Hiwin E1 Series - Electrical Planning

E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
HIWIN MIKROSYSTEM Corp. 3-23
MD08UE01-1812
Index
Sub-
Index
Name
Data
type
Access PDO Valid value Unit
01h Min position limit I32 rw Y -2147483648 ~ 2147483647 inc
02h Max position limit I32 rw Y -2147483648 ~ 2147483647 inc
607Fh 00h Max profile velocity U32 rw Y 0 ~ 4294967295 inc/s
6081h 00h Profile velocity U32 rw Y 0 ~ 4294967295 inc/s
6083h 00h Profile acceleration U32 rw Y 0 ~ 4294967295 inc/s
2
6084h 00h Profile deceleration U32 rw Y 0 ~ 4294967295 inc/s
2
6085h 00h Quick stop deceleration U32 rw Y 0 ~ 4294967295 inc/s
2
60C5h 00h Max acceleration U32 rw Y 0 ~ 4294967295 inc/s
2
60C6h 00h Max deceleration U32 rw Y 0 ~ 4294967295 inc/s
2
60F4h 00h Following error actual value I32 ro Y -2147483648 ~ 2147483647 inc
60FCh 00h Position demand internal value I32 ro Y -2147483648 ~ 2147483647 count
 Controlword (6040h) for pp mode
Table 3.2.2.2
Bit 9 Bit 5 Bit 4
Definition
change
on set-point
change set
immediately
new
set-point
0 0 0→1
Positioning is completed (target reached) before the next one gets
started.
X
1
0→1
Immediately start next positioning.
1 0 0→1
Execute positioning with current profile velocity to the current set-point
and then apply next positioning.
Table 3.2.2.3
Bit Value Definition
6
(absolute / relative)
0
Target position is an absolute value.
1
Target position is a relative value.
8
(halt)
0 Execute or continue positioning.
1
Axis is stopped according to 605Dh (halt option code).
 Statusword (6041h) for pp mode
Table 3.2.2.4
Bit Value Definition
10
(target reached)
0
Halt (Bit 8 in controlword) = 0: target position not reached
Halt = 1: axis decelerates
1
Halt = 0: target position reached
Halt = 1: velocity of axis is 0
12
(set-point
acknowledge)
0
The last set-point is already processed.
Wait for new set-point (the buffer is empty).
1
Previous set-point is still in process.
13
(following error)
0 No following error
1
Following error