Technical Manual for EA350 Analog Pulse Type Servo Driver V101 7.2.2 Group d1 - Alarm query parameters 7.2.3 Group d2 - Product information query parameters 79 Data type Initial value Unit Communication Parameter Function (example) address d0-26 Brake load rate U16 0.0 % 201AH d0-27 Electrical angle of current motor U16 0.0 ° 201BH d0-28 - 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 d0-67 Zero drift value of output current U16 Uncertain - 2043H d0-68 Total count of feedback pulses of external encoder (command pulse unit) I32 0 Pulse 2044H d0-70 Total count of feedback pulses of external encoder (external encoder unit) I32 0 PUL 2046H d0-72 Fully closed-loop position deviation counter I32 0 PUL 2048H Data type Initial value Unit Communication Parameter Function (example) 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 of 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 d1-15 Active current upon the previous 2 alarms U16 0.00 A 210FH d1-16 Running time upon the previous 2 alarms U32 0 min 2110H d1-18 Previous 3 alarm codes U16 Al000 - 2112H d1-19 Rotating speed upon the previous 3 alarms I16 0 rpm 2113H d1-20 Bus voltage upon the previous 3 alarms U16 0 V 2114H d1-21 Active current upon the previous 3 alarms U16 0.00 A 2115H d1-22 Running time upon the previous 3 alarms U32 0 min 2116H d1-24 Current alarm status U16 0 - 2118H d1-25 Current warning status U16 0 - 2119H Data type Initial value Unit Communication Parameter Function (example) address d2-00 Ones place:
Encoder type 0: - 1: 17/23-bit serial communication encoder Tens place: Command type 1: Analog quantity and pulse type (EA350) U16 10 - 2200H d2-01 Current motor code U16 101 - 2201H