3-12
Parameter
Code
Display Content Unit Description
RS-485
Address
Index
encoder feedback
Position information
in single rotation
The Range is more
than 5 digits
Communication Encoder Motor 0621H
Un-27
Communication
Encoder Message
─ Feedback communication type encoder status 0623H 281BH
Un-28
Torque Command %
Expressed by the percentage of Rated Torque.
For example: The display of 50 indicates that the
current Motor Torque Command is 50% of the
Rated Torque.
0624H 281CH
Un-29
Load Inertia Ratio 0.1
Displays the current default Load Inertia Ratio of
Cn025.
0625H 281DH
Un-30
Digital Output
Contact Status (DO)
─
Displays the Status of Digital Output Contact
(DO) in Hexadecimal
For example: H00XX (0000 0000 DO-8/7/6/5
DO-4/3/2/1)
0626H 281EH
Un-31
Digital Input Contact
Status (D1)
─
Displays the Status of Digital Input Contact (DI)
in Hexadecimal
For example: HXXXX (0000 DI-12/11/10/9 DI-
8/7/6/5 DI-4/3/2/1)
0627H 281FH
Un-43
Motor Electrical
Angle
deg Motor Current Electrical Angle Position 0633H 282BH
Un-44
Motor model read by
communication
encoder
─
For example: The display of H1267 indicates that
the Motor Cn030 Number is H1267
0634H 282CH
Un-45
OnLine_AutoTuning
Inertia Estimation
0.1
For example: The display of 100 indicates that
the Load Inertia Ratio is 10 times.
0635H 282DH
Un-46
OFFLine_Tuning
Status
─ OFFLine_Tuning Operating Status 0636H 282EH
Un-47
OFFLine_Tuning
Error Code
─
bit.0: 1 is inertia estimation status, 2 is gain
estimation status
bit.2: 1 is load estimation fail, 2 is gain
estimation fail
0637H 282FH
Un-49
Driver Temperature deg Driver Temperature 0639H 2831H
Un-50
External Encoder
Number of Pulses
The Range is more
than 5 digits
pulse
When using the fully closed loop function of the
External Encoder, after the power is turned on,
the value will return to zero and start displaying
the External Encoder Position.
063AH
063BH
2832H
Un-52
The Error of External
Encoder and Motor
Encoder
The Range is more
than 5 digits
pulse
The Error of External Encoder and Motor
Encoder When Operating with a Fully Closed
Loop Function
063DH
063EH
2834H
Un-53
Current Alarm
Number
─
For example: The display of 01 indicates that the
current alarm number is AL001
063FH 2835H
Un-54
EtherCAT PDO
Packet Loss Counter
─
Monitor the quality of communication is normal
and generate AL049 if abnormal
0640H 2836H
Un-55
System Multi-
revolution Position
rev
System Multi-revolution Position
When conducting the Servo internal Return to
Origin operation will clear to 0
0641H 2837H
Un-56
System Single
Revolution Position
The Range is more
than 5 digits
pulse
System Single Revolution Position
When conducting the Servo internal Return to
Origin operation will clear to 0
0642H
0643H
2838H
Un-57
ECAM error code
display
─ 0644H 2834H
Un-58
EtherCAT
communication ID
─ 0645H 2835H
Un-71
Turret monitor
parameter 1
0652H
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