Hiwin E1 Series

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E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary

3-50 HIWIN MIKROSYSTEM Corp.

MD08UE01-1812

Index

Sub-

Index

Name

Data

type

Access PDO

Mode

Valid value Unit

609Ah 00h Homing acceleration U32 rw Y hm 0 ~ 4294967295 inc/s

60B1h 00h Velocity offset I32 rw Y

csp

csv

-2147483648 ~ 2147483647 inc/s

60B2h 00h Torque offset I16 rw Y All -32768 ~ 32767 0.1%

60B8h 00h Touch probe function U16 rw Y All 0 ~ 65535 -

60B9h 00h Touch probe status U16 ro Y All 0 ~ 65535 -

60BAh 00h Touch probe 1 positive edge I32 ro Y All -2147483648 ~ 2147483647 inc

60BBh 00h Touch probe 1 negative edge I32 ro Y All -2147483648 ~ 2147483647 inc

60BCh 00h Touch probe 2 positive edge I32 ro Y All -2147483648 ~ 2147483647 inc

60C2h

- Interpolation time period - - - - - -

00h Number of entries U8 ro -

csp

csv

cst

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

60C6h 00h Max deceleration U32 rw Y

0 ~ 4294967295 inc/s

60E0h 00h Positive torque limit value U16 rw Y All 0 ~ 65535 0.1%

60E1h 00h Negative torque limit value U16 rw Y All 0 ~ 65535 0.1%

60F4h 00h Following error actual value I32 ro Y

csp

-2147483648 ~ 2147483647 inc

60FCh 00h Position demand internal value I32 ro Y

csp

-2147483648 ~ 2147483647 count

60FDh 00h Digital inputs U32 ro Y All 0x0 ~ 0xFFFFFFFF -

60FEh

- Digital outputs - - - - - -

00h Number of entries U8 ro -

All

2 -

01h Physical outputs U32 rw Y 0x0 ~ 0xFFFFFFFF -

02h Bit mask U32 rw Y 0x0 ~ 0xFFFFFFFF -

60FFh 00h Target velocity I32 rw Y

csv

-2147483648 ~ 2147483647 inc/s

6502h 00h Supported drive modes U32 ro - All 0x0 ~ 0xFFFFFFFF -

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