Hiwin E1 Series Command Manual

E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
HIWIN MIKROSYSTEM Corp. 3-41
MD08UE01-1812
3.2.8 Cyclic synchronous torque mode (cst)
The motion profile (trajectory) is generated by the master. 60C2h (interpolation time period) indicates the
cycle of update 6071h (target torque). The structure of the trajectory generation is shown in Figure 3.2.8.1.
Figure 3.2.8.1
Related objects for cst mode are listed in Table 3.2.8.1.
Table 3.2.8.1
Index
Sub-
Index
Name
Data
type
Access PDO Valid value Unit
6040h 00h Controlword U16 rw Y 0x0 ~ 0xFFFF -
6041h 00h Statusword U16 ro Y 0x0 ~ 0xFFFF -
6063h 00h Position actual internal value I32 ro Y -2147483648 ~ 2147483647 count
6064h 00h Position actual value I32 ro Y -2147483648 ~ 2147483647 inc
606Ch 00h Velocity actual value I32 ro Y -2147483648 ~ 2147483647 inc/s
6071h 00h Target torque I16 rw Y -32768 ~ 32767 0.1%
6072h 00h Max torque U16 rw Y 0 ~ 65535 0.1%
6074h 00h Torque demand I16 ro Y -32768 ~ 32767 0.1%
6075h 00h Motor rated current U32 ro - 0 ~ 4294967295 mA
6076h 00h Motor rated torque U32 ro - 0 ~ 4294967295 mNm
6077h 00h Torque actual value I16 ro Y -32768 ~ 32767 0.1%
60B2h 00h Torque offset I16 rw Y -32768 ~ 32767 0.1%
60C2h
- Interpolation time period - - - - -
00h Number of entries U8 ro - 2 -
01h Interpolation time period value U8 rw - 0 ~ 255 -
02h Interpolation time index I8 rw - -128 ~ 63 -
60E0h 00h Positive torque limit value U16 rw Y 0 ~ 65535 0.1%
60E1h 00h Negative torque limit value U16 rw Y 0 ~ 65535 0.1%

Hiwin E1 Series Specifications

General

Brand	Hiwin
Model	E1 Series
Category	Servo Drives
Language	English