Table of Contents
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6063H
Access
Actual internal position value, Encoder unit
Name
Index
6064H
Access
Actual feedback position value, Command Unit.
6064h * gear ratio = 6063h
Name
Index
607AH
Access
Target Position for PP Mode
Name
Index
607EH
Access
Mode
Position
mode
Velocity
mode
ALL
mode
Index
Name
Encoder resolution
608FH-0
R0
Access
1
Read motor encoder resolution
Name
Electronic gear molecule
Index
RW
6091H-01
Access
Set the resolution of motor encoder
Name
Electronic gear denominator
Index
RW
6091H-02
Access
Set the number of pulses required for one motor rotation.
Name
Number of pulses per rotation
Index
RW
6092H-01
Access
RO
TPDO
Mapping
Actual feedback position value
RO
TPDO
Mapping
Target position
RW
RPDO
Mapping
Motor rotation direction
RW
RPDO
Mapping
PP
0：Rotate in the same direction as the position command
HM
128：Rotate in the opposite direction as the position command
0：Rotate in the same direction as the position command
PV
64：Rotate in the opposite direction as the position command
0：Rotate in the same direction as the position command
224：Rotate in the opposite direction as the position command
TPDO
Mapping
RPDO
Mapping
RPDO
Mapping
RPDO
Mapping
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User Manual of iSV2-CAN Servo
ALL
Mode
Range
-
Structure
ALL
Mode
Range
-
Structure
PP
Mode
Range
Structure
ALL
Mode
Range
Value
-
Structure
ALL
Mode
Range
-
Structure
ALL
Mode
Range
-
Structure
ALL
Mode
Range
-
Structure
ALL
Mode
Range
49
Encoder
Default
-
unit
VAR
Type
Dint 32
Command
Default
-
unit
VAR
Type
int 32
Command
Default
-
unit
VAR
Type
Uint 8
00-F
Default
0
F
VAR
Type
Dint 32
Default
VAR
Type
Dint 32
Default
VAR
Type
Dint 32
Command
Default
-
unit
VAR
Type
Dint 32
Command
Default
-
unit
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