8-156
Index Subindex Name
Data
Type
Access
PDO
Mapping
Saving to
EEPROM
Default Value
Supported mode
Unit
Paramet
er No.
Lower
Limit
Upper Limit
All PP PV PT HM IP CSP CSV CST
281Bh 0
Communication encoder
message
UINT RO No No -
●
- Un27 - -
281Ch 0 Torque command UINT RO No No -
●
% Un28 - -
281Dh 0 Load inertia ratio UINT RO No No -
●
x0.1 Un29 - -
281Eh 0 Digital Output status(Do) UINT RO YES No -
●
- Un30 - -
281Fh 0 Digital Input status(Di) UINT RO YES No -
●
- Un31 - -
2821h 0
Speed detection(for
Modbus only)
INT RO YES No -
●
rpm Un33 - -
2822h 0
Troque detection(for
Modbus only)
INT RO YES No -
●
% Un34 - -
282Bh 0
Electrical angle of the
motor
UINT RO No No -
●
degre
e
Un43 - -
282Ch 0
The motor model read by
communication encoder
UINT RO No No -
●
- Un44 - -
282Dh 0
Inertia Estimation for
OnLine_AutoTuning
UINT RO No No -
●
x0.1 Un45 - -
282Eh 0
Status for
OFFLine_Tuning
UINT RO No No -
●
- Un46 - -
282Fh 0
The error code for
OFFLine_Tuning
UINT RO No No -
●
- Un47 - -
2831h 0 Encoder temperature UINT RO No No -
●
degre
e
Un49 - -
2832h 0
External encoder pulse
(absolute value of low
bit)
DINT RO No No -
●
pulse Un50 - -
2834h 0 Synchronized error DINT RO No No -
●
pulse Un52 - -
2835h 0 Current alarm number UINT RO No No -
●
- Un53 - -
※2836h
0
PDO data of EtherCAT
losing
UINT RO No No -
●
- Un54 - -
2837h 0
System multi-turn
number position
INT RO No No -
●
rev Un55 - -
2838h 0
System single turn
position
UDINT RO No No -
●
pulse Un56 - -
2F02h 0 Analog Input Read1 UINT RO YES No
●
-
2F03h 0 Analog Input Read2 UINT RO YES No
●
-
2F04h 0 Torque Mode Speed Limit UDINT RW YES No
●
●
rpm
3001h 0 System Alarm UINT RO YES No
●
-
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