EM3E Series EtherCAT Stepper Drive User Manual
24
2233
00
Synchronous
compensation2
R/W
DINT
0—65535
100
-
225C
00
Special
function
register
R/W
DINT
0~32767
0
--
Bit1=1: Set motor running
direction by 0x607E
Bit2=1: Set virtual input by
0x5012-03
22A9
00
Limit Mode
R/W
DINT
0-10
0
--
0: Stop normally
1: Invalid
2: Alarm,error code 260
22B4
00
Quick
stop
selection
R/W
DINT
0~32767
0
--
0: Alarm,error code 570,
1: Refer to 0x605A
22BA
00
Holding time
R/W
UINT
10~3000
200
ms
How long after the current
switch to standby current
22BB
00
Holding
current
percentage
R/W
UINT
0~100
50
%
The percentage of current to
peak current during standby
time
22C2
01
JOG acceleration
R/W
UINT
0~32767
200
02
JOG speed
R/W
UINT
0~32767
60
03
JOG distance
R/W
UINT
0~32767
0
04
JOG cycles
R/W
UINT
0~32767
1
05
JOG direction
R/W
UINT
0~32767
0
06
JOG
preparation
time
R/W
UINT
0~32767
100
ms
3100
01
Control
software
version
R
UINT
--
02
Firmware version
R
UINT
--
03
EtherCAT protocol
version
R
UINT
--
3FFE
01-0
E
Alarm record
R
USINT
0~32767
--
--
01 is the current
error code (current alarm) or
the most recent error code
(currently no alarm);
02-0E are followed
by the historical error code.
4003
01
Delay
of
closing
brake
R/W/S
UINT
0-1500
250
ms
4003
02
Delay
of
loosening brake
R/W/S
UINT
0-1500
250
ms
4003
03
Max speed to close
brake
R/W/S
UINT
0-500
10
0.1r/
s
500
0
01
Trajectory
generator
R
UINT
0~32767
1
--
Internal
protocol
stack
parameters
02
Motion
state
machine
R
UINT
0~32767
0
--
0: Disabled
0x9A9A: Enabled
03
Internal
enable
state
R
UINT
0~32767
0
--
0: Disabled
1: Enabled
04
Reach the target
state
R
UINT
0~32767
--
--
Bit0=0: Not reach
Bit0=1: Reach
Bit1=0: No stall
Bit1=1: Stalled
