Hiwin E1 Series Command Manual

E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
HIWIN MIKROSYSTEM Corp. 3-17
MD08UE01-1812
Index
Sub-
Index
Name
Data
type
Access PDO Valid value Unit
60B1h 00h Velocity offset I32 rw Y -2147483648 ~ 2147483647 inc/s
60B2h 00h Torque offset I16 rw Y -3000 ~ 3000 0.1%
60B8h 00h
Touch probe function U16 rw Y 0 ~ 65535 -
E1-series drive only supports touch probe 1 function. Each bit is described as below.
Bit
Value
Definition
0
0
Switch off touch probe 1
1 Enable touch probe 1
1
0 Trigger first event
1
Continuous
2~3
00
-
01
Trigger with Z-phase signal or position encoder
10
-
11
-
4
0 Switch off sampling at positive edge of touch probe 1
1
Enable sampling at positive edge of touch probe 1
5
0
Switch off sampling at negative edge of touch probe 1
1
Enable sampling at negative edge of touch probe 1
6~15
-
-
Do not enable positive and negative edges at the same time. Otherwise, the behavior is not guaranteed.
60B9h 00h
Touch probe status U16 ro Y 0 ~ 65535 -
The state of the touch probe function. Each bit is described as below.
Bit
Value
Definition
0
0
Touch probe 1 is switched off
1
Touch probe 1 is enabled
1
0
Touch probe 1 no positive edge value stored
1 Touch probe 1 positive edge value stored
2
0 Touch probe 1 no negative edge value stored
1 Touch probe 1 negative edge value stored
3~6
-
-
7 -
Continuous latch status. This bit is toggled every time the latch position is
updated.
8~15
-
-
60BAh 00h
Touch probe 1 positive edge I32 ro Y -2147483648 ~ 2147483647 inc
The position value of touch probe 1 at positive edge.
60BBh 00h
Touch probe 1 negative edge I32 ro Y -2147483648 ~ 2147483647 inc
The position value of touch probe 1 at negative edge.
60BCh 00h
Touch probe 2 positive edge I32 ro Y -2147483648 ~ 2147483647 inc
The position value of touch probe 2 at positive edge.
60C2h
-
Interpolation time period - - - - -
The interpolation time cycle is set up automatically based on the used communication cycle.
Communication cycle
60C2:01h
60C2:02h
250μs 25 -5
500μs
5
-4
1ms
1
-3
2ms
2
-3
4ms
4
-3
00h Number of entries U8 ro - 2 -
01h Interpolation time period value U8 rw - 0 ~ 255 -
02h Interpolation time index I8 rw - -128 ~ 63 -
60C5h 00h Max acceleration U32 rw Y 0 ~ 4294967295 inc/s
2

Hiwin E1 Series Specifications

General

Brand	Hiwin
Model	E1 Series
Category	Servo Drives
Language	English