Drive User Guide
13
0x2010 - Input function
bit0 - Activate error mapping
bit1 - Reset the drive.
0x2020 – Index signal
The object is used to home procedures by host controller.
0: No Index.
1: Index is touched.
0x2021 – Latch Index position
This object is for user checking the repeatability of home position.
0x2022 – Motor actual current
This object is used to display Ampere unit of the current value.
0x2040 – Use the 2
nd
linear digital encoder
0: Not use the 2
nd
linear digital encoder
1: Use the 2
nd
linear digital encoder
0x2041 – Enable software position limit protection
0: Disable the software position limit protection
1: Enable the software position limit protection
0x2042 – Enable hardware position limit protection
0: Disable the hardware position limit protection
1: Enable the hardware position limit protection
0x2050 – Common gain
This object is for user to tune the motor performance (stiffness) in all servo loop.
0x2051 – Velocity proportional gain
This object is for user to tune the motor performance (stiffness) in velocity loop .
0x2051 – Velocity proportional gain
This object is for user to tune the motor performance (stiffness) in velocity loop .
0x2060 – Multi turn encoder reset flag
This object is used only for the multi turn encoder.
0: Nothing happen.
0->1: Set the multi turn encoder position to zero.
0->2: Clear the multi turn encoder error.
0x2100 – Drive Error Events 1
Bit 1: Encoder error
Bit 6: Position error too big
Bit 7: Soft-thermal threshold reached
Bit 13: Serial encoder communication error
Bit 14: Motor over temperature sensor activated
Bit 15: Amplifier over temperature
Bit 18: Motor short (over current) detected
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