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Appendices
A - 28 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
3014
hex
BE
hex
1495 hex Logic Output Signal 2
Selection 1
C145 RW Same as C021 and C022 (excluding
LOG1 to LOG3)
Possible
(TxPDO)
3014
hex
BF
hex
1496 hex Logic Output Signal 2
Selection 2
C146 RW Same as C021 and C022 (excluding
LOG1 to LOG3)
Possible
(TxPDO)
3014
hex
C0
hex
1497 hex Logic Output Signal 2
Operator Selection
C147 RW 00: AND
01: OR
02: XOR
Possible
(TxPDO)
3014
hex
C1
hex
1498 hex Logic Output Signal 3
Selection 1
C148 RW Same as C021 to C022 (excluding
LOG1 to LOG3)
Possible
(TxPDO)
3014
hex
C2
hex
1499 hex Logic Output Signal 3
Selection 2
C149 RW Same as C021 to C022 (excluding
LOG1 to LOG3)
Possible
(TxPDO)
3014
hex
C3
hex
149A
hex
Logic Output Signal 3
Operator Selection
C150 RW 00: AND
01: OR
02: XOR
Possible
(TxPDO)
3014
hex
CD
hex
14A4
hex
Input Terminal 1
Response Time
C160 RW 0 to 200 1 Possible
(TxPDO)
3014
hex
CE
hex
14A5
hex
Input Terminal 2
Response Time
C161 RW 0 to 200 1 Possible
(TxPDO)
3014
hex
CF
hex
14A6
hex
Input Terminal 3
Response Time
C162 RW 0 to 200 1 Possible
(TxPDO)
3014
hex
D0
hex
14A7
hex
Input Terminal 4
Response Time
C163 RW 0 to 200 1 Possible
(TxPDO)
3014
hex
D1
hex
14A8
hex
Input Terminal 5
Response Time
C164 RW 0 to 200 1 Possible
(TxPDO)
3014
hex
D2
hex
14A9
hex
Input Terminal 6
Response Time
C165 RW 0 to 200 1 Possible
(TxPDO)
3014
hex
D3
hex
14AA
hex
Input Terminal 7
Response Time
C166 RW 0 to 200 1 Possible
(TxPDO)
3014
hex
D6
hex
14AD
hex
Multi-step
Speed/Position
Determination Time
C169 RW 0 to 200 1 Possible
(TxPDO)
3015
hex
2C
hex
1501 hex Auto-tuning Selection H001 RW 00: Disabled
01: Enabled (motor does not rotate)
02: Enabled (motor rotates)
Possible
(TxPDO)
3015
hex
2D
hex
1502 hex Motor Parameter 1 H002 RW 00: Standard motor parameter
02: Auto-tuning data
Possible
(TxPDO)
3015
hex
2E
hex
1503 hex Motor Capacity 1 H003 RW 00: 0.1
01: 0.2
02: 0.4
03: 0.55
04: 0.75
05: 1.1
06: 1.5
07: 2.2
08: 3.0
09: 3.7
10: 4.0
11: 5.5
12: 7.5
13: 11.0
14: 15.0
15: 18.5
Possible
(TxPDO)
3015
hex
2F
hex
1504 hex Motor Pole Number 1 H004 RW 00: 2P
01: 4P
02: 6P
03: 8P
04: 10P
Possible
(TxPDO)
3015
hex
31
hex
1506 hex Speed Response H005 RW 0 to 1000 1 [%] Possible
3015
hex
32
hex
1507 hex Stabilization
Parameter 1
H006 RW 0 to 255 1 Possible
3015
hex
41
hex
1516 hex Motor 1 Parameter R1 H020 RW 1 to 65530 0.001 [] Possible
(TxPDO)
3015
hex
43
hex
1518 hex Motor 1 Parameter R2 H021 RW 1 to 65530 0.001 [] Possible
(TxPDO)
3015
hex
45
hex
151A
hex
Motor 1 Parameter L H022 RW 1 to 65530
0.01 [mH]
Possible
(TxPDO)
3015
hex
47
hex
151C
hex
Motor 1 Parameter Io H023 RW 1 to 65530 0.01 [A] Possible
(TxPDO)
4015
hex
48
hex
151D
hex
Motor 1 Parameter J H024 RW 1 to 9999000 0.01
[kgm2]
Possible
(TxPDO)
3015
hex
50
hex
1525 hex Motor 1 Parameter R1
(Auto-tuning Data)
H030 RW 1 to 65530 0.001 [] Possible
(TxPDO)
3015
hex
52
hex
1527 hex Motor 1 Parameter R2
(Auto-tuning Data)
H031 RW 1 to 65530 0.001 [] 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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