Estun EMG-20ADA22, User Manual, Page: 122 / 152

Chapter 7 Specifications and Characters
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6.3.3 Data Communication Address of Servo State
The communication parameters addresses are shown in the following table:
Communication Communication Communication Communication
data
data
data data address
address
address address
Meaning Meaning Meaning Meaning Description Description Description Description Operation Operation Operation Operation
Hex
Hex Hex
Hex
0000 ~ 02FD
Parameter area Corresponding parameters in
parameter list
Read/write
07F1 ~07FA Alarm information memory area Ten alarms historical record Read only
07FB Speed reference zero offset Read only
07FC Torque reference zero offset Read only
07FD Iu zero offset Read only
07FE Iv zero offset Read only
0806 ~ 0814
Monitor data (corresponding with
displayed data)
0806 Speed feedback Unit:r/min Read only
0807 Input speed reference value Unit:r/min Read only
0808
Input torque reference percentage Relative rated
torque Read only
0809
Internal torque reference
percentage Relative rated
torque Read only
080A Number of encoder rotation pulses Read only
080B Input signal state Read only
080C Encoder signal state Read only
080D Output signal state Read only
080E Pulse settign Read only
080F Low bits of present location Unit:1 reference pulse Read only
0810
High bits of present location Unit:10000
reference pulses Read only
0811 Error pulse counter low 16 bits Read only
0812 Error pulse counter high 16 bits Read only
0813 Setting pulse counter low bits Unit:1 reference pulse Read only
0814 Setting pulse counter high bits Unit:10000 reference pulses Read only
0815 Load inertia percentage % Read only
0816 Servomotor overloading proportion % Read only
0817 Current alarm Read only
0900
MODBUS communication IO signal Donot save when
power off. Read/write
090E DSP version Version is expressed by digit. Read only
090F CPLD version Version is expressed by digit. Read only
1010
17-bit encoder multi-turn
information Unit:1 revolution Read only.
Only for 17-bit
Encoder.
Multi-turn:16 bits
Single-turn:17 bits
1011
17-bit encoder single-turn
information
Unit:1 pulse
1012
17-bit encoder single-turn
information high bits
1021 Clear historical alarms 01:Clear Write only
1022 Clear current alarms 01:Clear Write only
1023 JOG servo enabled
01:Enable
00:Disable
Read/write
1024 JOG forward rotation
01:Forward rotation
00:Stop
Read/write
1025 JOG reverse rotation
01:Reverse rotation
00:Stop
Read/write
1026
JOG forward rotation at node
position( start signal has been set) 01:Forward rotation
00:Stop
1027
JOG reverse rotation at node
position(start signal has been set) 01:Reverse rotation
00:Stop
1028 Pause at node position
01:Pause
00:Cancel pause
1040 Clear encoder alarm 01:Clear Write only
Only 17-bit encoder
1041 Clear encoder multi-turn data 01:Clear