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Appendices
A - 56 EtherCAT Communication Unit USER’S MANUAL (I574-E1)
3016
hex
53
hex
1626 hex Torque Bias Polarity
Selection
P038 RW 00: As per sign
01: Depends on the RUN direction
Possible
(TxPDO)
4016
hex
56
hex
1627 hex Speed Limit Value in
Torque Control
(Forward)
P039 RW 0 to maximum frequency 0.01 [Hz] Possible
4016
hex
58
hex
1629 hex
Speed Limit Value in
Torque Control (Reverse)
P040 RW 0 to maximum frequency 0.01 [Hz] Possible
3016
hex
5C
hex
162F
hex
Operation Selection at
Host Communications
Error
P045 RW 00: Trip
01: Trip after deceleration stop
02: Ignore
03: Free run
04: Deceleration stop
Not
possible
3016
hex
5D
hex
1630 hex Assembly Instance
Number
P046 RW 20
21
100
Not
possible
3016
hex
5F
hex
1632 hex Operation Selection at
Idle Mode Detection
P048 RW 00: Trip
01: Trip after deceleration stop
02: Ignore
03: Free run
04: Deceleration stop
Not
possible
3016
hex
60
hex
1633 hex
Number of Poles for
Rotation Speed Setting
P049 RW
1/2/4/6/8/10/12/14/16/18/20/22/24/26
/28/30/32/34/36/38
Not
possible
3016
hex
66
hex
1639 hex Pulse Train Frequency
Scale
P055 RW 10 to 500 0.1 [kHz] Possible
(TxPDO)
3016
hex
67
hex
163A
hex
Pulse Train Frequency
Filter Time Parameter
P056 RW 1 to 200 0.01 [s] Possible
(TxPDO)
3016
hex
68
hex
163B
hex
Pulse Train Bias
Amount
P057 RW 100 to 100 1 [%] Possible
(TxPDO)
3016
hex
69
hex
163C
hex
Pulse Train Limit P058 RW 0 to 100 1 [%] Possible
(TxPDO)
4016
hex
6B
hex
163E
hex
Multi-step Position
Command 0
P060 RW Position range setting (reverse) to
position range setting (forward)
(Displays MSB 4 digits including "")
1 Possible
4016
hex
6D
hex
1640 hex Multi-step Position
Command 1
P061 R/W Position range setting (reverse) to
position range setting (forward)
(Displays MSB 4 digits including "")
1 Possible
4016
hex
6F
hex
1642 hex Multi-step Position
Command 2
P062 RW Position range setting (reverse) to
position range setting (forward)
(Displays MSB 4 digits including "")
1 Possible
4016
hex
71
hex
1644 hex Multi-step Position
Command 3
P063 RW Position range setting (reverse) to
position range setting (forward)
(Displays MSB 4 digits including "")
1 Possible
4016
hex
73
hex
1646 hex Multi-step Position
Command 4
P064 RW Position range setting (reverse) to
position range setting (forward)
(Displays MSB 4 digits including "")
1Possible
4016
hex
75
hex
1648 hex Multi-step Position
Command 5
P065 RW Position range setting (reverse) to
position range v (forward) (Displays
MSB 4 digits including "")
1 Possible
4016
hex
77
hex
164A
hex
Multi-step Position
Command 6
P066 RW Position range setting (reverse) to
position range setting (forward)
(Displays MSB 4 digits including "")
1 Possible
4016
hex
79
hex
164C
hex
Multi-step Position
Command 7
P067 RW Position range setting (reverse) to
position range setting (forward)
(Displays MSB 4 digits including "")
1 Possible
3016
hex
7B
hex
164E
hex
Zero Return Mode P068 RW 00: Low
01: Hi 1
02: Hi 2
Possible
3016
hex
7C
hex
164F
hex
Zero Return Direction
Selection
P069 RW 00: Forward
01: Reverse
Possible
3016
hex
7D
hex
1650 hex Zero Return Mode 1
Frequency
P070 RW 0 to 1000 0.01 [Hz] Possible
3016
hex
7E
hex
1651 hex Zero Return Mode 2
Frequency
P071 RW 0 to 4000 0.01 [Hz] Possible
4016
hex
7F
hex
1652 hex Position Range setting
(Forward side)
P072 RW 0 to 268435455 1 Possible
4016
hex
81
hex
1654 hex Position Range setting
(Reverse side)
P073 RW 268435455 to 0 1 Possible
3016
hex
93
hex
1666 hex Drive Programming
User Parameter U00
P100 RW 0 to 65535 Possible
(TxPDO)
3016
hex
94
hex
1667 hex Drive Programming
User Parameter U01
P101 RW 0 to 65535 Possible
(TxPDO)
3016
hex
95
hex
1668 hex Drive Programming
User Parameter U02
P102 RW 0 to 65535 Possible
(TxPDO)
3016
hex
96
hex
1669 hex Drive Programming
User Parameter U03
P103 RW 0 to 65535 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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