SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For
EHS-580 EtherCAT Hybrid Servo Drive
2013+00
Current loop KP,KI
auto tuning
enable/disable
R/W/S
1
0/1
Auto tuning the Current loop
KP,KI when power up
0
：
disable 1
：
enable
2015+00
Current Kp
R/W/S
1000
200—
32767
When the 2013+00 is 1(enable),
this parameter read only
2016+00
Current Ki
R/W/S
200
0—32767
When the 2016+00 is 1(enable),
this parameter read only
2017+00
Current Kc
R/W/S
100
80—300
Read only
2020+00
Motor resistor
R/W/S
1000
1—20000
Unit
：
mOhms
2021+00
Motor inductance
R/W/S
1
1—6000
Unit
：
uH
2024+00
Open/closed mode
R/W/S
2
0~2
1
：
open loop mode
2
：
closed loop mode
2025+00
Control mode
R/W/S
5
0—10
0
：
DIP switch
1
：
Lead2
：
PM
3
：
FOC
4
：
self- test
5
：
CL
2026+00
Current for shaft
locking
R/W/S
50
0—100
Unit:%
，
Effective at open loop
mode only
2029+00
Encoder resolution
R/W/S
1000
200—60000
p/r
2030+00
Position following
error
R/W/S
1000
1—60000
pulse
2039+00
Pulse amount H
R
0
0~65535
The received pulse amount H
(16bit)
2040+00
Pulse amount L
R/W
0
0~65535
The received pulse amount16bit
write
：
write1to clear counter
2041+00
Encoder feedback
amount H
R
0
0~65535
The received encoder feedback
pulse amount H(16bit)
2042+00
Encoder feedback
amount H
R
0
0~65535
The received encoder feedback
pulse amount L(16bit)
write
：
write 1 to clear counter
2051+00
Motor rotation
direction
R/W/S
0
0/1
0:no change for the rotation
direction
1:reversed rotation direction
2053+00
Pend output
R/W/S
0
0~1
0:low level
1
：
high level
