Leadshine EL8-EC Series User Manual page 137

Max. torque in positive
Label
direction
Index
60E0h R
Acces
s W
To set the maximum torque of servo driver in positive direction
Max. torque in negative
Label
Index direction
60E1h Acce R
ss W
To set the maximum torque of servo driver in negative direction
Actual following error
Label
Index
60F4h Acce
R0
ss
Shows position following error
Position loop velocity
Label
output
Index
60FAh Acces
R0
s
Shows internal command velocity (Position loop output)
Internal command
Label
position
Index
60FCh
Acces
R0
s
Shows internal command position of servo driver.
Label Input status
Index
60FDh
Acces
R0
s
The bits of 60FDh object are functionally defined as follow:
Mapping RPDO
Unit
Mod
Mapping RPDO
e
Unit
TPD Mod
Mapping
O
e
Unit
Mapping TPDO Mode
Unit
TPDO
Mapping Mode
Unit
Mappin
TPDO Mode
g
User manual of EL8-EC***F AC Servo
Structur
0.1%
Unit
e
Mode F Range
Structur
0.1%
e
F Range
Comman Structur
d unit e
CSP/PP/
Range
HM
Comman
Structure
d unit/s
CSP/PP/
Range
HM
Encoder
Structure
unit
CSP/PP/
Range
HM
Structur
-
e
CSP/PP/
Range
HM
VAR
Type
0~65535 Default
VAR Type
0~65535 Default
VAR
Type
-21474836
47~214748 Default
3647
VAR
Type
-21474836
Defaul
47~21474
t
83647
VAR Type
-21474836
Defaul
47~21474
t
83647
VAR Type
-21474836
48~214748 Default
3647
137
UInt 16
3000
UInt 16
3000
Int 32
0
Int 32
0
Int 32
0
UINT
32
0