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Appendices
A - 16 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
3012
hex
6A
hex
1245 hex Internal DC Injection
Braking Selection
A051 RW 00: Disabled
01: Enabled during stop
02: Output frequency (at A052)
Possible
(TxPDO)
3012
hex
6B
hex
1246 hex Internal DC Injection
Braking Frequency
A052 RW 0 to 6000 0.01 [Hz] Possible
(TxPDO)
3012
hex
6C
hex
1247 hex DC Injection Braking
Delay Time
A053 RW 0 to 50 0.1 [s] Possible
(TxPDO)
3012
hex
6D
hex
1248 hex DC Injection Braking
Power
A054 RW 0 to 100 1 [%] Possible
(TxPDO)
3012
hex
6E
hex
1249 hex DC Injection Braking
Time
A055 RW 0 to 600 0.1 [s] Possible
(TxPDO)
3012
hex
6F
hex
124A
hex
DC Injection Braking
Edge/Level Selection
A056 RW 00: Edge operation
01: Level operation
Possible
(TxPDO)
3012
hex
70
hex
124B
hex
Startup DC Injection
Braking Power
A057 RW 0 to 100 1 [%] Possible
(TxPDO)
3012
hex
71
hex
124C
hex
Startup Internal DC
Injection Braking Time
A058 RW 0 to 600 0.1 [s] Possible
(TxPDO)
3012
hex
72
hex
124D
hex
DC Injection Braking
Carrier Frequency
A059 RW 20 to 150 0.1 [kHz] Possible
(TxPDO)
4012
hex
74
hex
124F
hex
Frequency Upper
Limit 1
A061 RW 0
Frequency Lower Limit 1 to
Maximum Frequency 1
0.01 [Hz] Possible
(TxPDO)
4012
hex
76
hex
1251 hex Frequency Lower
Limit 1
A062 RW 0
Starting Frequency to Frequency
Upper Limit 1
0.01 [Hz] Possible
(TxPDO)
4012
hex
78
hex
1253 hex Jump Frequency 1 A063 RW 0 to 40000 (100000) 0.01 [Hz] Possible
(TxPDO)
3012
hex
7A
hex
1255 hex Jump Frequency
Width 1
A064 RW 0 to 1000 (10000) 0.01 [Hz] Possible
(TxPDO)
4012
hex
7B
hex
1256 hex Jump Frequency 2 A065 RW 0 to 40000 (100000) 0.01 [Hz] Possible
(TxPDO)
3012
hex
7D
hex
1258 hex Jump Frequency
Width 2
A066 RW 0 to 1000 (10000) 0.01 [Hz] Possible
(TxPDO)
4012 7E
hex
1259 hex Jump Frequency 3 A067 RW 0 to 40000 (100000) 0.01 [Hz] Possible
(TxPDO)
3012
hex
80
hex
125B
hex
Jump Frequency
Width 3
A068 RW 0 to 1000 (10000) 0.01 [Hz] Possible
(TxPDO)
4012
hex
81
hex
125C
hex
Acceleration Stop
Frequency
A069 RW 0 to 40000 0.01 [Hz] Possible
(TxPDO)
3012
hex
83
hex
125E
hex
Acceleration Stop
Time
A070 RW 0 to 600 0.1 [s] Possible
(TxPDO)
3012
hex
84
hex
125F
hex
PID Selection A071 RW 00: Disabled
01: Enabled
02: Reverse output enabled
Possible
(TxPDO)
3012
hex
85
hex
1260 hex PID P Gain A072 RW 2 to 2500 0.01 Possible
3012
hex
86
hex
1261 hex PID I Gain A073 RW 0 to 36000 0.1 [s] Possible
3012
hex
87
hex
1262 hex PID D Gain A074 RW 0 to 10000 0.01 [s] Possible
3012
hex
88
hex
1263 hex PID Scale A075 RW 1 to 9999 0.01 Possible
(TxPDO)
3012
hex
89
hex
1264 hex PID Feedback
Selection
A076 R/W 00: Current (FI)
01: Voltage (FV)
02: Modbus communication
(Modbus-RTU)
03: Pulse train frequency
10: Operation function output
Possible
(TxPDO)
3012
hex
8A
hex
1265 hex PID Deviation Reverse
Output
A077 RW 00: Disabled
01: Enabled
Possible
(TxPDO)
3012
hex
8B
hex
1266 hex PID Variable Range
Limit
A078 RW 0 to 1000 0.1 [%] Possible
(TxPDO)
3012
hex
8C
hex
1267 hex PID Feedforward
Selection
A079 RW 00: Disabled
01: Voltage (FV)
02: Current (FI)
Possible
(TxPDO)
3012
hex
8E
hex
1269 hex AVR Selection 1 A081 RW 00: Always ON
01: Always OFF
02: OFF during deceleration
Possible
(TxPDO)
Index Sub-
index
Register
No. Function name Parameter
No. R/W Monitor and setting items
Data
resolution
PDO
map
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