7.2.2 Group d1 - Alarm query parameters 68 Technical Manual for EA190 Series Servo Driver V100 d0-17 Valid motor current U16 0.00 A 2011H d0-18 Rotating speed corresponding to pulse command I16 0 rpm 2012H d0-19 Speed command value I16 0 rpm 2013H d0-20 Torque command value I16 0.0 % 2014H d0-21 Maximum instantaneous motor load rate I16 0.0 % 2015H d0-22 IGBT module temperature U16 0 ℃ 2016H d0-23 Bus voltage of switching power U16 0 V 2017H d0-24 Total operating time of system:
U32 0 min 2018H d0-26 Brake load rate U16 0.0 % 201AH Parameter Function Data type Initial value (example) Unit Communication address d0-27 Electrical angle of current motor U16 0.0 ° 201BH d0-28 Sector number of incremental encoder U16 0 - 201CH d0-29 Revolutions of absolute type encoder I16 0 rev 201DH d0-30 Current revolution position value of serial encoder U32 0 PUL 201EH d0-32 Total count of external pulses acquired I32 0 Pulse 2020H d0-34 Current position of servo motor (command pulse unit) I32 0 Pulse 2022H d0-36 Current position of servo motor (encoder unit) I32 0 PUL 2024H d0-38 Positioning status 0: Positioning; 1:
Positioning completed U16 0 - 2026H d0-39 Current segment of multi-segment speed U16 0 - 2027H d0-40 Current segment of multi-segment position U16 0 - 2028H d0-41 AI1 physical voltage (actual value) I16 0 mV 2029H d0-42 AI2 physical voltage (actual value) I16 0 mV 202AH d0-46 Average load rate of motor U16 0.0 % 202EH d0-47 Heat accumulation of driver U16 0.000 - 202FH d0-48 Heat accumulation of motor (instantaneous) U16 0.000 - 2030H d0-49 Heat accumulation of motor (steady state) U16 0.000 - 2031H d0-62 GBK detected position pulse value/length I32 0 - 203EH d0-64 Over-temperature point of motor encoder U16 90 ℃ 2040H d0-65 Encoder temperature upon power-on U16 40 ℃ 2041H Parameter Function Data type Initial value (example) Unit Communication address d1-00 Current alarm code U16 Al000 - 2100H d1-01 Rotating speed upon the current alarm I16 0 rpm 2101H d1-02 Bus voltage upon the current alarm U16 0 V 2102H d1-03 Active current upon the current alarm U16 0.00 A 2103H d1-04 Running time upon the current alarm U32 0 min 2104H d1-06 Previous alarm code U16 Al000 - 2106H d1-07 Rotating speed upon the previous alarm I16 0 rpm 2107H d1-08 Bus voltage upon the previous alarm U16 0 V 2108H d1-09 Active current upon the previous alarm U16 0.00 A 2109H d1-10 Running time upon the previous alarm U32 0 min 210AH d1-12 Previous 2 alarm codes U16 Al000 - 210CH d1-13 Rotating speed upon the previous 2 alarms I16 0 rpm 210DH d1-14 Bus voltage upon the previous 2 alarms U16 0 V 210EH