Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 421
Programming via Drive Parameters Chapter 15
059 (3Bh)
Pulse from E-Cam
master axis
(accumulative)
DEC Accumulative pulse number of the E-Cam master axis. Same as ID374 (P5.086).
Same as the master
axis pulse
060 (3Ch)
Pulse from E-Cam
master axis
(incremental)
DEC Incremental pulse number of the E-Cam master axis. The increment per ms.
Same as the master
axis pulse
061 (3Dh)
Pulse from E-Cam
master axis (lead
pulse)
DEC
The lead pulse of the E-Cam master axis which determines the engagement condition.When
disengaged: lead pulse = ID375 (P5.087) or ID380 (P5.092); when the value is 0, E-Cam
engages.When engaged: lead pulse = ID377 (P5.089); when the value is 0, it disengages.
Same as the master
axis pulse
062 (3Eh)
Position of E-Cam
master axis
DEC
Position of the E-Cam which corresponds to the master axis pulse, and can be used to find the phase
of the E-Cam. when the incremental pulse number of the master axis is P, E-Cam rotates M cycles,
where ID371 (P5.083) = M, ID372(P5.084) = P.
Same as the master
axis pulse
063 (3Fh)
Position of E-Cam
slave axis
DEC
Position of the E-Cam slave axis and can be found from the E-Cam table.Unit: unit used in the E-Cam
table.
PUU
064 (40h)
Endpoint register of
PR command
DEC In PR mode, the endpoint of the Position command (Cmd_E). PUU
065 (41h)
Output register of PR
command
DEC In PR mode, the accumulative output of the Position command. PUU
067 (43h) PR target speed DEC Target speed specified in the PR command.
0.1 RPM or PPS
(pulse per second)
068 (44h) S-curve (input) DEC Input data of the S-curve filter.Effective in PR mode, E-Cam, and register Speed command. PUU
069 (45h) S-curve (output) DEC Output data of the S-curve filter.Effective in PR mode, E-Cam, and register Speed command. PUU
072 (48h)
Speed command
(analog)
DEC Speed command from the analog channel. 0.1 rpm
081 (51h)
Synchronous Capture
axis Incremental
pulse input
DEC
When the synchronous Capture axis is enabled, the actual Mark distance can be measured by the
received pulse number between two captures.
PUU
084 (54h)
Synchronous Capture
axis Pulse number of
synchronous
deviation
DEC
The accumulative deviation between the actual output pulse and the target pulse when the
synchronous Capture axis is enabled. This value is close to 0 if synchronization is reached.
PUU
085 (55h)
E-Cam alignment
deviation percentage
DEC
The alignment error rate after filtering. 10 indicates 1% and the angle conversion is 360° × 1% =
3.6°.
0.1%
091 (5Bh)
Indexing coordinate
feedback
DEC Immediate feedback position of the indexing coordinates. PUU
096 (60h)
Drive firmware
version
DEC
Includes 2 versions: DSP and CPLD.
• Low word returns the DSP version number
• High word returns the CPLD version number
—
111 (6Fh)
Error code of the
servo drive
DEC
E
rror code from the servo drive: control loop of the servo only, not including the motion controller. —
112 (70h)
Encoder
communication error
rate
DEC
When this value continues to increase, it indicates that there is communication interference. In an
interference-free environment, this value should not increase.
—
113 (71h)
Overload (E006)
protection counter
DEC Displays the motor load during operation. When the value reaches 100%, E006 occurs. —
114 (72h) Encoder temperature DEC Monitor the encoder temperature. °C
115 (73h) Encoder type DEC Displays the encoder type. —
116 (74h)
Deviation between
position and Z phase
of auxiliary encoder
(pulse)
DEC
Deviation between the current position of the auxiliary encoder and the Z phase position of the
auxiliary encoder.
count
Table 128 - System Variables Code (Continued)
Code Variable name Property Description User Unit
(1)
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