Hiwin D1COE, User Manual

Page: 10 / 54

Drive User Guide
10
0x1C12
SYNC Manager PDO Assignment 2
0x00 Number of assigned RxPDOs UINT8 RW 0x01 X
0x01 Assigned RxPDO mapping object1 UINT16 RW 0x1600 X
0x1C13
SYNC Manager PDO Assignment 3
0x00 Number of assigned TxPDOs UINT8 RW 0x01 X
0x01 Assigned TxPDO mapping object1 UINT16 RW 0x1A00 X
3.5 CiA 402 Objects of Guide Regulations
O
：
Support, X
：
Not Support
Index Sub-index Name Type Access Value PDO mapping
0x6040 0x00 ControlWord UINT16 RW － O
0x6041 0x00 StatusWord UINT16 RO
－
O
0x6060 0x00 Mode of operation INT8 RW
－
O
0x6061 0x00 Mode of operation display INT8 RO
－
O
0x6063 0x00 Position Actual Internal Value INT32 RO － O
0x6064 0x00 Position Actual Value INT32 RO
－
O
0x6065 0x00 Following Error Window UINT32 RW
－
X
0x606C 0x00 Velocity Actual Value INT32 RO
－
O
0x6071 0x00 Target Torque INT16 RW -1000~1000 O
0x6075 0x00 Continuous Current of Motor (mA) UINT32 RW － X
0x6078 0x00 Current Feedback of Motor (0.1%) INT16 RO
－
O
0x607A 0x00 Target Position INT32 RW
－
O
0x607C 0x00 Home offset INT32 RW － X
0x607D
Software Position Limit
0x00 Number of entries UINT8 RO 0x2 X
0x01 Minimum Position Limit INT32 RW
－
X
0x02 Maximum Position Limit INT32 RW
－
X
0x607F 0x00 Maximum Profile Velocity UINT32 RW － X
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