Veichi SD710 Series, User Manual

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SD710 Series Servo Drive User Manal Chapter 11 Communication
92
13h Un212: System monitoring average time A Uint16 RO N
… … … RO N
1Ah Un219: System monitoring Max time R Uint16 RO N
2015h
- Un5xx Monitoring Parameters - - N
00h Support max sub-index Uint8 RO N
12h Un512: U-phase current zero point value Uint16 RO N
13h Un513: V-phase current zero point value Uint16 RO N
2016h
- Un6xx: Monitoring Parameters - - N
00h Support max sub-index Uint8 RO N
04h Un603: Absolute encoder pulses (low 32 bits) Uint32 RO N
06h Un605: Absolute encoder pulses (high 32bits) Uint32 RO N
2018h
- Un8xx Monitoring Parameters - - N
00h Support max sub-index Uint8 RO N
01h Un800: Current fault or warning code Uint16 RO N
02h Un801: The code when the alarm occurs Uint16 RO N
… … … RO N
43h Un842: Alarm record 9 occurrence time Uint16 RO N
Cautions
！
The last two digits of the function code correspond to the Sub-index. The function code is a
hexadecimal number, and the Sub-index is also a hexadecimal number.
Example : When reading or writing function code Pn299, the corresponding object dictionary is
2002_9Ah.
11.4 Canopen Fault Code Definition
Code Definition Address
Auxiliary
Code
Er.020 User Function Parameter and verification anomaly 0x6000 0x00000020
Er.021
Function code parameter formatting anomaly
0x6001 0x00000021
Er.022
Factory parameter and verification anomaly
0x6002 0x00000022
Er.023
MCU and FPGA communication anomaly
0x6003 0x00000023
Er.030
FPGA using backup program
0x6004 0x00000030
Er.040
Function code parameter setting anomaly
0x6005 0x00000040
Er.042 Parameter combination anomaly 0x6007 0x00000042
Er.050
Drive and motor voltage inconsistency or power difference of
more than 4 times
0x6009 0x00000050
Er.0B0
Servo ON command is invalid
0x600D 0x000000B0
Er.100
Drive over current (software)
0x600E 0x00000100