Hiwin E1 Series Command Manual

E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
3-38 HIWIN MIKROSYSTEM Corp.
MD08UE01-1812
Related objects for csv mode are listed in Table 3.2.6.1.
Table 3.2.6.1
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 -
6063h 00h Position actual internal value I32 ro Y -2147483648 ~ 2147483647 count
6064h 00h Position actual value I32 ro Y -2147483648 ~ 2147483647 inc
606Bh 00h Velocity demand value I32 ro Y -2147483648 ~ 2147483647 inc/s
606Ch 00h Velocity actual value I32 ro Y -2147483648 ~ 2147483647 inc/s
606Dh 00h Velocity window U16 rw Y 0 ~ 65535 inc/s
606Eh 00h Velocity window time U16 rw Y 0 ~ 65535 ms
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%
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 -
60FFh 00h Target velocity I32 rw Y -2147483648 ~ 2147483647 inc/s
 Statusword (6041h) for csv mode
Table 3.2.6.2
Bit Value Definition
12
(drive follows
command value)
0
Drive does not follow the command value. (Ignore target velocity.)
1
Drive follows the command value.
(Target velocity is viewed as an input to velocity control loop.)

Hiwin E1 Series Specifications

General

Brand	Hiwin
Model	E1 Series
Category	Servo Drives
Language	English