Hiwin D2 User Manual

D2 Drive User Guide v1.8 D. Modbus Communication
HIWIN Mikrosystem Corp. 289
(9) Object 2006 – Status 3
Bit
Definition
0
Current control error
1
HFLT inconsistent error
2 - 4
--
5
Homing fail
6
Absolute encoder battery warning
7
DC bus voltage abnormal
8
Wrong absolute position
9 - 15
--
D.3.2. Holding register
The data length of each readable/writable holding register is 32 bits.
Table D-14
Object
Register
address
Description
Type
Unit
0
0x0000
Maximum
acceleration
Lower data
REAL32
count/s
2
0x0001
Higher data
1
0x0002
Maximum
deceleration
Lower data
REAL32
count/s
2
0x0003
Higher data
2
0x0004
Kill deceleration
Lower data
REAL32
count/s
2
0x0005
Higher data
3
0x0006
Maximum velocity
Lower data
REAL32
count/s
0x0007
Higher data
39
0x004E
Home velocity
(Index search
speed)
Lower data
INT32
count/s
0x004F
Higher data
40
0x0050
Homing time out
Lower data
INT32
1s/15,000
0x0051
Higher data
50
0x0064
Maximum
following error
Lower data
REAL32
A
amp
0x0065
Higher data
79
0x009E
AC servo gear
ratio
Lower data
REAL32
--
0x009F
Higher data
81
0x00A2
Numerator of
electronic gear
ratio
Lower data
INT32
--
0x00A3
Higher data
82
0x00A4
Denominator of
electronic gear
ratio
Lower data
INT32
--
0x00A5
Higher data
83
0x00A6
Velocity scale for
external
command
Lower data
REAL32
count/s = 1 V
0x00A7
Higher data
85
0x00AA
Current scale for
external
command
Lower data
REAL32
(A
amp
×1,000)/
(curr_drv_peak)
= 1 V
0x00AB
Higher data
115
0x00E6
Smooth factor
Lower data
UINT32
--
0x00E7
Higher data
129
0x0102
Pulse mode
Lower data
INT32
--

Hiwin D2 Specifications

General

Brand	Hiwin
Model	D2
Category	DC Drives
Language	English