Hiwin HIMC Modbus TCP, Руководство пользователя

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HIWIN Modbus TCP User Guide Register Map
HIWIN MIKROSYSTEM Corp. 4-3
MH02UE01-1804
4.4.1 Axis
Users can monitor status and set parameters of each axis by reading or writing the registers assigned for
Axis. There are 32 axes in Axis.
Table 4.4.1.1
Register
Address
*1
Parameter
Data
Type
*2
Attribute Description Unit *3
0
Motion status uint32_t Read-only
Displays the motion status of axis N.
Bit 0 The axis is enabled.
Bit 1 The axis is moving.
Bit 2 The axis is in-position.
Bit 3 The axis is synchronized.
Bit 4 The axis is grouped.
-
1
2
Fault status uint32_t Read-only
Displays the fault status of axis N.
Bit 0 Error stop
Bit 1 Drive fault
Bit 2 Position error too big
Bit 3 Right hardware limit is reached.
Bit 4 Left hardware limit is reached.
Bit 5 Right software limit is reached.
Bit 6 Left software limit is reached.
-
3
4
Position feedback float Read-only Displays the feedback position of axis N. m or rad
5
6
Velocity feedback float Read-only Displays the feedback velocity of axis N.
m/s
or rad/s
7
8
Acceleration
feedback
float Read-only Displays the feedback acceleration of axis N.
m/s 2
or rad/s
2
9
10
Max. profile velocity float Read/Write Sets or displays the velocity of axis N.
m/s
or rad/s
11
12
Max. profile
acceleration
float Read/Write Sets or displays the acceleration of axis N.
m/s 2
or rad/s
2
13
14
Max. profile
deceleration
float Read/Write Sets or displays the deceleration of axis N.
m/s
2
or rad/s
2
15
16
Max. profile jerk float Read/Write Sets or displays the jerk of axis N.
m/s
3
or rad/s 3
17
18
Smooth time float Read/Write Sets or displays the smooth factor of axis N. sec
19
20
P2P dwell time float Read/Write Sets or displays the dwell time of axis N. sec
21
22
P2P position 1 float Read/Write
Sets or displays position 1 of axis N.
Note: Position 1 of point-to-point motion
m or rad
23