Hiwin E1 Series Command Manual

E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
3-40 HIWIN MIKROSYSTEM Corp.
MD08UE01-1812
Related objects for tq mode are listed in Table 3.2.7.1.
Table 3.2.7.1
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
606Ch 00h Velocity actual value I32 ro Y -2147483648 ~ 2147483647 inc/s
6071h 00h Target torque I16 rw Y -32768 ~ 32767 0.1%
6072h 00h Max torque U16 rw Y 0 ~ 65535 0.1%
6074h 00h Torque demand I16 ro Y -32768 ~ 32767 0.1%
6075h 00h Motor rated current U32 ro - 0 ~ 4294967295 mA
6076h 00h Motor rated torque U32 ro - 0 ~ 4294967295 mNm
6077h 00h Torque actual value I16 ro Y -32768 ~ 32767 0.1%
6087h 00h Torque slope U32 rw Y 0 ~ 4294967295 0.1%/s
60B2h 00h Torque offset I16 rw Y -32768 ~ 32767 0.1%
60E0h 00h Positive torque limit value U16 rw Y 0 ~ 65535 0.1%
60E1h 00h Negative torque limit value U16 rw Y 0 ~ 65535 0.1%
 Controlword (6040h) for tq mode
Table 3.2.7.2
Bit Value Definition
8
(halt)
0
Execute or continue the motion.
1
Axis is stopped according to 605Dh (halt option code).
 Statusword (6041h) for tq mode
Table 3.2.7.3
Bit Value Definition
10
(target reached)
0
Halt (Bit 8 in controlword) = 0: target torque not reached
Halt = 1: axis decelerates
1
Halt = 0: target torque reached
Halt = 1: velocity of axis is 0

Hiwin E1 Series Specifications

General

Brand	Hiwin
Model	E1 Series
Category	Servo Drives
Language	English