Hiwin E1 Series - Page 58

E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
3-30 HIWIN MIKROSYSTEM Corp.
MD08UE01-1812
Related objects for csp mode are listed in Table 3.2.3.1.
Table 3.2.3.1
Index
Sub-
Index
Name
Data
type
Access PDO Valid value Unit
6040h 00h Controlword U16 rw Y 0x0 ~ 0xFFFF -
6041h 00h Statusword U16 ro Y 0x0 ~ 0xFFFF -
6062h 00h Position demand value I32 ro Y -2147483648 ~ 2147483647 inc
6063h 00h Position actual internal value I32 ro Y -2147483648 ~ 2147483647 count
6064h 00h Position actual value I32 ro Y -2147483648 ~ 2147483647 inc
6065h 00h Following error window U32 rw Y 0 ~ 4294967295 inc
6066h 00h Following error time out U16 rw Y 0 ~ 65535 ms
606Ch 00h Velocity actual value I32 ro Y -2147483648 ~ 2147483647 inc/s
6072h 00h Max torque U16 rw Y 0 ~ 65535 0.1%
6074h 00h Torque demand I16 ro Y -32768 ~ 32767 0.1%
6076h 00h Motor rated torque U32 ro - 0 ~ 4294967295 mNm
6077h 00h Torque actual value I16 ro Y -32768 ~ 32767 0.1%
607Ah 00h Target position I32 rw Y -2147483648 ~ 2147483647 inc
607Dh
- Software position limit - - - - -
00h Number of entries U8 ro - 2 -
01h Min position limit I32 rw Y -2147483648 ~ 2147483647 inc
02h Max position limit I32 rw Y -2147483648 ~ 2147483647 inc
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
60B1h 00h Velocity offset I32 rw Y -2147483648 ~ 2147483647 inc/s
60B2h 00h Torque offset I16 rw Y -32768 ~ 32767 0.1%
60C2h
- Interpolation time period - - - - -
00h Number of entries U8 ro - 2 -
01h Interpolation time period value U8 rw - 0 ~ 255 -
02h Interpolation time index I8 rw - -128 ~ 63 -
60F4h 00h Following error actual value I32 ro Y -2147483648 ~ 2147483647 inc
60FCh 00h Position demand internal value I32 ro Y -2147483648 ~ 2147483647 count
 Statusword (6041h) for csp mode
Table 3.2.3.2
Bit Value Definition
12
(drive follows
command value)
0
Drive does not follow the command value. (Ignore target position.)
1
Drive follows the command value.
(Target position is viewed as an input to position control loop.)
13
(following error)
0
No following error
1 Following error