Hiwin D1COE, User Manual

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Drive User Guide
12
3.6 Manufacturer Defined Objects
O ： Support, X ： Not Support
Index Sub-index Name Type Access Default Value PDO mapping
0x2000 0x00 Motor type UINT16 RO
－
X
0x2001 0x00 Encoder Resolution of Velocity Loop INT32 RO － X
0x2002 0x00 Encoder Resolution of Position Loop INT32 RO
－
X
0x2003 0x00 Screw Pitch INT32 RO
－
X
0x2010 0x00 Input Function UINT16 RW 0x0 O
0x2020 0x00 Index Signal INT8 RO － X
0x2021 0x00 Latched Index Position INT32 RO
－
O
0x2022 0x00 Motor actual current REAL32 RO
－
O
0x2040 0x00 Use the 2
nd
linear digital encoder UINT16 RO
－
X
0x2041 0x00 Enable software position limit protection UINT16 RW 0x01 X
0x2042 0x00 Enable hardware limit protection UINT16 RW 0x01 X
0x2050 0x00 Common gain (CG:0.01~1.0) REAL32 RW 0.3 X
0x2051 0x00 Velocity proportional gain REAL32 RW 0.001 X
0x2060 0X00 Multi turn encoder reset flag UINT8 RW 0 X
0x2100 0x00 Drive Error Events 1 UINT32 RO 0 X
0x2101 0x00 Drive Error Events 2 UINT32 RO 0 X
3.7 Objects description of the Manufacture Defined Objects
0x2000 - Motor type
0: Linear motor
1: Torque motor
2: AC servo motor
0x2001 - Encoder resolution of velocity loop
The encoder resolution is the rotary encoder resolution.
0x2002 - Encoder resolution of position loop
The encoder resolution is the linear scale resolution. (The AC servo motor with ball screw)
0x2003 - Screw pitch
The value is corresponded to the ball screw user using.
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