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Appendices
A - 54 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
3014
hex
CF
hex
14A6
hex
Multi-function Input S3
Response Time
C162 RW 0 to 200 (× 2 ms) ms Possible
(TxPDO)
3014
hex
D0
hex
14A7
hex
Multi-function Input S4
Response Time
C163 R/W 0 to 200 (× 2 ms) ms Possible
(TxPDO)
3014
hex
D1
hex
14A8
hex
Multi-function Input S5
Response Time
C164 RW 0 to 200 (× 2 ms) ms Possible
(TxPDO)
3014
hex
D2
hex
14A9
hex
Multi-function Input S6
Response Time
C165 RW 0 to 200 (× 2 ms) ms Possible
(TxPDO)
3014
hex
D3
hex
14AA
hex
Multi-function Input S7
Response Time
C166 RW 0 to 200 (× 2 ms) ms Possible
(TxPDO)
3014
hex
D4
hex
14AB
hex
Multi-function Input S8
Response Time
C167 RW 0. to 200. (× 2 ms) ms Possible
(TxPDO)
3014
hex
D5
hex
14AC
hex
Input FW Response
Time
C168 RW 0. to 200. (× 2 ms) ms Possible
(TxPDO)
3014
hex
D6
hex
14AD
hex
Multi-step
Speed/Position
Determination Time
C169 RW 0 to 200 (× 10 ms) ms 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 1st Motor Parameter H002 RW 00: Standard motor parameter
01: Auto-tuning parameter
02: Auto-tuning parameter
(with the Online Auto-tuning
function enabled)
Possible
(TxPDO)
3015
hex
2E
hex
1503 hex 1st Motor Capacity H003 RW 00 to 26 Possible
(TxPDO)
3015
hex
2F
hex
1504 hex 1st Motor Pole
Number
H004 RW 2/4/6/8/10 Pole Possible
(TxPDO)
4015
hex
30
hex
1505 hex 1st Speed Response H005 RW 1 to 80000 0.001 Possible
3015
hex
32
hex
1507 hex 1st Stabilization
Parameter
H006 RW 0. to 255. Possible
4015
hex
40
hex
1515 hex 1st Motor Parameter
R1
H020 RW 1 to 65535 0.001[] Possible
(TxPDO)
4015
hex
42
hex
1517 hex 1st Motor Parameter
R2
H021 RW 1 to 65535 0.001[] Possible
(TxPDO)
4015
hex
44
hex
1519 hex 1st Motor Parameter L H022 RW 1 to 65535
0.01[mH]
Possible
(TxPDO)
4015
hex
46
hex
151B
hex
1st Motor Parameter
Io
H023 RW 1 to 65535 0.01[A] Possible
(TxPDO)
4015
hex
48
hex
151D
hex
1st Motor Parameter J H024 RW 1 to 9999000
0.01[kgm
2
]
Possible
(TxPDO)
4015
hex
4F
hex
1524 hex 1st Motor Parameter
R1 (Auto-tuning Data)
H030 RW 1 to 65535 0.001[] Possible
(TxPDO)
4015
hex
51
hex
1526 hex 1st Motor Parameter
R2 (Auto-tuning Data)
H031 RW 1 to 65535 0.001[] Possible
(TxPDO)
4015
hex
53
hex
1528 hex 1st Motor Parameter L
(Auto-tuning Data)
H032 RW 1 to 65535
0.01[mH]
Possible
(TxPDO)
4015
hex
55
hex
152A
hex
1st Motor Parameter
Io (Auto-tuning Data)
H033 RW 1 to 65535 0.01[A] Possible
(TxPDO)
4015
hex
57
hex
152C
hex
1st Motor Parameter J
(Auto-tuning Data)
H034 RW 1 to 9999000
0.01[kgm
2
]
Possible
(TxPDO)
3015
hex
68
hex
153D
hex
1st PI Proportional
Gain
H050 RW 0 to 1000 0.1[%] Possible
3015
hex
69
hex
153E
hex
1st PI Integral Gain H051 RW 0 to 1000 0.1[%] Possible
3015
hex
6A
hex
153F
hex
1st P Proportional
Gain
H052 RW 1 to 1000 0.01 Possible
3015
hex
72
hex
1547 hex 1st Limit at 0 Hz H060 RW 0 to 100 0.1[%] Possible
3015
hex
73
hex
1548 hex 1st Boost Amount at
SLV Startup, 0 Hz
H061 RW 0. to 50. % Possible
3015
hex
7C
hex
1551 hex For PI Proportional
Gain Switching
H070 RW 0 to 10000 0.1[%] Possible
3015
hex
7D
hex
1552 hex For PI Integral Gain
Switching
H071 RW 0 to 10000 0.1[%] Possible
3015
hex
7E
hex
1553 hex For P Proportional
Gain Switching
H072 RW 0 to 1000 0.01 Possible
3015
hex
7F
hex
1554 hex Gain Switching Time H073 RW 0. to 9999. ms Possible
3016
hex
2E
hex
1601 hex Operation Selection on
Option 1 Error
P001 RW 00: Tripped
01: Operation continued
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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