Rtelligent EP Series - 3.3.3. Motor Current Position and Speed Related Registers [8~16]; 3.3.4. Driver Control Mode Settings [17~23]

EP Series User Manual
35
3.3.3. Motor current position and speed related registers [8～16]
Table 3-10 Register detail [8-16]
Register
address
Bits
Property
Default
Range
Description
8
16
R
0
[0,65535]
In the internal pulse mode, the current
absolute position, low 16 bits
9
16
R
0
[0,65535]
In the internal pulse mode, the current
absolute position, high 16 bits
10
16
R
0
[-3000,3000]
Current command speed.
Signed 16-bit data, unit: rpm
11
16
R
-
[0,100]
Current bus voltage value, unit: mV
12
16
R
0
[0,65535]
In closed-loop mode, motor tracking error,
low 16 bits, unit: encoder resolution
Note: Closed-loop mode is only available
for EPT60.
13
16
R
0
[0,65535]
In closed-loop mode, motor tracking error,
high 16 bits, unit: encoder resolution
Note: Closed-loop mode is only available
for EPT60.
14
16
R
0
[0,65535]
External pulse counter, low 16 bits
15
16
R
0
[0,65535]
External pulse counter, high 16 bits
16
16
R/W
0
[0,1]
Clear external pulse counter
0: No effect, reading always returns 0
1: It will clear the external pulse counter
and register 14 and 15 will become 0. Then
this register will become 0.
3.3.4. Driver control mode settings [17
～
23]
Table 3-11 Register details [17-23]
Register
address
Bits
Property
Default
Range
Description
17
16
R/W
0
[0,1]
Command mode setting register, set the pulse
command source of the driver
0: Internal pulse command
1: External pulse command