System Parameters
SPRM0-SPRM7: Axis Name and Type Selection
With these parameters, the names and types of axes used in the machine are assigned. The assignment must start from SPRM0 and proceed sequentially, with unused axes set to a value of 0. Although the names and types of the first three axes can be changed for flexibility, it is recommended to set them as X, Y, and Z. If a different configuration is applied, circular interpolation and some plane-based functions may not work properly.
For a lathe machine, the names of the first three axes must be set as X, Y, and Z. The Y-axis slot number is set to 0 and left as a virtual axis.
Auxiliary axes must be defined after the main axes, such as X, Y, Z, A, X2, Y2. The software limits for auxiliary axes are disabled, and they operate according to the limit values of the main axis.
Axes named as X-ROT indicate that they are rotary axes but specify that the rotary axis has a limit. Software limits are active, and the given commands are processed as they are.
Axes named as x-ROT/Spindle indicate that they are rotary axes without limits for continuous rotation. Software limits are disabled for this type of axis. Additionally, commands given within the range of 0-360 are positioned from the nearest point of the rotation, regardless of the absolute coordinate. These axes can also operate as spindles and can switch between axis and spindle modes.
In the Pulser3-PLSE model, these parameters should be set sequentially as X, Y, Z, and the 4th axis name. None of the first four axis names should be set to "0". The 5th, 6th, 7th, and 8th axis names, however, should be set to "0".
|
Address |
Description |
Unit |
|
15000~15001 |
Name of X axis |
0 |
|
15002~15003 |
Name of Y axis |
Minimum |
|
15004~15005 |
Name of Z axis |
0 |
|
15006~15007 |
Name of 4th axis |
Maximum |
|
15008~15009 |
Name of 5th axis |
34 |
|
15010~15011 |
Name of 6th axis |
Default |
|
15012~15013 |
Name of 7th axis |
1,2,3,0,0,0 |
|
15014~15015 |
Name of 8th axis |
Format |
|
|
|
0 |
Axis name and type selection table:
|
Value |
Axis name and type |
Linear/Rotary |
Spindle Mode |
Software Limits |
|
0 |
Disabled |
- |
- |
- |
|
1 |
X |
Linear |
No |
Active |
|
2 |
Y |
Linear |
No |
Active |
|
3 |
Z |
Linear |
No |
Active |
|
4 |
X2 (Gantry slave) |
Linear |
No |
Inactive |
|
5 |
Y2 (Gantry slave) |
Linear |
No |
Inactive |
|
6 |
Z2 (Gantry slave) |
Linear |
No |
Inactive |
|
7 |
A |
Linear |
No |
Active |
|
8 |
B |
Linear |
No |
Active |
|
9 |
C |
Linear |
No |
Active |
|
10 |
U |
Linear |
No |
Active |
|
11 |
V |
Linear |
No |
Active |
|
12 |
W |
Linear |
No |
Active |
|
13 |
A-ROT |
Rotary |
No |
Active |
|
14 |
B-ROT |
Rotary |
No |
Active |
|
15 |
C-ROT |
Rotary |
No |
Active |
|
16 |
A-ROT/Spindle |
Rotary |
Yes |
Inactive |
|
17 |
B-ROT/Spindle |
Rotary |
Yes |
Inactive |
|
18 |
C-ROT/Spindle |
Rotary |
Yes |
Inactive |
|
19 |
E (Extruder) |
Linear |
No |
Active |
|
20 |
X-ROT |
Rotary |
No |
Active |
|
21 |
Y-ROT |
Rotary |
No |
Active |
|
22 |
Z-ROT |
Rotary |
No |
Active |
|
23 |
X-ROT/Spindle |
Rotary |
Yes |
Inactive |
|
24 |
Y-ROT/Spindle |
Rotary |
Yes |
Inactive |
|
25 |
Z-ROT/Spindle |
Rotary |
Yes |
Inactive |
|
26 |
A2 (Gantry slave) |
Rotary |
No |
Inactive |
|
27 |
B2 (Gantry slave) |
Rotary |
No |
Inactive |
|
28 |
C2 (Gantry slave) |
Rotary |
No |
Inactive |
|
29 |
U2 (Gantry slave) |
Rotary |
No |
Inactive |
|
30 |
V2 (Gantry slave) |
Rotary |
No |
Inactive |
|
31 |
W2 (Gantry slave) |
Rotary |
No |
Inactive |
|
32 |
A-TAN |
Rotary |
Yes |
Inactive |
|
33 |
B-TAN |
Rotary |
Yes |
Inactive |
|
34 |
C-TAN |
Rotary |
Yes |
Inactive |
SPRM8-SPRM15: Axis Slot (Sequence) Number
In the Pulser3-RTEX and Pulser3-ECAT models, the communication cable for the servos starts from the controller and is sequentially connected to the axis drivers. In this connection, which axis is assigned to which driver is determined by the parameters below. In the Pulser3-PLSE model, these sequence numbers should be set as 1, 2, 3, 4, 0, 0 in order.
|
Address |
Description |
Unit |
|
15016~15017 |
Driver ID of X axis |
0 |
|
15018~15019 |
Driver ID of Y axis |
Minimum |
|
15020~15021 |
Driver ID of Z axis |
0 |
|
15022~15023 |
Driver ID of 4th axis |
Maximum |
|
15024~15025 |
Driver ID of 5th axis |
8 |
|
15026~15027 |
Driver ID of 6th axis |
Default |
|
15028~15029 |
Driver ID of 7th axis |
1,2,3,0,0,0 |
|
15030~15031 |
Driver ID of 8th axis |
Format |
|
|
|
0 |
SPRM16-SPRM19: RS485 Port Mode and Settings
SPRM16: RS485 Port Baud Rate
|
Address |
Description |
Minimum |
Maximum |
Default |
|
15032~15033 |
RS485 port baud rate |
0 |
500000 |
0 |
|
|
Format |
Unit |
||
|
0 |
|
|||
n <= 0: 19200
0 > n < 1200: 1200
1200 >= n <= 500000: n
SPRM17: RS485 Port Bit Length
|
Address |
Description |
Minimum |
Maximum |
Default |
|
15034~15035 |
RS485 Port bit length |
0 |
1 |
0 |
|
|
Format |
Unit |
||
|
0 |
|
|||
0: 8 bit
1: 7 bit
SPRM18: RS485 Port Parity and Stop Bit Selection
|
Address |
Description |
Minimum |
Maximum |
Default |
|
15036~15037 |
RS485 Port parity and stop bit selection |
0 |
5 |
0 |
|
|
Format |
Unit |
||
|
0 |
|
|||
0: Parity: None / Stop bit: 1
1: Parity: Even / Stop bit: 1
2: Parity: Odd / Stop bit: 1
3: Parity: None / Stop bit: 2
4: Parity: Even / Stop bit: 2
5: Parity: Odd / Stop bit: 2
SPRM19: RS485 Port Operation Mode
|
Address |
Description |
Minimum |
Maximum |
Default |
|
15038~15039 |
RS485 Port operation mode |
0 |
3 |
0 |
|
|
Format |
Unit |
||
|
0 |
|
|||
0: Disable
1: Automatic communication with the machine panel (MP1) in the background
2: The port is used by the internal PLC with the Modbus RTU master protocol
3: The port is used by the internal PLC with the Modbus ASCII master protocol.
SPRM20: Delay Time to Recover Servo Bus After ESP Released
When the emergency stop (ESP) line is active and the real-time communication bus with the servo drives is lost, the real-time communication bus will be attempted to be re-established after the time specified in this parameter. If the parameter value is set to 0, this feature is disabled.
|
Address |
Description |
Minimum |
Maximum |
Default |
|
15040~15041 |
Delay time to recover servo bus after ESP released |
0 |
100000 |
0 |
|
|
Format |
Unit |
||
|
0 |
ms |
|||
SPRM21: CAN Bus Port Mode
|
Address |
Description |
Minimum |
Maximum |
Default |
|
15042~15043 |
CAN bus port mode |
0 |
2 |
0 |
|
|
Format |
Unit |
||
|
0 |
|
|||
0: Used for standard IO communication
1: Pulse output is used as master for axes 5-8
2: For axes 5 to 8, pulse output is used as a slave
SPRM22: Read SKIP Signal from Input Directly
The SKIP signal is transmitted to the system using ladder programming with HSC Studio. However, as the PLC cycle time increases, delays in transmitting the SKIP signal may occur. To eliminate these delays, any internal digital input can be selected as the SKIP signal source using the parameter below.
|
Address |
Description |
Minimum |
Maximum |
Default |
|
15044~15045 |
Read SKIP signal from input directly |
0 |
229 |
0 |
|
|
Format |
Unit |
||
|
0 |
|
|||
0: Disabled
1xx: 1 = Normally open contact, xx = Digital input number. Example: 105 for X5.
2xx: 2 = Normally closed contact, xx = Digital input number. Example: 205 for X5.
SPRM23: Copy Spindle Analog Value to the Analog Output Directly
The speed command given for Spindle 1 is converted to an analog value and loaded into the c_SOUT variable, and the user is expected to transfer this value to the analog output using a MOV command. However, if positioning(orientation) is to be used, especially for Spindle 1, delays may occur due to the PLC cycle time, which could lead to inaccurate positioning. In such applications, the spindle 1 analog output value calculated by this parameter can be directly copied to the internal analog output. When this parameter is activated, any loads to the AOUT0 address in the PLC program will be invalid.
|
Address |
Description |
Minimum |
Maximum |
Default |
|
15046~15047 |
Copy spindle 1 analog output value directly to the built-in analog output |
0 |
1 |
0 |
|
|
Format |
Unit |
||
|
0 |
|
|||
0: Disable
1: Enable
SPRM24-SPRM31: Absolute Working Mode for Axes
When an axis is intended to be operated in absolute mode, this can be set using these parameters. The axis to be operated in absolute mode must have a battery connection to its driver (if required), and the necessary settings for absolute operation must be configured. For axes operated in absolute mode, the system reads its position as soon as communication with the driver is established and stores this position as the current machine position in memory. Each time the system is powered off and on, this information is read from the driver. Additionally, when axes are operated in absolute mode, the software limits for the axis are activated without the need for a reference operation.
|
Address |
Description |
Unit |
|
15048~15049 |
Absolute encoder selection for X axis |
0 |
|
15050~15051 |
Absolute encoder selection for Y axis |
Minimum |
|
15052~15053 |
Absolute encoder selection for Z axis |
0 |
|
15054~15055 |
Absolute encoder selection for 4th axis |
Maximum |
|
15056~15057 |
Absolute encoder selection for 5th axis |
1 |
|
15058~15059 |
Absolute encoder selection for 6th axis |
Default |
|
15061~15063 |
Absolute encoder selection for 7th axis |
0 |
|
15064~15065 |
Absolute encoder selection for 8th axis |
Format |
|
|
|
0 |
0: The axis operates in standard mode. Software limits are activated after the reference process.
1: The axis operates in absolute mode, requiring no reference process. Software limits are always active.
SPRM32-SPRM41: External IO Module Selection
Pulser3, in addition to the built-in 20DI/16DO digital IO points, can control more IO points with external expansion modules. Up to 10 external modules can be connected to the device. These modules are controlled via the internal CAN-BUS line. Depending on the connection, the module's sequence number should be set using the buttons on each external module. The sequence number should start from 1 and continue sequentially. At the end of the line, the CAN-BUS termination switch of the remaining modules should be activated, while the switches for the intermediate modules should be turned off.
|
Address |
Description |
Unit |
|
15064~15065 |
Enable external IO module 1 |
0 |
|
15066~15067 |
Enable external IO module 2 |
Minimum |
|
15068~15069 |
Enable external IO module 3 |
0 |
|
15070~15071 |
Enable external IO module 4 |
Maximum |
|
15072~15073 |
Enable external IO module 5 |
1 |
|
15074~15075 |
Enable external IO module 6 |
Default |
|
15076~15077 |
Enable external IO module 7 |
0 |
|
15078~15079 |
Enable external IO module 8 |
Format |
|
15080~15081 |
Enable external IO module 9 |
0 |
|
15082~15083 |
Enable external IO module 10 |
|
0: No external IO module
1: External IO module present
SPRM50: Machine Type
Pulser3 core software is designed for milling machines, but it also contains different software versions or uses for other machine types. The standard software includes embedded features for turning models as well. This parameter informs the system whether the machine being installed is a milling or turning machine. When the milling model is selected, up to 100 tool offset values can be used, while only up to 50 tool offset values are available when the turning model is selected. Although the tool offset memory is shared between the milling and lathe models, the values have different meanings. Please review the values in the tool offset section.
|
Address |
Description |
Minimum |
Maximum |
Default |
|
15100~15101 |
Machine Type |
0 |
5555 |
0 |
|
|
Format |
Unit |
||
|
0 |
|
|||
0: Milling
5555: Lathe
SPRM54: Read SKIP2 Signal from Input Directly
The SKIP2 signal is transmitted to the system using ladder programming with HSC Studio. However, as the PLC cycle time increases, delays in transmitting the SKIP2 signal may occur. To eliminate these delays, any internal digital input can be selected as the SKIP2 signal source using the parameter below.
|
Address |
Description |
Minimum |
Maximum |
Default |
|
15108~15109 |
Read SKIP2 signal from built-in input directly |
0 |
229 |
0 |
|
|
Format |
Unit |
||
|
0 |
|
|||
0: Disabled
1xx: 1 = Normally open contact, xx = Digital input number. Example: 105 for X5.
2xx: 2 = Normally closed contact, xx = Digital input number. Example: 205 for X5.
SPRM54: Read SKIP3 Signal from Input Directly
The SKIP3 signal is transmitted to the system using ladder programming with HSC Studio. However, as the PLC cycle time increases, delays in transmitting the SKIP3 signal may occur. To eliminate these delays, any internal digital input can be selected as the SKIP3 signal source using the parameter below.
|
Address |
Description |
Minimum |
Maximum |
Default |
|
15110~15111 |
Read SKIP3 signal from built-in input directly |
0 |
229 |
0 |
|
|
Format |
Unit |
||
|
0 |
|
|||
0: Disabled
1xx: 1 = Normally open contact, xx = Digital input number. Example: 105 for X5.
2xx: 2 = Normally closed contact, xx = Digital input number. Example: 205 for X5.
SPRM56-SPRM63: Direct Connection of DEC Signals to Inputs
The p_DECx signal is transmitted to the system using ladder programming in HSC Studio. However, as the PLC cycle time increases, delays in transmitting p_DECx signals may occur. To eliminate these delays, any internal digital input can be selected as the p_DECx signal source using the parameter below.
|
Address |
Description |
Minimum |
Maximum |
Default |
|
15112~15113 |
Read DEC signal from input directly for X axis |
0 |
229 |
0 |
|
15114~15115 |
Read DEC signal from input directly for Y axis |
0 |
229 |
0 |
|
15116~15117 |
Read DEC signal from input directly for Z axis |
0 |
229 |
0 |
|
15118~15119 |
Read DEC signal from input directly for 4th axis |
0 |
229 |
0 |
|
15120~15121 |
Read DEC signal from input directly for 5th axis |
0 |
229 |
0 |
|
15122~15123 |
Read DEC signal from input directly for 6th axis |
0 |
229 |
0 |
|
15124~15125 |
Read DEC signal from input directly for 7th axis |
0 |
229 |
0 |
|
15126~15127 |
Read DEC signal from input directly for 8th axis |
0 |
229 |
0 |
|
|
Format |
Unit |
||
|
0 |
|
|||
0: Disabled
1xx: 1 = Normally open contact, xx = digital input number. Example: 105 for X5
2xx: 2 = Normally closed contact, xx = digital input number. Example: 205 for X5.
SPRM64-SPRM71: Masking of Servo Alarms
This parameter allows servo alarms of the axes to be masked and ignored. Even if the servo enters an alarm state, the system will not generate an alarm and will continue to operate. This feature is intended for testing purposes and for using stepper motors in the Pulser3-PLSE model. After the test is completed, it must be disabled. If left enabled and one of the axes enters an alarm state, the machine will continue operating, potentially causing collisions with the processed part or other parts of the machine, leading to significant material damage and/or serious injuries.
|
Address |
Description |
Unit |
|
15128~15129 |
Disable the 'servo not ready' alarm for X axis |
0 |
|
15130~15131 |
Disable the 'servo not ready' alarm for Y axis |
Minimum |
|
15132~15133 |
Disable the 'servo not ready' alarm for Z axis |
0 |
|
15134~15135 |
Disable the 'servo not ready' alarm for 4th axis |
Maximum |
|
15136~15137 |
Disable the 'servo not ready' alarm for 5th axis |
1 |
|
15138~15139 |
Disable the 'servo not ready' alarm for 6th axis |
Default |
|
15140~15141 |
Disable the 'servo not ready' alarm for 7th axis |
0 |
|
15142~15143 |
Disable the 'servo not ready' alarm for 8th axis |
Format |
|
|
|
0 |
0: Servo alarms enabled
1: Disable servo alarms
SPRM80: Waiting Time Before Servo Alarm
When a servo alarm occurs on any axis, the delay value to transition the system into an alarm state is set.
|
Address |
Description |
Minimum |
Maximum |
Default |
|
15160~15161 |
Delay before 'servo not ready' alarm |
0 |
10000 |
500 |
|
|
Format |
Unit |
||
|
0 |
ms |
|||
SPRM81: Modbus TCP Communication Timeout Duration
After the communication between an industrial PC or HMI and Pulser3 via Modbus TCP is established and then terminated or interrupted, the timeout period for control is set. Once the connection is lost, after the duration specified in this parameter, the c_TOUT bit will be set to '1', notifying the internal PLC that the connection is lost and necessary actions should be taken. In the internal PLC section, it is recommended to take precautions such as stopping automatic operation, disabling the motion command source signals, and turning off the spindle/laser light/plasma fire.
|
Address |
Description |
Minimum |
Maximum |
Default |
|
15162~15163 |
Modbus TCP communication timeout |
0 |
10000 |
100 |
|
|
Format |
Unit |
||
|
0 |
ms |
|||
SPRM82-SPRM97: Ethernet Port Settings
The IP settings for the internal Ethernet port on Pulser3 can be configured using the following parameters. The default Ethernet settings for Pulser3 are as follows:
Default IP address: 192.168.1.100
Default subnet mask: 255.255.255.0
Default gateway: 192.168.1.1
If an HMI is used as the interface and the G-code download operation is to be performed using the HMI's FTP host feature, the IP address of the HMI should be entered in the SPRM94-SPRM97 parameters. If these parameter values are left as 0, Pulser3 will attempt to connect to the address 192.168.1.231. Pulser3 will connect to the FTP host using port 21 and try to download the requested file. The user credentials and file path used for this connection are as follows:
Username: uploadhis
Password: 111111
File path : /usbdisk/disk_a_1/
|
Address |
Description |
Unit |
|
15164~15165 |
IP address byte 3 |
0 |
|
15166~15167 |
IP address byte 2 |
Minimum |
|
15168~15169 |
IP address byte 1 |
0 |
|
15170~15171 |
IP address byte 0 |
Maximum |
|
15172~15173 |
Subnet mask byte 3 |
255 |
|
15174~15175 |
Subnet mask byte 2 |
Default |
|
15176~15177 |
Subnet mask byte 1 |
0 |
|
15178~15179 |
Subnet mask byte 0 |
Format |
|
15180~15181 |
Default gateway byte 3 |
0 |
|
15182~15183 |
Default gateway byte 2 |
|
|
15184~15185 |
Default gateway byte 1 |
|
|
15186~15187 |
Default gateway byte 0 |
|
|
15188~15189 |
FTP host IP address byte 3 |
|
|
15190~15191 |
FTP host IP address byte 3 |
|
|
15192~15193 |
FTP host IP address byte 3 |
|
|
15194~15195 |
FTP host IP address byte 3 |
|
SPRM100-SPRM149: Kinematic Parameters
|
Address |
Description |
Minimum |
Maximum |
Default |
|
15200~15201 |
Kinematics Type |
0 |
0 |
0 |
|
15202~15203 |
Kinematics Parameter 1 |
-999999999 |
999999999 |
|
|
15204~15205 |
Kinematics Parameter 2 |
-999999999 |
999999999 |
|
|
15206~15207 |
Kinematics Parameter 3 |
-999999999 |
999999999 |
|
|
15208~15209 |
Kinematics Parameter 4 |
-999999999 |
999999999 |
|
|
15210~15211 |
Kinematics Parameter 5 |
-999999999 |
999999999 |
|
|
15212~15213 |
Kinematics Parameter 6 |
-999999999 |
999999999 |
|
|
15214~15215 |
Kinematics Parameter 7 |
-999999999 |
999999999 |
|
|
15216~15217 |
Kinematics Parameter 8 |
-999999999 |
999999999 |
|
|
15218~15219 |
Kinematics Parameter 9 |
-999999999 |
999999999 |
|
|
15220~15221 |
Kinematics Parameter 10 |
-999999999 |
999999999 |
|
|
15222~15223 |
Kinematics Parameter 11 |
-999999999 |
999999999 |
|
|
15224~15225 |
Kinematics Parameter 12 |
-999999999 |
999999999 |
|
|
15226~15227 |
Kinematics Parameter 13 |
-999999999 |
999999999 |
|
|
15228~15229 |
Kinematics Parameter 14 |
-999999999 |
999999999 |
|
|
15230~15231 |
Kinematics Parameter 15 |
-999999999 |
999999999 |
|
|
15232~15233 |
Kinematics Parameter 16 |
-999999999 |
999999999 |
|
|
15234~15235 |
Kinematics Parameter 17 |
-999999999 |
999999999 |
|
|
15236~15237 |
Kinematics Parameter 18 |
-999999999 |
999999999 |
|
|
15238~15239 |
Kinematics Parameter 19 |
-999999999 |
999999999 |
|
|
15240~15241 |
Kinematics Parameter 20 |
-999999999 |
999999999 |
|
|
15242~15243 |
Kinematics Parameter 21 |
-999999999 |
999999999 |
|
|
15244~15245 |
Kinematics Parameter 22 |
-999999999 |
999999999 |
|
|
15246~15247 |
Kinematics Parameter 23 |
-999999999 |
999999999 |
|
|
15248~15249 |
Kinematics Parameter 24 |
-999999999 |
999999999 |
|
|
15250~15251 |
Kinematics Parameter 25 |
-999999999 |
999999999 |
|
|
15252~15253 |
Kinematics Parameter 26 |
-999999999 |
999999999 |
|
|
15254~15255 |
Kinematics Parameter 27 |
-999999999 |
999999999 |
|
|
15256~15257 |
Kinematics Parameter 28 |
-999999999 |
999999999 |
|
|
15258~15259 |
Kinematics Parameter 29 |
-999999999 |
999999999 |
|
|
15260~15261 |
Kinematics Parameter 30 |
-999999999 |
999999999 |
|
|
15262~15263 |
Kinematics Parameter 31 |
-999999999 |
999999999 |
|
|
15264~15265 |
Kinematics Parameter 32 |
-999999999 |
999999999 |
|
|
15266~15267 |
Kinematics Parameter 33 |
-999999999 |
999999999 |
|
|
15268~15269 |
Kinematics Parameter 34 |
-999999999 |
999999999 |
|
|
15270~15271 |
Kinematics Parameter 35 |
-999999999 |
999999999 |
|
|
15272~15273 |
Kinematics Parameter 36 |
-999999999 |
999999999 |
|
|
15274~15275 |
Kinematics Parameter 37 |
-999999999 |
999999999 |
|
|
15276~15277 |
Kinematics Parameter 38 |
-999999999 |
999999999 |
|
|
15278~15279 |
Kinematics Parameter 39 |
-999999999 |
999999999 |
|
|
15280~15281 |
Kinematics Parameter 40 |
-999999999 |
999999999 |
|
|
15282~15283 |
Kinematics Parameter 41 |
-999999999 |
999999999 |
|
|
15284~15285 |
Kinematics Parameter 42 |
-999999999 |
999999999 |
|
|
15286~15287 |
Kinematics Parameter 43 |
-999999999 |
999999999 |
|
|
15288~15289 |
Kinematics Parameter 44 |
-999999999 |
999999999 |
|
|
15290~15291 |
Kinematics Parameter 45 |
-999999999 |
999999999 |
|
|
15292~15293 |
Kinematics Parameter 46 |
-999999999 |
999999999 |
|
|
15294~15295 |
Kinematics Parameter 47 |
-999999999 |
999999999 |
|
|
15296~15297 |
Kinematics Parameter 48 |
-999999999 |
999999999 |
|
|
15298~15299 |
Kinematics Parameter 49 |
-999999999 |
999999999 |
|
SPRM200-SPRM499: EtherCAT Parameters
This parameter group is only applicable to the Pulser3-ECAT model and has no functionality in other models. In the standard software of Pulser3-ECAT, PDO maps are fixed. The addresses of these objects can be modified; however, the map itself cannot be changed. The system performs the homing process using the touch probe feature, which must be supported by the drive in use. The standard PDO maps are as follows:
RXPDO Assignment Address: 0x1C12
|
0x1600: RXPDO |
||
|
Address |
Description |
Data type |
|
0x6040 |
Control Word |
UINT16 |
|
0x6060 |
Mode Of Operation |
UINT8 |
|
0x607A |
Target Position |
INT32 |
|
0x60FF |
Target Velocity |
INT32 |
|
0x6072 |
Maximum Torque |
UINT16 |
|
0x60B8 |
Touch Probe Function |
UINT16 |
TXPDO Assignment Address: 0x1C13
|
0x1A00: TXPDO |
||
|
Address |
Description |
Data type |
|
0x6041 |
Status Word |
UINT16 |
|
0x6061 |
Mode Of Operation Display |
UINT8 |
|
0x6064 |
Actual Position |
INT32 |
|
0x606C |
Actual Velocity |
INT32 |
|
0x6077 |
Actual Torque |
INT16 |
|
0x60B9 |
Touch Probe Status |
UINT16 |
|
0x60BA |
Touch Probe Latch Value |
INT32 |
|
0x603F |
Error Code |
UINT16 |
Control Word Content:
|
Address |
Description |
|||||||||
|
0x6040 |
Control Word |
|||||||||
|
Bit |
15 |
14 |
13 |
12 |
11 |
10 |
9 |
8 |
|
|
|
|
|
|
|
|
|
|
|
|
||
|
|
||||||||||
|
|
Bit |
7 |
6 |
5 |
4 |
3 |
2 |
1 |
0 |
|
|
|
fr |
|
|
|
eo |
qs |
ev |
so |
||
Bit15
Bit14
Bit13
Bit12
Bit11
Bit10
Bit9
Bit8
Bit7 fr: Fault reset
Bit6
Bit5
Bit4
Bit3 eo: Enable operation
Bit2 qs: Quick stop
Bit1 ev: Enable voltage
Bit0 so: Switch on
Status Word Content:
|
Address |
Description |
|||||||||
|
0x6041 |
Status Word |
|||||||||
|
Bit |
15 |
14 |
13 |
12 |
11 |
10 |
9 |
8 |
|
|
|
|
|
|
|
|
|
|
|
|
||
|
|
||||||||||
|
|
Bit |
7 |
6 |
5 |
4 |
3 |
2 |
1 |
0 |
|
|
|
|
sod |
qs |
ve |
f |
oe |
so |
rtso |
||
Bit15
Bit14
Bit13
Bit12
Bit11
Bit10
Bit9
Bit8
Bit7
Bit6 sod: Switch on disabled
Bit5 qs: Quick stop
Bit4 ve: Voltage enabled
Bit3 f: Fault
Bit2 oe: Operation enabled
Bit1 so: Switched on
Bit0 rtso: Ready to switch on
Touch Probe Function Contents:
|
Address |
Description |
|||||||||
|
0x60B8 |
Touch Probe Function |
|||||||||
|
Bit |
15 |
14 |
13 |
12 |
11 |
10 |
9 |
8 |
|
|
|
|
|
|
|
|
|
|
|
|
||
|
|
||||||||||
|
|
Bit |
7 |
6 |
5 |
4 |
3 |
2 |
1 |
0 |
|
|
|
|
|
ene |
epe |
|
tz |
ct |
etb1 |
||
Bit15
Bit14
Bit13
Bit12
Bit11
Bit10
Bit9
Bit8
Bit7
Bit6
Bit5 ene: Enable sampling at negative edge
Bit4 epe: Enable sampling at positive edge
Bit3
Bit2 tz: 0: Trigger with touch probe 1 input / 1: Trigger with Z phase of encoder
Bit1 ct: 0: Trigger first event / 1: Continuous
Bit0 etb1: 0: Switch off touch probe 1 / 1: Enable touch probe 1
Touch Probe Status Contents:
|
Address |
Description |
|||||||||
|
0x60B9 |
Touch Probe Status |
|||||||||
|
Bit |
15 |
14 |
13 |
12 |
11 |
10 |
9 |
8 |
|
|
|
|
|
|
|
|
|
|
|
|
||
|
|
||||||||||
|
|
Bit |
7 |
6 |
5 |
4 |
3 |
2 |
1 |
0 |
|
|
|
|
|
|
|
|
nes |
pes |
ten |
||
Bit15
Bit14
Bit13
Bit12
Bit11
Bit10
Bit9
Bit8
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2 nes: Touch probe 1 positive edge value stored
Bit1 pes: Touch probe 1 positive edge value stored
Bit0 ten: Touch probe 1 is enabled
SPRM200-SPRM279: Axis Servo Drive Names
These parameters specify the names of the axis servos. If a name is specified for any servo, the system compares this name with the one in the drive during the first communication. If the names in the system and in the drive do not match, real-time communication will not be initiated. If this parameter group is left as 0, the comparison will not be performed.
|
Address |
Description |
Unit |
|
15400~15419 |
The name of the servo driver for axis 1 |
ASCII in HEX |
|
15420~15439 |
The name of the servo driver for axis 2 |
Minimum |
|
15440~15459 |
The name of the servo driver for axis 3 |
0 |
|
15460~15479 |
The name of the servo driver for axis 4 |
Maximum |
|
15480~15499 |
The name of the servo driver for axis 5 |
255 |
|
15500~15519 |
The name of the servo driver for axis 6 |
Default |
|
15520~15539 |
The name of the servo driver for axis 7 |
0 |
|
15540~15559 |
The name of the servo driver for axis 8 |
Format |
|
|
|
0 |
SPRM280-SPRM287: RXPDO Assignment Addresses
|
Address |
Description |
Unit |
|
15560~15561 |
The RXPDO assignment address of axis 1 |
HEX |
|
15562~15563 |
The RXPDO assignment address of axis 2 |
Minimum |
|
15564~15565 |
The RXPDO assignment address of axis 3 |
0 |
|
15566~15567 |
The RXPDO assignment address of axis 4 |
Maximum |
|
15568~15569 |
The RXPDO assignment address of axis 5 |
0xFFFF |
|
15570~15571 |
The RXPDO assignment address of axis 6 |
Default |
|
15572~15573 |
The RXPDO assignment address of axis 7 |
0x1C12 |
|
15574~15575 |
The RXPDO assignment address of axis 8 |
Format |
|
|
|
|
SPRM288-SPRM295: TXPDO Assignment Addresses
|
Address |
Description |
Unit |
|
15576~15577 |
The TXPDO assignment address of axis 1 |
HEX |
|
15578~15579 |
The TXPDO assignment address of axis 2 |
Minimum |
|
15580~15581 |
The TXPDO assignment address of axis 3 |
0 |
|
15582~15583 |
The TXPDO assignment address of axis 4 |
Maximum |
|
15584~15585 |
The TXPDO assignment address of axis 5 |
0xFFFF |
|
15586~15587 |
The TXPDO assignment address of axis 6 |
Default |
|
15588~15589 |
The TXPDO assignment address of axis 7 |
0x1C13 |
|
15590~15591 |
The TXPDO assignment address of axis 8 |
Format |
|
|
|
|
SPRM296-SPRM303: RXPDO Addresses
|
Address |
Description |
Unit |
|
15592~15593 |
The RXPDO address of axis 1 |
HEX |
|
15594~15595 |
The RXPDO address of axis 2 |
Minimum |
|
15596~15597 |
The RXPDO address of axis 3 |
0 |
|
15598~15599 |
The RXPDO address of axis 4 |
Maximum |
|
15600~15601 |
The RXPDO address of axis 5 |
0xFFFF |
|
15602~15603 |
The RXPDO address of axis 6 |
Default |
|
15604~15605 |
The RXPDO address of axis 7 |
0x1600 |
|
15606~15607 |
The RXPDO address of axis 8 |
Format |
|
|
|
|
SPRM304-SPRM311: TXPDO Addresses
|
Address |
Description |
Unit |
|
15608~15609 |
The TXPDO address of axis 1 |
HEX |
|
15610~15611 |
The TXPDO address of axis 2 |
Minimum |
|
15612~15613 |
The TXPDO address of axis 3 |
0 |
|
15614~15615 |
The TXPDO address of axis 4 |
Maximum |
|
15616~15617 |
The TXPDO address of axis 5 |
0xFFFF |
|
15618~15619 |
The TXPDO address of axis 6 |
Default |
|
15620~15621 |
The TXPDO address of axis 7 |
0x1A00 |
|
15622~15623 |
The TXPDO address of axis 8 |
Format |
|
|
|
|
SPRM312-SPRM319: Control Word Address and Data Types
|
Address |
Description |
Unit |
|
15624~15625 |
The control word address and data type of axis 1 |
HEX |
|
15626~15627 |
The control word address and data type of axis 2 |
Minimum |
|
15628~15629 |
The control word address and data type of axis 3 |
0xFFFFFFFF |
|
15630~15631 |
The control word address and data type of axis 4 |
Maximum |
|
15632~15633 |
The control word address and data type of axis 5 |
0x7FFFFFFF |
|
15634~15635 |
The control word address and data type of axis 6 |
Default |
|
15636~15637 |
The control word address and data type of axis 7 |
0x60400010 |
|
15638~15639 |
The control word address and data type of axis 8 |
Format |
|
|
|
|
High 16 bit: Control Word adress
Low 16 bit: Data type
SPRM320-SPRM327: Operation Mode Address and Data Types
|
Address |
Description |
Unit |
|
15640~15641 |
Mode of operation address and data type of axis 1 |
HEX |
|
15642~15643 |
Mode of operation address and data type of axis 2 |
Minimum |
|
15644~15645 |
Mode of operation address and data type of axis 3 |
0xFFFFFFFF |
|
15646~15647 |
Mode of operation address and data type of axis 4 |
Maximum |
|
15648~15649 |
Mode of operation address and data type of axis 5 |
0x7FFFFFFF |
|
15650~15651 |
Mode of operation address and data type of axis 6 |
Default |
|
15652~15653 |
Mode of operation address and data type of axis 7 |
0x60600008 |
|
15654~15655 |
Mode of operation address and data type of axis 8 |
Format |
|
|
|
|
High 16 bit: Address for writing the mode of operation
Low 16 bit: Data type
SPRM328-SPRM335: Target Position Address and Data Types
|
Address |
Description |
Unit |
|
15656~15657 |
Target position address and data type of axis 1 |
HEX |
|
15658~15659 |
Target position address and data type of axis 2 |
Minimum |
|
15660~15661 |
Target position address and data type of axis 3 |
0xFFFFFFFF |
|
15662~15663 |
Target position address and data type of axis 4 |
Maximum |
|
15664~15665 |
Target position address and data type of axis 5 |
0x7FFFFFFF |
|
15666~15667 |
Target position address and data type of axis 6 |
Default |
|
15668~15669 |
Target position address and data type of axis 7 |
0x607A0020 |
|
15670~15671 |
Target position address and data type of axis 8 |
Format |
|
|
|
|
High 16 bit: Address to write the target position
Low 16 bit: Data type
SPRM336-SPRM343: Target Velocity Address and Data Type
|
Address |
Description |
Unit |
|
15672~15673 |
Target velocity address and data type of axis 1 |
HEX |
|
15674~15675 |
Target velocity address and data type of axis 2 |
Minimum |
|
15676~15677 |
Target velocity address and data type of axis 3 |
0xFFFFFFFF |
|
15678~15679 |
Target velocity address and data type of axis 4 |
Maximum |
|
15680~15681 |
Target velocity address and data type of axis 5 |
0x7FFFFFFF |
|
15682~15683 |
Target velocity address and data type of axis 6 |
Default |
|
15684~15685 |
Target velocity address and data type of axis 7 |
0x60FF0020 |
|
15686~15687 |
Target velocity address and data type of axis 8 |
Format |
|
|
|
|
High 16 bit: Address to write the target velocity
Low 16 bit: Data type
SPRM344-SPRM351: Maximum Torque Address and Data Type
|
Address |
Description |
Unit |
|
15688~15689 |
Maximum torque address and data type of axis 1 |
HEX |
|
15690~15691 |
Maximum torque address and data type of axis 2 |
Minimum |
|
15692~15693 |
Maximum torque address and data type of axis 3 |
0xFFFFFFFF |
|
15694~15695 |
Maximum torque address and data type of axis 4 |
Maximum |
|
15696~15697 |
Maximum torque address and data type of axis 5 |
0x7FFFFFFF |
|
15698~15699 |
Maximum torque address and data type of axis 6 |
Default |
|
15700~15701 |
Maximum torque address and data type of axis 7 |
0x60720010 |
|
15702~15703 |
Maximum torque address and data type of axis 8 |
Format |
|
|
|
|
High 16 bit: Address to write the maximum torque
Low 16 bit: Data type
SPRM352-SPRM359: Touch Probe Control Address and Data Types
|
Address |
Description |
Unit |
|
15704~15705 |
Touch probe control address and data type of axis 1 |
HEX |
|
15706~15707 |
Touch probe control address and data type of axis 2 |
Minimum |
|
15708~15709 |
Touch probe control address and data type of axis 3 |
0xFFFFFFFF |
|
15710~15711 |
Touch probe control address and data type of axis 4 |
Maximum |
|
15712~15713 |
Touch probe control address and data type of axis 5 |
0x7FFFFFFF |
|
15714~15715 |
Touch probe control address and data type of axis 6 |
Default |
|
15716~15717 |
Touch probe control address and data type of axis 7 |
0x60B80010 |
|
15718~15719 |
Touch probe control address and data type of axis 8 |
Format |
|
|
|
|
High 16 bit: Address to write the touch probe control
Low 16 bit: Data type
SPRM360-SPRM367: Status Word Address and Data Types
|
Address |
Description |
Unit |
|
15720~15721 |
Status word address and data type of axis 1 |
HEX |
|
15722~15723 |
Status word address and data type of axis 2 |
Minimum |
|
15724~15725 |
Status word address and data type of axis 3 |
0xFFFFFFFF |
|
15726~15727 |
Status word address and data type of axis 4 |
Maximum |
|
15728~15729 |
Status word address and data type of axis 5 |
0x7FFFFFFF |
|
15730~15731 |
Status word address and data type of axis 6 |
Default |
|
15732~15733 |
Status word address and data type of axis 7 |
0x60410010 |
|
15734~15735 |
Status word address and data type of axis 8 |
Format |
|
|
|
|
High 16 bit: Address where the status word will be read
Low 16 bit: Data type
SPRM368-SPRM375: Mode of Operation Monitoring Address and Data Type
|
Address |
Description |
Unit |
|
15736~15737 |
Mode of operation display address and data type of axis 1 |
HEX |
|
15738~15739 |
Mode of operation display address and data type of axis 2 |
Minimum |
|
15740~15741 |
Mode of operation display address and data type of axis 3 |
0xFFFFFFFF |
|
15742~15743 |
Mode of operation display address and data type of axis 4 |
Maximum |
|
15744~15745 |
Mode of operation display address and data type of axis 5 |
0x7FFFFFFF |
|
15746~15747 |
Mode of operation display address and data type of axis 6 |
Default |
|
15748~15749 |
Mode of operation display address and data type of axis 7 |
0x60610008 |
|
15750~15751 |
Mode of operation display address and data type of axis 8 |
Format |
|
|
|
|
High 16 bit: Address where the mode of operation will be read
High 16 bit: Data type
SPRM376-SPRM383: Actual Position Address and Data Type
|
Address |
A Description |
Unit |
|
15752~15753 |
Actual position address and data type of axis 1 |
HEX |
|
15754~15755 |
Actual position address and data type of axis 2 |
Minimum |
|
15756~15757 |
Actual position address and data type of axis 3 |
0xFFFFFFFF |
|
15758~15759 |
Actual position address and data type of axis 4 |
Maximum |
|
15760~15761 |
Actual position address and data type of axis 5 |
0x7FFFFFFF |
|
15762~15763 |
Actual position address and data type of axis 6 |
Default |
|
15764~15765 |
Actual position address and data type of axis 7 |
0x60640020 |
|
15766~15767 |
Actual position address and data type of axis 8 |
Format |
|
|
|
|
High 16 bit: Address where the actual position is read
Low 16 bit: Data type
SPRM384-SPRM391: Actual Speed Address and Data Types
|
Address |
Description |
Unit |
|
15768~15769 |
Actual velocity address and data type of axis 1 |
HEX |
|
15770~15771 |
Actual velocity address and data type of axis 2 |
Minimum |
|
15772~15773 |
Actual velocity address and data type of axis 3 |
0xFFFFFFFF |
|
15774~15775 |
Actual velocity address and data type of axis 4 |
Maximum |
|
15776~15777 |
Actual velocity address and data type of axis 5 |
0x7FFFFFFF |
|
15778~15779 |
Actual velocity address and data type of axis 6 |
Default |
|
15780~15781 |
Actual velocity address and data type of axis 7 |
0x606C0020 |
|
15782~15783 |
Actual velocity address and data type of axis 8 |
Format |
|
|
|
|
High 16 bit: Address where the actual speed will be read
Low 16 bit: Data type
SPRM392-SPRM399: Actual Torque Address and Data Type
|
Address |
Description |
Unit |
|
15784~15785 |
Actual torque address and data type of axis 1 |
HEX |
|
15786~15787 |
Actual torque address and data type of axis 2 |
Minimum |
|
15788~15789 |
Actual torque address and data type of axis 3 |
0xFFFFFFFF |
|
15790~15791 |
Actual torque address and data type of axis 4 |
Maximum |
|
15792~15793 |
Actual torque address and data type of axis 5 |
0x7FFFFFFF |
|
15794~15795 |
Actual torque address and data type of axis 6 |
Default |
|
15796~15797 |
Actual torque address and data type of axis 7 |
0x60770010 |
|
15798~15799 |
Actual torque address and data type of axis 8 |
Format |
|
|
|
|
High 16 bit: Address where the actual torque will be read
Low 16 bit: Data type
SPRM400-SPRM407: Touch Probe Status Address and Data Type
|
Address |
Description |
Unit |
|
15800~15801 |
Touch probe status address and data type of axis 1 |
HEX |
|
15802~15803 |
Touch probe status address and data type of axis 2 |
Minimum |
|
15804~15805 |
Touch probe status address and data type of axis 3 |
0xFFFFFFFF |
|
15806~15807 |
Touch probe status address and data type of axis 4 |
Maximum |
|
15808~15809 |
Touch probe status address and data type of axis 5 |
0x7FFFFFFF |
|
15810~15811 |
Touch probe status address and data type of axis 6 |
Default |
|
15812~15813 |
Touch probe status address and data type of axis 7 |
0x60B90010 |
|
15814~15815 |
Touch probe status address and data type of axis 8 |
Format |
|
|
|
|
High 16 bit: Address where the touch probe status will be read
Low 16 bit: Data type
SPRM408-SPRM415: Touch Probe Value Address and Data Types
|
Address |
Description |
Unit |
|
15816~15817 |
Touch probe value address and data type of axis 1 |
HEX |
|
15818~15819 |
Touch probe value address and data type of axis 2 |
Minimum |
|
15820~15821 |
Touch probe value address and data type of axis 3 |
0xFFFFFFFF |
|
15822~15823 |
Touch probe value address and data type of axis 4 |
Maximum |
|
15824~15825 |
Touch probe value address and data type of axis 5 |
0x7FFFFFFF |
|
15826~15827 |
Touch probe value address and data type of axis 6 |
Default |
|
15828~15829 |
Touch probe value address and data type of axis 7 |
0x60BA0020 |
|
15830~15831 |
Touch probe value address and data type of axis 8 |
Format |
|
|
|
|
High 16 bit: The address where the touch probe value will be read
Low 16 bit: Data type
SPRM416-SPRM423: Error Code Monitoring Address and Data Types
|
Address |
Description |
Unit |
|
15832~15833 |
Error code address and data type of axis 1 |
HEX |
|
15834~15835 |
Error code address and data type of axis 2 |
Minimum |
|
15836~15837 |
Error code address and data type of axis 3 |
0xFFFFFFFF |
|
15838~15839 |
Error code address and data type of axis 4 |
Maximum |
|
15840~15841 |
Error code address and data type of axis 5 |
0x7FFFFFFF |
|
15842~15843 |
Error code address and data type of axis 6 |
Default |
|
15844~15845 |
Error code address and data type of axis 7 |
0x603F0010 |
|
15846~15847 |
Error code address and data type of axis 8 |
Format |
|
|
|
|
High 16 bit: The address where the error code will be read
Low 16 bit: Data type
SPRM424-SPRM431: Cyclic Position Mode Selection Value
|
Address |
Description |
Unit |
|
15848~15849 |
Cyclic position mode selection value of axis 1 |
HEX |
|
15850~15851 |
Cyclic position mode selection value of axis 2 |
Minimum |
|
15852~15853 |
Cyclic position mode selection value of axis 3 |
0x00000000 |
|
15854~15855 |
Cyclic position mode selection value of axis 4 |
Maximum |
|
15856~15857 |
Cyclic position mode selection value of axis 5 |
0x000000FF |
|
15858~15859 |
Cyclic position mode selection value of axis 6 |
Default |
|
15860~15861 |
Cyclic position mode selection value of axis 7 |
0x00000008 |
|
15862~15863 |
Cyclic position mode selection value of axis 8 |
Format |
|
|
|
|
SPRM432-SPRM439: Control Word Bit Order
|
Address |
Description |
Unit |
|
15864~15865 |
Control word bit order of axis 1 |
HEX |
|
15866~15867 |
Control word bit order of axis 2 |
Minimum |
|
15868~15869 |
Control word bit order of axis 3 |
0xFFFFFFFF |
|
15870~15871 |
Control word bit order of axis 4 |
Maximum |
|
15872~15873 |
Control word bit order of axis 5 |
0x7FFFFFFF |
|
15874~15875 |
Control word bit order of axis 6 |
Default |
|
15876~15877 |
Control word bit order of axis 7 |
0x00073210 |
|
15878~15879 |
Control word bit order of axis 8 |
Format |
|
|
|
|
Digit 1: Switch On (so) bit order
Digit 2: Enable Voltage (eo) bit order
Digit 3: Quick Stop (qs) bit order
Digit 4: Enable Operation (eo) bit order
Digit 5: Fault Reset (fr) bit order
SPRM440-SPRM447: Status Word Bit Order
|
Address |
Description |
Unit |
|
15880~15881 |
Status word bit order of axis 1 |
HEX |
|
15882~15883 |
Status word bit order of axis 2 |
Minimum |
|
15884~15885 |
Status word bit order of axis 3 |
0xFFFFFFFF |
|
15886~15887 |
Status word bit order of axis 4 |
Maximum |
|
15888~15889 |
Status word bit order of axis 5 |
0x7FFFFFFF |
|
15890~15891 |
Status word bit order of axis 6 |
Default |
|
15892~15893 |
Status word bit order of axis 7 |
0x06543210 |
|
15894~15895 |
Status word bit order of axis 8 |
Format |
|
|
|
|
Digit 1: Ready To Switch On (rtso) bit order
Digit 2: Switched On (so) bit order
Digit 3: Operation Enabled (oe) bit order
Digit 4: Fault (f) bit order
Digit 5: Voltage Enabled (ve) bit order
Digit 6: Quick Stop (qs) bit order
Digit 7: Switch On Disabled (sod) bit order
SPRM448-SPRM455: Touch Probe Diasble/Enable Values
|
Address |
Description |
Unit |
|
15896~15897 |
Touch probe disable/enable value of axis 1 |
HEX |
|
15898~15899 |
Touch probe disable/enable value of axis 2 |
Minimum |
|
15900~15901 |
Touch probe disable/enable value of axis 3 |
0xFFFFFFFF |
|
15902~15903 |
Touch probe disable/enable value of axis 4 |
Maximum |
|
15904~15905 |
Touch probe disable/enable value of axis 5 |
0x7FFFFFFF |
|
15906~15907 |
Touch probe disable/enable value of axis 6 |
Default |
|
15908~15909 |
Touch probe disable/enable value of axis 7 |
0x00150000 |
|
15910~15911 |
Touch probe disable/enable value of axis 8 |
Format |
|
|
|
|
High 16 bit: Touch probe activation value
Low 16 bit: Touch probe deactivation value
SPRM456-SPRM463: Touch Probe Status Word Bit Order
|
Address |
Description |
Unit |
|
15912~15913 |
Touch probe status word bit order of axis 1 |
HEX |
|
15914~15915 |
Touch probe status word bit order of axis 2 |
Minimum |
|
15916~15917 |
Touch probe status word bit order of axis 3 |
0xFFFFFFFF |
|
15918~15919 |
Touch probe status word bit order of axis 4 |
Maximum |
|
15920~15921 |
Touch probe status word bit order of axis 5 |
0x7FFFFFFF |
|
15922~15923 |
Touch probe status word bit order of axis 6 |
Default |
|
15924~15925 |
Touch probe status word bit order of axis 7 |
0x00000010 |
|
15926~15927 |
Touch probe status word bit order of axis 8 |
Format |
|
|
|
|
Digit1: Touch probe activated signal bit order
Digit2: Touch probe value detected signal bit order
SPRM464-SPRM471: Address and Data Type of the Optional SDO1 Value to be Written
|
Address |
Description |
Unit |
|
15928~15929 |
Address and data type of the optional sdo1 parameter of the axis 1 |
HEX |
|
15930~15931 |
Address and data type of the optional sdo1 parameter of the axis 2 |
Minimum |
|
15932~15933 |
Address and data type of the optional sdo1 parameter of the axis 3 |
0xFFFFFFFF |
|
15934~15935 |
Address and data type of the optional sdo1 parameter of the axis 4 |
Maximum |
|
15936~15937 |
Address and data type of the optional sdo1 parameter of the axis 5 |
0x7FFFFFFF |
|
15938~15939 |
Address and data type of the optional sdo1 parameter of the axis 6 |
Default |
|
15940~15941 |
Address and data type of the optional sdo1 parameter of the axis 7 |
0x00000000 |
|
15942~15943 |
Address and data type of the optional sdo1 parameter of the axis 8 |
Format |
|
|
|
|
High 16 bit: Index
Bit 8-15: Data type
Bit 0-7 Sub-Index
SPRM472-SPRM479: Address and Data Type of the Optional SDO2 Value to be Written
|
Address |
Description |
Unit |
|
15944~15945 |
Address and data type of the optional sdo2 parameter of the axis 1 |
HEX |
|
15946~15947 |
Address and data type of the optional sdo2 parameter of the axis 2 |
Minimum |
|
15948~15949 |
Address and data type of the optional sdo2 parameter of the axis 3 |
0xFFFFFFFF |
|
15950~15951 |
Address and data type of the optional sdo2 parameter of the axis 4 |
Maximum |
|
15952~15953 |
Address and data type of the optional sdo2 parameter of the axis 5 |
0x7FFFFFFF |
|
15954~15955 |
Address and data type of the optional sdo2 parameter of the axis 6 |
Default |
|
15956~15957 |
Address and data type of the optional sdo2 parameter of the axis 7 |
0x00000000 |
|
15958~15959 |
Address and data type of the optional sdo2 parameter of the axis 8 |
Format |
|
|
|
|
High 16 bit: Index
Bit 8-15: Data type
Bit 0-7 Sub-Index
SPRM480-SPRM487: Optional SDO1 Value
|
Address |
Description |
Unit |
|
15960~15961 |
Optional sdo1 value of the axis 1 |
HEX |
|
15962~15963 |
Optional sdo1 value of the axis 2 |
Minimum |
|
15964~15965 |
Optional sdo1 value of the axis 3 |
0xFFFFFFFF |
|
15966~15967 |
Optional sdo1 value of the axis 4 |
Maximum |
|
15968~15969 |
Optional sdo1 value of the axis 5 |
0x7FFFFFFF |
|
15970~15971 |
Optional sdo1 value of the axis 6 |
Default |
|
15972~15973 |
Optional sdo1 value of the axis 7 |
0x00000000 |
|
15974~15975 |
Optional sdo1 value of the axis 8 |
Format |
|
|
|
|
SPRM488-SPRM495: Optional SDO2 Value
|
Address |
Description |
Unit |
|
15976~15977 |
Optional sdo2 value of the axis 1 |
HEX |
|
15978~15979 |
Optional sdo2 value of the axis 2 |
Minimum |
|
15980~15981 |
Optional sdo2 value of the axis 3 |
0xFFFFFFFF |
|
15982~15983 |
Optional sdo2 value of the axis 4 |
Maximum |
|
15984~15985 |
Optional sdo2 value of the axis 5 |
0x7FFFFFFF |
|
15986~15987 |
Optional sdo2 value of the axis 6 |
Default |
|
15988~15989 |
Optional sdo2 value of the axis 7 |
0x00000000 |
|
15990~15991 |
Optional sdo2 value of the axis 8 |
Format |
|
|
|
|