E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
3-16 HIWIN MIKROSYSTEM Corp.
Index
Sub-
Index
Name
Data
type
Access PDO Valid value Unit
607Dh
-
Software position limit - - - - -
To enable software limit, 3041h must be set to 1. After the position coordinate is finalized, the software limit will be effective.
If the actual position is out of the normal operating range, the motor can only move towards the normal operating range, and
bit 11 of 6041h (statusword) will be 1. Once the motor reaches the software limit, the motor decelerates according to 6085h
(quick stop deceleration).
00h Number of entries U8 ro - 2 -
01h
Min position limit I32 rw Y -2147483648 ~ 2147483647 inc
The software limit value in negative direction.
02h
Max position limit I32 rw Y -2147483648 ~ 2147483647 inc
The software limit value in positive direction.
607Fh 00h
Max profile velocity U32 rw Y 0 ~ 4294967295 inc/s
The configured maximum velocity. The value is limited by the motor’s ability.
6081h 00h
Profile velocity U32 rw Y 0 ~ 4294967295 inc/s
The velocity during profile motion.The value is limited by 607Fh.
6083h 00h
Profile acceleration U32 rw Y 0 ~ 4294967295 inc/s
2
The configured acceleration of profile motion.
6084h 00h
Profile deceleration U32 rw Y 0 ~ 4294967295 inc/s
2
The configured deceleration of profile motion.
6085h 00h
Quick stop deceleration U32 rw Y 0 ~ 4294967295 inc/s
2
The deceleration is used to stop the motor when quick stop function is activated and 605Ah (quick stop option code) is set to
2 or 6. Quick stop deceleration is also used when 605Dh (halt option code) and 605Eh (fault reaction option code) is 2.
6087h 00h
Torque slope U32 rw Y 0 ~ 4294967295 0.1%/s
The rate of change of torque.
6098h 00h
Homing method I8 rw Y -128 ~ 127 -
The homing method used in hm mode. The homing method can not be changed during homing. The supported homing
methods are method -5 to -1, 1, 2, 7 to 14, 33, 34 and 37. If homing procedure starts with unsupported homing method, bit
13 of 6041h (statusword) will be set to 1.
6099h
-
Homing speeds - - - - -
The velocity during hm mode.
00h Number of entries U8 ro - 2 -
01h
Speed during search for switch U32 rw Y 0 ~ 4294967295 inc/s
The velocity during searching for switch signal.
02h
Speed during search for zero U32 rw Y 0 ~ 4294967295 inc/s
The velocity during searching for index signal.
609Ah 00h
Homing acceleration U32 rw Y 0 ~ 4294967295 inc/s
2
The acceleration and deceleration in hm mode.
To Next Page
Loading...
Need help?
General
