switch on time threshold |
RW |
ms |
1~1000 |
500 |
Arbitrary change |
Immediate effect |
|
2005 |
14h |
P0519 |
Pre-charge test enabled |
RW |
- |
0: Disable |
1 |
Stop change |
Immediate effect |
|
1: Enable |
|||||||||
|
1:A lags B |
|||||||||
|
2005 |
18h |
P0523 |
Frequency division output phase |
RW |
- |
0-A leads B |
0 |
Stop change |
Power-on reset |
|
1-A lags B |
|||||||||
|
2005 |
2Ch |
P0543 |
Soft limit Settings |
RW |
- |
0: no limit |
0 |
Stop change |
Immediate effect |
|
1: Limit |
|||||||||
|
2: Limit after Home |
|||||||||
|
2006 Gain Parameters |
|||||||||
|
2006 |
01h |
P0600 |
Velocity proportional gain 1 |
RW |
0.1Hz |
1~20000 |
250 |
Arbitrary change |
Immediate effect |
|
2006 |
02h |
P0601 |
Velocity integral gain 1 |
RW |
0.01ms |
15~51200 |
3183 |
Arbitrary change |
Immediate effect |
|
2006 |
03h |
P0602 |
Position proportional gain 1 |
RW |
0.1Hz |
0~20000 |
400 |
Arbitrary change |
Immediate effect |
|
2006 |
09h |
P0608 |
Speed feedforward proportional gain |
RW |
0.1% |
0~1000 |
0 |
Arbitrary change |
Immediate effect |
|
2006 |
0Ah |
P0609 |
Torque feedforward proportional gain |
RW |
0.1% |
0~2000 |
0 |
Arbitrary change |
Immediate effect |
|
2006 |
0Bh |
P0610 |
Load inertia ratio |
RW |
- |
0~12000 |
200 |
Arbitrary change |
Immediate effect |
|
2007 Filter parameters |
|||||||||
|
2007 |
01h |
P0700 |
Position instruction FIR filtering |
RW |
0.1ms |
0~65535 |
0 |
Stop change |
Immediate effect |
|
2007 |
02h |
P0701 |
Position instruction mean filtering |
RW |
0.1ms |
0~1280 |
0 |
Stop change |
Immediate effect |
|
2007 |
03h |
P0702 |
Torque filtering 1 |
RW |
0.01ms |
0~3000 |
79 |
Arbitrary change |
Immediate effect |
|
2007 |
07h |
P0706 |
Velocity feedforward filtering time |
RW |
0.01ms |
0~6400 |
50 |
Arbitrary change |
Immediate effect |
|
2007 |
08h |
P0707 |
Torque feedforward filtering time |
RW |
0.01ms |
0~6400 |
50 |
Arbitrary change |
Immediate effect |
|
2007 |
0Bh |
P0710 |
Vibration suppression frequency 1 |
RW |
Hz |
50~5000 |
5000 |
Arbitrary change |
Immediate effect |
|
2007 |
0Ch |
P0711 |
Vibration suppression bandwidth 1 |
RW |
- |
0~20 |
2 |
Arbitrary change |
Immediate effect |
|
2007 |
0Dh |
P0712 |
Vibration suppression attenuation 1 |
RW |
- |
0~99 |
0 |
Arbitrary change |
Immediate effect |
|
2007 |
0Eh |
P0713 |
Vibration suppression frequency 2 |
RW |
Hz |
50~5000 |
5000 |
Arbitrary change |
Immediate effect |
|
2007 |
0Fh |
P0714 |
Vibration suppression bandwidth 2 |
RW |
- |
0~20 |
2 |
Arbitrary change |
Immediate effect |
|
2007 |
10h |
P0715 |
Vibration suppression attenuation 2 |
RW |
- |
0~99 |
0 |
Arbitrary change |
Immediate effect |
|
2007 |
11h |
P0716 |
Vibration suppression frequency 3 |
RW |
Hz |
50~5000 |
5000 |
Arbitrary change |
Immediate effect |
|
2007 |
12h |
P0717 |
Vibration suppression bandwidth 3 |
RW |
- |
0~20 |
2 |
Arbitrary change |
Immediate effect |
|
2007 |
13h |
P0718 |
Vibration suppression attenuation 3 |
RW |
- |
0~99 |
0 |
Arbitrary change |
Immediate effect |
|
2007 |
14h |
P0719 |
Vibration suppression frequency 4 |
RW |
Hz |
50~5000 |
5000 |
Arbitrary change |
Immediate effect |
|
2007 |
15h |
P0720 |
Vibration suppression bandwidth 4 |
RW |
- |
0~20 |
2 |
Arbitrary change |
Immediate effect |
|
2007 |
16h |
P0721 |
Vibration suppression attenuation 4 |
RW |
- |
0~99 |
0 |
Arbitrary change |
Immediate effect |
|
2007 |
30h |
P0747 |
Position notch frequency A |
RW |
Hz |
10~1000 |
1000 |
Stop change |
Immediate effect |
|
2007 |
49h |
P0772 |
Probe filter |
RW |
25ns |
0~31 |
15 |
Stop change |
Power-on reset |
|
2007 |
4Dh |
P0776 |
Speed arrival signal filtering |
RW |
ms |
0~5000 |
10 |
Stop change |
Immediate effect |
|
2008 Protection Parameters |
|||||||||
|
2008 |
01h |
P0800 |
Input phase missing detection |
RW |
- |
0: Error detection |
0 |
Arbitrary change |
Immediate effect |
|
1: Error detection and Alarm |
|||||||||
|
2: No detection |
|||||||||
|
2008 |
02h |
P0801 |
Error detection for encoder multi-turn overflow |
RW |
- |
0: No detection |
1 |
Stop change |
Immediate effect |
|
1: Detection |
|||||||||
|
2008 |
04h |
P0803 |
Overspeed threshold |
RW |
rpm |
0~10000 |
0 |
Arbitrary change |
Immediate effect |
|
2008 |
09h |
P0808 |
Position deviation removal mode |
RW |
- |
0: Remove when the server is not running |
0 |
Stop change |
Immediate effect |
|
1: Remove when servo OFF or DI signal is effective |
|||||||||
|
2008 |
0Ah |
P0809 |
Runaway protection detection |
RW |
- |
0: No detection |
1 |
Arbitrary change |
Immediate effect |
|
1: Detection |
|||||||||
|
2008 |
0Bh |
P0810 |
Runaway current judgment threshold |
RW |
0.1% |
1000~4000 |
2000 |
Arbitrary change |
Immediate effect |
|
2008 |
0Ch |
P0811 |
Runaway speed threshold |
RW |
rpm |
1~1000 |
10 |
Arbitrary change |
Immediate effect |
|
2008 |
0Dh |
P0812 |
Runaway speed feedback filtering time |
RW |
0.1ms |
1~1000 |
20 |
Arbitrary change |
Power-on reset |
|
2008 |
0Eh |
P0813 |
Runaway protection identification time |
RW |
ms |
10~1000 |
30 |
Arbitrary change |
Immediate effect |
|
2008 |
0Fh |
P0814 |
Motor overload protection gain |
RW |
% |
50~300 |
100 |
Stop change |
Immediate effect |
|
2008 |
11h |
P0816 |
Motor overload detection |
RW |
- |
0: Neither detects |
3 |
Stop change |
Immediate effect |
|
1: Motor overload is detected, drive overload is not detected |
|||||||||
|
2: Motor overload is not detected, drive overload ia detected |
|||||||||
|
3: Both detect |
|||||||||
|
2008 |
12h |
P0817 |
Stall detection |
RW |
- |
0: No detection |
1 |
Arbitrary change |
Immediate effect |
|
1: Detection |
|||||||||
|
2008 |
13h |
P0818 |
Stall protection time |
RW |
ms |
10~65535 |
200 |
Arbitrary change |
Immediate effect |
|
2008 |
16h |
P0821 |
Overtemperature protection point of drives |
RW |
°C |
0~100 |
0 |
Stop change |
Power-on reset |
|
2009 Display parameters |
|||||||||
|
2009 |
01h |
P0900 |
Position command speed |
RO |
rpm |
-32767~32767 |
0 |
Display |
Immediate effect |
|
2009 |
02h |
P0901 |
Speed command |
RO |
rpm |
-32767~32767 |
0 |
Display |
Immediate effect |
|
2009 |
03h |
P0902 |
Torque command |
RO |
0.1% |
-32767~32767 |
0 |
Display |
Immediate effect |
|
2009 |
04h |
P0903 |
Position feedback speed |
RO |
rpm |
-32767~32767 |
0 |
Display |
Immediate effect |
|
2009 |
05h |
P0904 |
Actual speed |
RO |
rpm |
-32767~32767 |
0 |
Display |
Immediate effect |
|
2009 |
07h |
P0906 |
Actual speed (accuracy 0.1rpm) |
RO |
rpm |
-2147483648 ~2147483647 |
0 |
Display |
Immediate effect |
|
2009 |
0Bh |
P0910 |
Bus voltage |
RO |
0.1V |
0~65535 |
0 |
Display |
Immediate effect |
|
2009 |
0Ch |
P0911 |
Control voltage |
RO |
0.1V |
0~65535 |
0 |
Display |
Immediate effect |
|
2009 |
0Dh |
P0912 |
Output phase current RMS(U phase) of drive |
RO |
0.01A |
0~65535 |
0 |
Display |
Immediate effect |
|
2009 |
0Eh |
P0913 |
Output line voltage RMS of drive |
RO |
0.1V |
0~65535 |
0 |
Display |
Immediate effect |
|
2009 |
0Fh |
P0914 |
Average load rate |
RO |
0.1% |
0~8000 |
0 |
Display |
Immediate effect |
|
2009 |
10h |
P0915 |
Drive temperature |
RO |
°C |
0~65535 |
0 |
Display |
Immediate effect |
|
2009 |
12h |
P0917 |
Electrical Angle |
RO |
0.1° |
0~65535 |
0 |
Display |
Immediate effect |
|
2009 |
13h |
P0918 |
DI input level monitoring |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2009 |
15h |
P0920 |
DO output level monitoring |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2009 |
1Ah |
P0925 |
Total running time |
RO |
0.1s |
0~4294967295 |
0 |
Display |
Immediate effect |
|
2009 |
1Ch |
P0927 |
Current power-on running time |
RO |
- |
0~4294967295 |
0 |
Display |
Immediate effect |
|
2009 |
1Fh |
P0930 |
Real-time instruction counter |
RO |
Instruction unit |
-2147483648 ~2147483647 |
0 |
Display |
Immediate effect |
|
2009 |
21h |
P0932 |
Run instruction counter |
RO |
Instruction unit |
-2147483648 ~2147483647 |
0 |
Display |
Immediate effect |
|
2009 |
23h |
P0934 |
Position feedback counter |
RO |
Instruction unit |
-2147483648 ~2147483647 |
0 |
Display |
Immediate effect |
|
2009 |
25h |
P0936 |
Position feedback counter |
RO |
Encoder unit |
-2147483648 ~2147483647 |
0 |
Display |
Immediate effect |
|
2009 |
27h |
P0938 |
Position tracking deviation |
RO |
Instruction unit |
-2147483648 ~2147483647 |
0 |
Display |
Immediate effect |
|
2009 |
29h |
P0940 |
Position tracking deviation |
RO |
Encoder unit |
-2147483648 ~2147483647 |
0 |
Display |
Immediate effect |
|
2009 |
2Bh |
P0942 |
Number of encoder turns |
RO |
turn |
0~65535 |
0 |
Display |
Immediate effect |
|
2009 |
2Ch |
P0943 |
Encoder single turn position |
RO |
p |
0~2147483647 |
0 |
Display |
Immediate effect |
|
2009 |
2Eh |
P0945 |
Encoder absolute position (low 32 bits) |
RO |
Encoder unit |
-2147483648 ~2147483647 |
0 |
Display |
Immediate effect |
|
2009 |
30h |
P0947 |
Encoder absolute position (high 32 bits) |
RO |
Encoder unit |
-2147483648 ~2147483647 |
0 |
Display |
Immediate effect |
|
2009 |
32h |
P0949 |
Mechanical absolute position (low 32 bits) |
RO |
Encoder unit |
-2147483648 ~2147483647 |
0 |
Display |
Immediate effect |
|
2009 |
34h |
P0951 |
Mechanical absolute position (high 32 bits) |
RO |
Encoder unit |
-2147483648 ~2147483647 |
0 |
Display |
Immediate effect |
|
2009 |
36h |
P0953 |
Rotating load single-turn position (low 32 bits) |
RO |
Encoder unit |
0~4294967295 |
0 |
Display |
Immediate effect |
|
2009 |
38h |
P0955 |
Rotating load single-turn position (high 32 bits) |
RO |
Encoder unit |
0~4294967295 |
0 |
Display |
Immediate effect |
|
2009 |
3Ah |
P0957 |
Rotating load single-turn position |
RO |
Instruction unit |
0~4294967295 |
0 |
Display |
Immediate effect |
|
200A Communication parameters |
|||||||||
|
200A |
01h |
P0A00 |
Slave station No. |
RW |
- |
1~247 |
1 |
Arbitrary change |
Immediate effect |
|
200A |
03h |
P0A02 |
ModBus Baud rate of communication |
RW |
- |
0:2400bps |
6 |
Arbitrary change |
Immediate effect |
|
1:4800bps |
|||||||||
|
2:9600bps |
|||||||||
|
3:19200bps |
|||||||||
|
4:38400bps |
|||||||||
|
5:57600bps |
|||||||||
|
6:115200bps |
|||||||||
|
200A |
04h |
P0A03 |
ModBus communication protocol |
RW |
- |
0: No check, 2 end bits (8-N-2) |
0 |
Arbitrary change |
Immediate effect |
|
1: Even parity check, 1 end bit (8-O-1) |
|||||||||
|
2: Odd parity check, 1 end bit (8-E-1) |
|||||||||
|
3: No check, 1 end bit (8-N-1) |
|||||||||
|
200A |
0Bh |
P0A10 |
EtherCAT version No. |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
200A |
0Ch |
P0A11 |
EtherCAT XML version No. |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
200A |
0Dh |
P0A12 |
EtherCAT Slave station name |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
200A |
0Eh |
P0A13 |
EtherCAT Slave station alias |
RW |
- |
0~65535 |
0 |
Stop change |
Immediate effect |
|
200A |
0Fh |
P0A14 |
EtherCAT State machine |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
200A |
10h |
P0A15 |
EtherCAT State code |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
200A |
11h |
P0A16 |
EtherCAT Sync signal loss count |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
200A |
12h |
P0A17 |
EtherCAT port 0 frame Ineffective error count |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
200A |
13h |
P0A18 |
EtherCAT port 1 frame Ineffective error count |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
200A |
14h |
P0A19 |
EtherCAT port 0/1 frame send error count |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
200A |
15h |
P0A20 |
EtherCAT port 0/1 frame loss error count |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
200A |
16h |
P0A21 |
EtherCAT PDI interface error count |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
200A |
1Ah |
P0A25 |
CSP mode instruction cache depth |
RW |
- |
0~1 |
0 |
Stop change |
Immediate effect |
|
200A |
20h |
P0A31 |
EtherCAT Sync Allowed times of signal loss |
RW |
- |
0~65535 |
9 |
Arbitrary change |
Immediate effect |
|
200A |
21h |
P0A32 |
EtherCAT Sync Signal detection deviation threshold |
RW |
ns |
0~4000 |
3000 |
Stop change |
Immediate effect |
|
200A |
22h |
P0A33 |
CSP position instruction increase threshold |
RW |
times |
1~7 |
3 |
Arbitrary change |
Immediate effect |
|
200E Communication auxiliary parameters |
|||||||||
|
200E |
12h |
P0E17 |
Numerator of the 2nd set of communication electronic gear ratio |
RW |
- |
1~65535 |
1 |
Stop change |
Immediate effect |
|
200E |
13h |
P0E18 |
Denominator of the 2nd group of communication electronic gear ratio |
RW |
- |
1~65535 |
1 |
Stop change |
Immediate effect |
|
201A Advanced adjustment |
|||||||||
|
201A |
01h |
P1A00 |
Real-time self-adjusting settings |
RW |
- |
0: Off |
7 |
Arbitrary change |
Immediate effect |
|
1: Standard rigid table mode |
|||||||||
|
2: Quick positioning mode |
|||||||||
|
5: Adaptive interpolation mode |
|||||||||
|
7: Adaptive positioning mode |
|||||||||
|
201A |
02h |
P1A01 |
Response level setting |
RW |
level |
0~40 |
16 |
Arbitrary change |
Immediate effect |
|
201A |
03h |
P1A02 |
Selection of vibration suppression mode |
RW |
- |
0: Off |
0 |
Arbitrary change |
Immediate effect |
|
1: Vibration suppression 3 effective |
|||||||||
|
2: Vibration suppression 3 and 4 are effective |
|||||||||
|
3: P1A.14 shows the resonance frequency |
|||||||||
|
4: Restore vibration suppression 3 and 4 |
|||||||||
|
201A |
07h |
P1A06 |
Max. speed of inertia identification |
RW |
rpm |
100~1000 |
500 |
Stop change |
Immediate effect |
|
201A |
08h |
P1A07 |
Acceleration time of inertia identification |
RW |
ms |
20~800 |
125 |
Stop change |
Immediate effect |
|
201A |
09h |
P1A08 |
Waiting time of inertia identification |
RW |
ms |
50~10000 |
800 |
Stop change |
Immediate effect |
|
201A |
0Ah |
P1A09 |
Inertia identification rotation turns |
RW |
0.01 ring |
0~65535 |
100 |
Arbitrary change |
Immediate effect |
|
201A |
13h |
P1A18 |
Disturbance compensation gain |
RW |
0.1% |
-1000~1000 |
0 |
Arbitrary change |
Immediate effect |
|
201A |
14h |
P1A19 |
Disturbance filtering time |
RW |
ms |
0~2500 |
50 |
Arbitrary change |
Immediate effect |
|
201A |
15h |
P1A20 |
Partial load compensation |
RW |
0.1% |
-1000~1000 |
0 |
Arbitrary change |
Immediate effect |
|
201A |
16h |
P1A21 |
Forward friction compensation |
RW |
0.1% |
-1000~1000 |
0 |
Arbitrary change |
Immediate effect |
|
201A |
17h |
P1A22 |
Reverse friction compensation |
RW |
0.1% |
-1000~1000 |
0 |
Arbitrary change |
Immediate effect |
|
201A |
18h |
P1A23 |
Friction compensation speed |
RW |
0.1rpm |
1~300 |
20 |
Arbitrary change |
Immediate effect |
|
201A |
19h |
P1A24 |
Selection of friction compensation speed |
RW |
- |
0~18 |
0 |
Arbitrary change |
Immediate effect |
|
201A |
1Ah |
P1A25 |
Low frequency vibration detection enabled |
RW |
- |
0: Off |
0 |
Arbitrary change |
Immediate effect |
|
1: Start |
|||||||||
|
2020 Auxiliary parameters |
|||||||||
|
2020 |
03h |
P2002 |
Emergency shutdown |
RW |
- |
0: no operation is performed |
0 |
Arbitrary change |
Immediate effect |
|
1: Emergency shutdown |
|||||||||
|
2020 |
04h |
P2003 |
Error reset |
RW |
- |
0: no operation is performed |
0 |
Stop change |
Immediate effect |
|
1: Error reset |
|||||||||
|
2020 |
05h |
P2004 |
Software reset |
RW |
- |
0: no operation is performed |
0 |
Stop change |
Immediate effect |
|
1: Software reset |
|||||||||
|
2020 |
06h |
P2005 |
Encoder reset |
RW |
- |
0: no operation is performed |
0 |
Stop change |
Immediate effect |
|
1: Reset the Error |
|||||||||
|
2: Reset the Error and number of rings |
|||||||||
|
2020 |
07h |
P2006 |
Read/write of encoder parameters |
RW |
- |
0: no operation is performed |
0 |
Stop change |
Immediate effect |
|
1: Write operation |
|||||||||
|
2: Read operation |
|||||||||
|
2020 |
27h |
P2038 |
Call enable |
RW |
- |
0~1 |
0 |
Arbitrary change |
Immediate effect |
|
2020 |
29h |
P2040 |
Bus read and servo state |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2020 |
2Ah |
P2041 |
Bus read DO low 16-bit function |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2020 |
2Bh |
P2042 |
Bus read DO high 16-bit function |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2020 |
33h |
P2050 |
Bus setting VDI level |
RW |
- |
0~65535 |
0 |
Arbitrary change |
Immediate effect |
|
2020 |
34h |
P2051 |
Bus setting DO output |
RW |
- |
0~7 |
0 |
Arbitrary change |
Immediate effect |
|
2021 Error diagnosis parameters |
|||||||||
|
2021 |
01h |
P2100 |
Exception parameter group ID |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2021 |
02h |
P2101 |
Exception parameter group bias |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2021 |
03h |
P2102 |
FPGA-side system status information |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2021 |
04h |
P2103 |
FPGA-side system Error information |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2021 |
05h |
P2104 |
FPGA-side timeout Error information |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2021 |
06h |
P2105 |
FPGA-side encoder Error information |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2021 |
07h |
P2106 |
Encoder status information |
RW |
- |
0~65535 |
0 |
Arbitrary change |
Immediate effect |
|
2021 |
09h |
P2108 |
Current Error code |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2021 |
1Fh |
P2130 |
Error logging query |
RW |
- |
0: current Error |
0 |
Arbitrary change |
Immediate effect |
|
1: the latest one Error |
|||||||||
|
2: the latest two Errors |
|||||||||
|
3: the last three Errors |
|||||||||
|
4: the last four Errors |
|||||||||
|
5: the last five Errors |
|||||||||
|
6: the last six Errors |
|||||||||
|
7: the last seven Errors |
|||||||||
|
8: the last eight Errors |
|||||||||
|
9: the last nine Errors |
|||||||||
|
2021 |
20h |
P2131 |
When the Error is selected,the Error code |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2021 |
21h |
P2132 |
When the Error is selected,internal Error code |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2021 |
22h |
P2133 |
When the Error is selected,time stamp |
RO |
0.1s |
0~4294967295 |
0 |
Display |
Immediate effect |
|
2021 |
24h |
P2135 |
When the Error is selected,rotation speed |
RO |
rpm |
-32767~32767 |
0 |
Display |
Immediate effect |
|
2021 |
25h |
P2136 |
When the Error is selected,U-phase current |
RO |
0.01A |
-32767~32767 |
0 |
Display |
Immediate effect |
|
2021 |
26h |
P2137 |
When the Error is selected,V-phase current |
RO |
0.01A |
-32767~32767 |
0 |
Display |
Immediate effect |
|
2021 |
27h |
P2138 |
When the Error is selected,Bus voltage |
RO |
0.1V |
0~65535 |
0 |
Display |
Immediate effect |
|
2021 |
28h |
P2139 |
When the Error is selected,DI input state |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2021 |
29h |
P2140 |
When the Error is selected,DO output state |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2021 |
2Ah |
P2141 |
When the Error is selected,FPGA-side system state info. |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2021 |
2Bh |
P2142 |
When the Error is selected,FPGA-side system Error info. |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2021 |
2Ch |
P2143 |
When the Error is selected,FPGA-side system timeout info. |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2021 |
2Dh |
P2144 |
When the Error is selected,FPGA-side system encoder Error info. |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2021 |
2Eh |
P2145 |
When the Error is selected,encoder state info. |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2022 Fully closed loop parameters |
|||||||||
|
2022 |
01h |
P2200 |
Encoder selection |
RW |
- |
0: Internal encoder feedback |
0 |
Stop change |
Immediate effect |
|
1: External encoder feedback |
|||||||||
|
2: When DI switches the electronic gear ratio, internal/external ring encoder feedback is switched |
|||||||||
|
2022 |
02h |
P2201 |
External encoder Enable selection |
RW |
- |
0: Disables external encoder |
0 |
Stop change |
Power-on reset |
|
1: Enable external ABZ encoder |
|||||||||
|
2022 |
03h |
P2202 |
External encoder Direction selection |
RW |
- |
0: Use deError direction |
0 |
Stop change |
Immediate effect |
|
1: Use negative direction |
|||||||||
|
2022 |
04h |
P2203 |
Number of external encoder pulses per motor rotation |
RW |
p |
1~1073741824 |
10000 |
Stop change |
Immediate effect |
|
2022 |
06h |
P2205 |
Numerator of the 2nd set of communication electronic gear ratio |
RW |
- |
1~1073741824 |
4 |
Arbitrary change |
Immediate effect |
|
2022 |
08h |
P2207 |
Denominator of the 2nd group of communication electronic gear ratio |
RW |
- |
1~1073741824 |
1 |
Arbitrary change |
Immediate effect |
|
2022 |
0Bh |
P2210 |
Fully closed loop deviation Filtering time |
RW |
0.1ms |
0~65535 |
0 |
Stop change |
Immediate effect |
|
2022 |
0Ch |
P2211 |
Hybrid control deviation threshold |
RW |
- |
0~1073741824 |
1000 |
Arbitrary change |
Immediate effect |
|
2022 |
0Eh |
P2213 |
Hybrid control deviation Clear setting |
RW |
- |
0~100 |
1 |
Arbitrary change |
Immediate effect |
|
2022 |
0Fh |
P2214 |
Fully closed loop external Position error |
RO |
p |
-1073741824 ~1073741824 |
0 |
Display |
Immediate effect |
|
2022 |
11h |
P2216 |
Internal encoder feedback value |
RO |
p |
-1073741824 ~1073741824 |
0 |
Display |
Immediate effect |
|
2022 |
13h |
P2218 |
External encoder feedback value |
RO |
p |
-1073741824 ~1073741824 |
0 |
Display |
Immediate effect |
|
2023 Virtual I/O parameters |
|||||||||
|
2023 |
01h |
P2300 |
VDI enabled |
RW |
- |
0: Disable |
0 |
Stop change |
Immediate effect |
|
1: Enable |
|||||||||
|
2023 |
02h |
P2301 |
Initial status of VDI power-on |
RW |
- |
0~65535 |
0 |
Arbitrary change |
Power-on reset |
|
2023 |
03h |
P2302 |
VDO enabled |
RW |
- |
0: Disable |
0 |
Stop change |
Immediate effect |
|
1: Enable |
|||||||||
|
2023 |
04h |
P2303 |
Default for undefined VDO |
RW |
- |
0x0:VDO1 Default |
0 |
Stop change |
Immediate effect |
|
0x1:VDO2 Default |
|||||||||
|
0x2:VDO3 Default |
|||||||||
|
0x3:VDO4 Default |
|||||||||
|
0x4:VDO5 Default |
|||||||||
|
0x5:VDO6 Default |
|||||||||
|
0x6:VDO7 Default |
|||||||||
|
0x7:VDO8 Default |
|||||||||
|
0x8:VDO9 Default |
|||||||||
|
0x9:VDO10 Default |
|||||||||
|
0xa:VDO11 Default |
|||||||||
|
0xb:VDO12 Default |
|||||||||
|
0xc:VDO13 Default |
|||||||||
|
0xd:VDO14 Default |
|||||||||
|
0xe:VDO15 Default |
|||||||||
|
0xf:VDO16 Default |
|||||||||
|
2023 |
07h |
P2306 |
VDI1 function |
RW |
- |
0: no definition |
0 |
Arbitrary change |
Immediate effect |
|
1: Servo enabled |
|||||||||
|
2: Emergency shutdown |
|||||||||
|
3: Command forbidden |
|||||||||
|
4: Position deviation cleared |
|||||||||
|
5: Reset the Error |
|||||||||
|
6: Zero speed retention |
|||||||||
|
7: Forward jogging |
|||||||||
|
8: Reverse jogging |
|||||||||
|
9: Forwar limit |
|||||||||
|
10: Reverse limit |
|||||||||
|
11: Origin switch |
|||||||||
|
12: Zero to return enabled |
|||||||||
|
13: Speed limit selection |
|||||||||
|
14: Forward torque limit selection |
|||||||||
|
15: Reverse torque limit selection |
|||||||||
|
16: Preset position enabled |
|||||||||
|
19: Torque instruction reversing |
|||||||||
|
20: Speed instruction reversing switch |
|||||||||
|
21: Position command reversing switch |
|||||||||
|
22: Gain switch selection |
|||||||||
|
23: Operation command switch |
|||||||||
|
24: Mode switch 1 |
|||||||||
|
25: Mode switch 2 |
|||||||||
|
26: Electronic gear switch |
|||||||||
|
27: Preset command selection 1 |
|||||||||
|
28: Preset command selection 2 |
|||||||||
|
29: Preset command selection 3 |
|||||||||
|
30: Preset command selection 4 |
|||||||||
|
31: Current DI trigger point as the origin |
|||||||||
|
33: Probe 1 |
|||||||||
|
34: Probe 2 |
|||||||||
|
2023 |
08h |
P2307 |
VDI1 polarity |
RW |
- |
0: Write 1 valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Write positive edge valid (0→1) |
|||||||||
|
2023 |
09h |
P2308 |
VDI2 function |
RW |
- |
Refer to VDI1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
0Ah |
P2309 |
VDI2 polarity |
RW |
- |
0: Write 1 valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Write positive edge valid (0→1) |
|||||||||
|
2023 |
0Bh |
P2310 |
VDI3 function |
RW |
- |
Refer to VDI1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
0Ch |
P2311 |
VDI3 polarity |
RW |
- |
0: Write 1 valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Write positive edge valid (0→1) |
|||||||||
|
2023 |
0Dh |
P2312 |
VDI4 function |
RW |
- |
Refer to VDI1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
0Eh |
P2313 |
VDI4 polarity |
RW |
- |
0: Write 1 valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Write positive edge valid (0→1) |
|||||||||
|
2023 |
0Fh |
P2314 |
VDI5 function |
RW |
- |
Refer to VDI1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
10h |
P2315 |
VDI5 polarity |
RW |
- |
0: Write 1 valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Write positive edge valid (0→1) |
|||||||||
|
2023 |
11h |
P2316 |
VDI6 function |
RW |
- |
Refer to VDI1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
12h |
P2317 |
VDI6 polarity |
RW |
- |
0: Write 1 valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Write positive edge valid (0→1) |
|||||||||
|
2023 |
13h |
P2318 |
VDI7 function |
RW |
- |
Refer to VDI1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
14h |
P2319 |
VDI7 polarity |
RW |
- |
0: Write 1 valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Write positive edge valid (0→1) |
|||||||||
|
2023 |
15h |
P2320 |
VDI8 function |
RW |
- |
Refer to VDI1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
16h |
P2321 |
VDI8 polarity |
RW |
- |
0: Write 1 valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Write positive edge valid (0→1) |
|||||||||
|
2023 |
17h |
P2322 |
VDI9 function |
RW |
- |
Refer to VDI1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
18h |
P2323 |
VDI9 polarity |
RW |
- |
0: Write 1 valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Write positive edge valid (0→1) |
|||||||||
|
2023 |
19h |
P2324 |
VDI10 function |
RW |
- |
Refer to VDI1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
1Ah |
P2325 |
VDI10 polarity |
RW |
- |
0: Write 1 valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Write positive edge valid (0→1) |
|||||||||
|
2023 |
1Bh |
P2326 |
VDI11 function |
RW |
- |
Refer to VDI1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
1Ch |
P2327 |
VDI11 polarity |
RW |
- |
0: Write 1 valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Write positive edge valid (0→1) |
|||||||||
|
2023 |
1Dh |
P2328 |
VDI12 function |
RW |
- |
Refer to VDI1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
1Eh |
P2329 |
VDI12 polarity |
RW |
- |
0: Write 1 valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Write positive edge valid (0→1) |
|||||||||
|
2023 |
1Fh |
P2330 |
VDI13 function |
RW |
- |
Refer to VDI1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
20h |
P2331 |
VDI13 polarity |
RW |
- |
0: Write 1 valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Write positive edge valid (0→1) |
|||||||||
|
2023 |
21h |
P2332 |
VDI14 function |
RW |
- |
Refer to VDI1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
22h |
P2333 |
VDI14 polarity |
RW |
- |
0: Write 1 valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Write positive edge valid (0→1) |
|||||||||
|
2023 |
23h |
P2334 |
VDI15 function |
RW |
- |
Refer to VDI1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
24h |
P2335 |
VDI15 polarity |
RW |
- |
0: Write 1 valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Write positive edge valid (0→1) |
|||||||||
|
2023 |
25h |
P2336 |
VDI16 function |
RW |
- |
Refer to VDI1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
26h |
P2337 |
VDI16 polarity |
RW |
- |
0: Write 1 valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Write positive edge valid (0→1) |
|||||||||
|
2023 |
2Bh |
P2342 |
VDO output level |
RO |
- |
0~65535 |
0 |
Display |
Immediate effect |
|
2023 |
2Ch |
P2343 |
VDO1 function |
RW |
- |
0: no definition |
0 |
Arbitrary change |
Immediate effect |
|
1: Rdy |
|||||||||
|
2: Run |
|||||||||
|
3: Warn |
|||||||||
|
4: Error |
|||||||||
|
5: TGon |
|||||||||
|
6: Zero |
|||||||||
|
7: VCmp |
|||||||||
|
8: VArr |
|||||||||
|
9: TArr |
|||||||||
|
10: Near |
|||||||||
|
11: Coin |
|||||||||
|
12: Clt |
|||||||||
|
13: Vlt |
|||||||||
|
14: HomeOK |
|||||||||
|
15: eHomeOK |
|||||||||
|
17: BK |
|||||||||
|
18: DB |
|||||||||
|
19: AngRdy |
|||||||||
|
2023 |
2Dh |
P2344 |
VDO1 polarity |
RW |
- |
0: Output 1 when valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Output 0 when valid |
|||||||||
|
2023 |
2Eh |
P2345 |
VDO2 function |
RW |
- |
Refer to VDO1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
2Fh |
P2346 |
VDO2 polarity |
RW |
- |
0: Output 1 when valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Output 0 when valid |
|||||||||
|
2023 |
30h |
P2347 |
VDO3 function |
RW |
- |
Refer to VDO1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
31h |
P2348 |
VDO3 polarity |
RW |
- |
0: Output 1 when valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Output 0 when valid |
|||||||||
|
2023 |
32h |
P2349 |
VDO4 function |
RW |
- |
Refer to VDO1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
33h |
P2350 |
VDO4 polarity |
RW |
- |
0: Output 1 when valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Output 0 when valid |
|||||||||
|
2023 |
34h |
P2351 |
VDO5 function |
RW |
- |
Refer to VDO1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
35h |
P2352 |
VDO5 polarity |
RW |
- |
0: Output 1 when valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Output 0 when valid |
|||||||||
|
2023 |
36h |
P2353 |
VDO6 function |
RW |
- |
Refer to VDO1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
37h |
P2354 |
VDO6 polarity |
RW |
- |
0: Output 1 when valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Output 0 when valid |
|||||||||
|
2023 |
38h |
P2355 |
VDO7 function |
RW |
- |
Refer to VDO1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
39h |
P2356 |
VDO7 polarity |
RW |
- |
0: Output 1 when valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Output 0 when valid |
|||||||||
|
2023 |
3Ah |
P2357 |
VDO8 function |
RW |
- |
Refer to VDO1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
3Bh |
P2358 |
VDO8 polarity |
RW |
- |
0: Output 1 when valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Output 0 when valid |
|||||||||
|
2023 |
3Ch |
P2359 |
VDO9 function |
RW |
- |
Refer to VDO1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
3Dh |
P2360 |
VDO9 polarity |
RW |
- |
0: Output 1 when valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Output 0 when valid |
|||||||||
|
2023 |
3Eh |
P2361 |
VDO10 function |
RW |
- |
Refer to VDO1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
3Fh |
P2362 |
VDO10 polarity |
RW |
- |
0: Output 1 when valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Output 0 when valid |
|||||||||
|
2023 |
40h |
P2363 |
VDO11 function |
RW |
- |
Refer to VDO1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
41h |
P2364 |
VDO11 polarity |
RW |
- |
0: Output 1 when valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Output 0 when valid |
|||||||||
|
2023 |
42h |
P2365 |
VDO12 function |
RW |
- |
Refer to VDO1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
43h |
P2366 |
VDO12 polarity |
RW |
- |
0: Output 1 when valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Output 0 when valid |
|||||||||
|
2023 |
44h |
P2367 |
VDO13 function |
RW |
- |
Refer to VDO1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
45h |
P2368 |
VDO13 polarity |
RW |
- |
0: Output 1 when valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Output 0 when valid |
|||||||||
|
2023 |
46h |
P2369 |
VDO14 function |
RW |
- |
Refer to VDO1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
47h |
P2370 |
VDO14 polarity |
RW |
- |
0: Output 1 when valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Output 0 when valid |
|||||||||
|
2023 |
48h |
P2371 |
VDO15 function |
RW |
- |
Refer to VDO1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
49h |
P2372 |
VDO15 polarity |
RW |
- |
0: Output 1 when valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Output 0 when valid |
|||||||||
|
2023 |
4Ah |
P2373 |
VDO16 function |
RW |
- |
Refer to VDO1 function |
0 |
Arbitrary change |
Immediate effect |
|
2023 |
4Bh |
P2374 |
VDO16 polarity |
RW |
- |
0: Output 1 when valid |
0 |
Arbitrary change |
Immediate effect |
|
1: Output 0 when valid |
|||||||||
Allocation List of Object Group 6000h
6000h object group contains the objects related to supported sub-protocol DSP 402.
| Index | Subindex | Name | Acc ess | PDO | Data type | Unit | Range | Default | Change mode | Enable mode | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 603Fh | 0 | Error code | RO | TxPDO | UINT16 | - | 0~65535 | 0 | Display | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6040h | 0 | Control word | RW | RxPDO | UINT16 | - | 0~65535 | 0 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6041h | 0 | Status word | RO | TxPDO | UINT16 | - | 0~65535 | 0 | Display | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 605Ah | 0 | Quick stop option code | RW | NO | INT16 | 0~7 | 2 | Arbitrary change | Stop effect | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 605Dh | 0 | Halt option code | RW | NO | INT16 | 1~3 | 1 | Arbitrary change | Stop effect | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6060h | 0 | Modes of operation | RW | RxPDO | INT8 | - | 0~10 | 0 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6061h | 0 | Modes of operation display | RO | TxPDO | INT8 | - | 0~10 | 0 | Display | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6062h | 0 | Position demand value | RO | TxPDO | DINT32 | 1 instruction unit | - | - | Display | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6063h | 0 | Position actual internal value | RO | TxPDO | DINT32 | 1 encoder unit | - | - | Display | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Parameter | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6064h | 0 | Position actual value | RO | TxPDO | DINT32 | 1 instruction unit | - | - | Display | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6065h | 0 | Following error window | RW | RxPDO | UDINT32 | 1 instruction unit | 20bit motor: 3145728 | 1048576 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 23bit motor: 25165824 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6067h | 0 | Position window | RW | RxPDO | UINT32 | 1 encoder unit | 0~65535 | 734 | Arbitrary change | Immediate effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6068h | 0 | Position window time | RW | RxPDO | UINT16 | 1ms | 0~65535 | x16 | Arbitrary change | Immediate effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 606Ch | 0 | Velocity actual value | RO | TxPDO | INT32 | 1 Command unit /s | - | - | Display | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 606Dh | 0 | Velocity window | RW | RxPDO | UINT16 | 1rpm | 0~65535 | 10 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 606Eh | 0 | Velocity window time | RW | RxPDO | UINT16 | 1ms | 0~65535 | 0 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6071h | 0 | Target torque | RW | RxPDO | INT16 | 0.10% | -5000~5000 | 0 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6072h | 0 | Max torque | RW | RxPDO | UINT16 | 0.10% | 0~5000 | 5000 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6074h | 0 | Torque demand | RO | TxPDO | INT16 | 0.10% | -5000~5000 | 0 | Display | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6077h | 0 | Torque actual value | RO | TxPDO | INT16 | 0.10% | -5000~5000 | 0 | Display | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Parameter | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 607Ah | 0 | Target position | RW | RxPDO | INT32 | 1 instruction unit | -231~(231-1) | 0 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 607Ch | 0 | Home offset | RW | RxPDO | INT32 | 1 instruction unit | -231~(231-1) | 0 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 607Dh | Software position limit | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | Number of entries | RO | NO | UINT8 | - | - | 2 | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | Min position limit | RW | RxPDO | INT32 | 1 User position unit | -231~(231-1) | -231 | Arbitrary change | Stop effect | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 2 | Max position limit | RW | RxPDO | INT32 | 1 User position unit | -231~(231-1) | 231-1 | Arbitrary change | Stop effect | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 607Eh | 0 | Polarity | RW | RxPDO | UINT8 | - | 00~FF | 0 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 607Fh | 0 | Max profile velocity | RW | RxPDO | UDINT32 | 1 Command unit /s | 0~(232-1) | 108 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6081h | 0 | Profile velocity | RW | RxPDO | UDINT32 | 1 User speed unit | 0~(232-1) | 0 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6083h | 0 | Profile acceleration | RW | RxPDO | UDINT32 | 1 instruction unit /s2 | 0~(232-1) | 100 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6084h | 0 | Profile deceleration | RW | RxPDO | UDINT32 | 1 instruction unit /s2 | 0~(232-1) | 100 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6085h | 0 | Quick stop deceleration | RW | RxPDO | UDINT32 | 1 User acceleration unit | 0~(232-1) | 100 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6086h | 0 | Motion profile type | RW | RxPDO | INT16 | - | -215~(215-1) | 0 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6087h | 0 | Torque slope | RW | RxPDO | UDINT32 | 0.1%/s | 0~(232-1) | 232-1 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6091h | Gear ratio | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | Number of entries | RO | NO | UINT8 | - | - | 2 | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | Motor revolutions | RW | RxPDO | UINT32 | - | 1~(232-1) | 1 | Arbitrary change | Immediate effect | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 2 | Shaft revolutions | RW | RxPDO | UINT32 | - | 1~(232-1) | 1 | Arbitrary change | Immediate effect | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6098h | Homing method | RW | RxPDO | INT8 | - | -2~35 | 1 | Arbitrary change | Stop effect | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6099h | Homing speeds | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | Number of entries | RO | NO | UINT8 | - | 2 | 2 | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | Speed during search for switch | RW | RxPDO | UINT32 | 1 Command unit /s | 0~(232-1) | 100 | Arbitrary change | Stop effect | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 2 | Speed during search for zero | RW | RxPDO | UINT32 | 1 Command unit /s | 10~(232-1) | 100 | Arbitrary change | Stop effect | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 609Ah | 0 | Homing acceleration | RW | RxPDO | UDINT32 | 1 instruction unit /s2 | 0~(232-1) | 100 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 60B0h | 0 | Position offset | RW | RxPDO | INT32 | 1 instruction unit | -231~(231-1) | 0 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 60B1h | 0 | Velocity offset | RW | RxPDO | INT32 | 1 Command unit /s | -231~(231-1) | 0 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 60B2h | 0 | Torque offset | RW | RxPDO | INT16 | 0.10% | -5000~5000 | 0 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 60B8h | 0 | Touch probe function | RW | RxPDO | UINT16 | - | 0~65535 | 0 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 60B9h | 0 | Touch probe status | RO | TxPDO | UINT16 | - | 0~65535 | 0 | Display | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 60BAh | 0 | Touch probe pos1 pos value | RO | TxPDO | INT32 | 1 instruction unit | -231~(231-1) | 0 | Display | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 60BBh | 0 | Touch probe pos1 neg value | RO | TxPDO | INT32 | 1 instruction unit | -231~(231-1) | 0 | Display | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 60BCh | 0 | Touch probe pos2 pos value | RO | TxPDO | INT32 | 1 instruction unit | -231~(231-1) | 0 | Display | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 60BDh | 0 | Touch probe pos2 neg value | RO | TxPDO | INT32 | 1 instruction unit | -231~(231-1) | 0 | Display | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 60E0h | 0 | Positive torque limit value | RW | RxPDO | UINT16 | 0.10% | 0~5000 | 5000 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 60E1h | 0 | Negative torque limit value | RW | RxPDO | UINT16 | 0.10% | 0~5000 | 5000 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 60E3h | Supported homing method | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | Number of entries | RO | NO | UINT8 | - | - | 31 | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | 1st supported homing method | RO | NO | UINT16 | - | - | 0301h | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 2 | 2nd supported homing method | RO | NO | UINT16 | - | - | 0302h | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 3 | 3rd supported homing method | RO | NO | UINT16 | - | - | 0303h | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 4 | 4th supported homing method | RO | NO | UINT16 | - | - | 0304h | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 5 | 5th supported homing method | RO | NO | UINT16 | - | - | 0305h | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6 | 6th supported homing method | RO | NO | UINT16 | - | - | 0306h | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 7 | 7th supported homing method | RO | NO | UINT16 | - | - | 0307h | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 8 | 8th supported homing method | RO | NO | UINT16 | - | - | 0308h | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 9 | 9th supported homing method | RO | NO | UINT16 | - | - | 0309h | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0A | 10th supported homing method | RO | NO | UINT16 | - | - | 030Ah | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0B | 11th supported homing method | RO | NO | UINT16 | - | - | 030Bh | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0C | 12th supported homing method | RO | NO | UINT16 | - | - | 030Ch | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0D | 13th supported homing method | RO | NO | UINT16 | - | - | 030Dh | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0E | 14th supported homing method | RO | NO | UINT16 | - | - | 030Eh | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0F | 15th supported homing method | RO | NO | UINT16 | - | - | 030Fh | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 10 | 16th supported homing method | RO | NO | UINT16 | - | - | 0310h | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 11 | 17th supported homing method | RO | NO | UINT16 | - | - | 0311h | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 12 | 18th supported homing method | RO | NO | UINT16 | - | - | 0312h | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 13 | 19th supported homing method | RO | NO | UINT16 | - | - | 0313h | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 14 | 20th supported homing method | RO | NO | UINT16 | - | - | 0314h | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 15 | 21st supported homing method | RO | NO | UINT16 | - | - | 0315h | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 16 | 22nd supported homing method | RO | NO | UINT16 | - | - | 0316h | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 17 | 23rd supported homing method | RO | NO | UINT16 | - | - | 0317h | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 18 | 24th supported homing method | RO | NO | UINT16 | - | - | 0318h | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 19 | 25th supported homing method | RO | NO | UINT16 | - | - | 0319h | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1A | 26th supported homing method | RO | NO | UINT16 | - | - | 031Ah | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1B | 27th supported homing method | RO | NO | UINT16 | - | - | 031Bh | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1C | 28th supported homing method | RO | NO | UINT16 | - | - | 031Ch | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1D | 29th supported homing method | RO | NO | UINT16 | - | - | 031Dh | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1E | 30th supported homing method | RO | NO | UINT16 | - | - | 031Eh | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1F | 31st supported homing method | RO | NO | UINT16 | - | - | 031Fh | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 60E6h | 0 | Actual position calculation | RW | NO | UINT8 | - | 0~1 | 0 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 60F4h | 0 | Following error actual value | RO | RxPDO | DINT32 | 1 instruction unit | - | - | Display | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 60FCh | 0 | Position demand internal value | RO | TxPDO | DINT32 | 1 encoder unit | - | - | Display | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 60FDh | 0 | Digital inputs | RO | RxPDO | UDINT32 | - | 0~FFFFFFFF | 0 | Display | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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| 60FEh | Digital outputs | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 0 | Number of entries | RO | NO | UINT8 | - | - | 1 | Display | No | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 1 | Physical outputs | RW | RxPDO | UINT32 | - | 0~FFFFFFFF | 0 | Arbitrary change | Stop effect | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 2 | Bit mask | RW | NO | UINT32 | - | 0~FFFFFFFF | 0 | Arbitrary change | Stop effect | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 60FFh | 0 | Target velocity | RW | RxPDO | INT32 | 1 Command unit /s | -461 | 0 | Arbitrary change | Stop effect | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 6502h | 0 | Supported drive modes | RO | NO | UDINT32 | - | - | 3A1h | Display | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||