SRV-63 series AC servo drives Communication
-224-
6079
h
VAR
DC link circuit voltage
UNSIGNED32
RO
Y
607A
h
VAR
Target position
INTEGER32
RW
Y
607C
h
VAR
Home offset
INTEGER32
RW
Y
607D
h
ARRAY
Software position limit
INTEGER32
RW
Y
6080
h
VAR
Max motor speed
UNSIGNED32
RW
Y
6081
h
VAR
Profile velocity
UNSIGNED32
RW
Y
6083
h
VAR
Profile acceleration
UNSIGNED32
RW
Y
6084
h
VAR
Profile deceleration
UNSIGNED32
RW
Y
6085
h
VAR
Quick stop deceleration
UNSIGNED32
RW
Y
6086
h
VAR
Motion profile type
INTEGER16
RO
Y
6087
h
VAR
Torque slope
UNSIGNED32
RW
Y
6088
h
VAR
Torque profile type
INTEGER16
RO
Y
6093
h
ARRAY
Position factor
UNSIGNED32
RW
Y
6098
h
VAR
Homing method
INTEGER8
RW
Y
6099
h
ARRAY
Homing speeds
UNSIGNED32
RW
Y
60C0
h
VAR
Interpolation sub mode select
INTEGER16
RO
Y
60C1
h
ARRAY
Interpolation data record
INTEGER32
RW
Y
60C2
h
RECORD
Interpolation time period
INTEGER8
RW
Y
60F4
h
VAR
Following error actual value
INTEGER32
RO
Y
60F8
h
VAR
Max slippage
INTEGER32
RW
Y
60FA
h
VAR
Control effort
INTEGER32
RO
Y
60FC
h
VAR
Position demand value*
INTEGER32
RO
Y
60FD
h
VAR
Digital inputs
UNSIGNED32
RO
Y
60FE
h
ARRAY
Digital outputs
UNSIGNED32
RO
Y
60FF
h
VAR
Target velocity
INTEGER32
RW
Y
Table 8-8 CANopen fault code
Display
Fault name
32-bit fault code(16-bit Error
Code+16-bit additional message)
Er01-0 IGBT fault
FF01-0101h
Er02-0 Encoder fault
–The encoder wire break
7300-0200h
Er02-1 Encoder fault
–Encoder feedback error is too large
7300-0201h
Er02-2 Encoder fault
–Parity error
7300-0202h
Er02-3 Encoder fault
–CRC error
7300-0203h
Er02-4 Encoder fault
–Frame error
7300-0204h
Er02-5 Encoder fault
–Short frame error
7300-0205h
Er02-6 Encoder fault
–Encoder overtime
7300-0206h
Er02-7 Encoder fault
–FPGA overtime
7300-0207h
Er02-8 Encoder fault
–Low voltage alarm of the encoder
7300-0208h
Er02-9 Encoder fault
–Undervoltage alarm of the encoder
7300-0209h
