SHENZHEN ECON TECHNOLOGY CO.,LTD
User Manual For CANopen Hybrid Servo Driv
2001+00
Pulse/Resolution
R/W/S
50000
200—51200 pulse needed for one round
2002+00
Standby time
R/W/S
500
100—10000 Unit
：
ms
2005+00
Output 1
Function setting
R/W/S
1
1—4
bit0
：
alarm output
bit1
：
ready output
Bit2: PEND output
2006+00
Enable valid
level
R/W/S
1
0/1
0
：
high level
1
：
low level
2007+00
Disable mode
R/W/S
0
0/1
0
：
no response to pulse, motor unlock
1
：
no response to pulse, motor locked
2008+00
level setting for
Output 1
R/W/S
0
0/1
0
：
low level
1
：
high level
2009+00
Pulse filter
enable
R/W/S
0
0/1
0
：
Disable
1
：
Enable
2010+02
Filter time
R/W/S
1000
50—25600
Unit:us
2013+00
Current loop
auto-tuning
enable
R/W/S
1
0/1
0
：
Disable
1
：
enable
2015+00
Current loop Kp
R/W/S
1000
200—32767
Auto-tuning enable, only for read
；
disable, user can write
2016+00
Current loop Ki
R/W/S
200
0—32767
Auto-tuning enable, only for read
；
disable, user can write
2017+00
Current loop Kc
R/W/S
100
80—300
Auto-obtain, do not allow to modify
2020+00
Motor resistor
R/W/S
1000
1—20000
unit
：
m Ohms
2021+00
Motor
inductance
R/W/S
1
1—6000
Unit
：
uH
2024+00
open/closed
loop control
mode
R/W/S
2
0~2
1
：
open loop mode
2
：
close loop control mode
2025+00
Closed loop
control mode
R/W/S
5
0—10
0
：
DIPs selection 1
：
Lead 2
：
PM
3
：
FOC 4
：
Self-test 5
：
CL
2026+00
holding current
R/W/S
50
0—100
Unit
：
%
，
for open loop mode only
2029+00
Encoder
revolution
R/W/S
1000
200—60000 p/r
2030+00
Following error
R/W/S
1000
1—60000
p
2039+00
External
position sum H
R
0
0~65535
Receiving position command
accumulated value higher than 16bit
2040+00
External
position sum L
R/W
0
0~65535
Receiving position command
accumulated value lower than 16bit
Write
：
write 1 to clear counter
2041+00
Encoder
feedback sum H
R
0
0~65535
Encoder feedback sum higher than
16bit
2042+00
Encoder
feedback sum L
R/W
0
0~65535
Encoder feedback sum lower than
16bit
