#x000116C7 Zhejiang Hechuan Technology Co.,Ltd. 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HCFA-STEP Stepper Drives 步进驱动器 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HCQX-ST1505-D2 HCQX-ST1505-D2 ,1Ch HCQX-ST1505-D2 ,1Ch 2000 9000 5000 200 100 5000 false HCFA-STEP 402 SINT 8 USINT 8 INT 16 UINT 16 DINT 32 UDINT 32 LINT 64 ULINT 64 STRING(25) 200 STRING(7) 56 STRING(5) 40 STRING(20) 160 STRING(40) 320 STRING(136) 1088 ARRAY [0..4] OF UINT UINT 80 0 5 ARRAY [0..13] OF UINT UINT 224 0 14 ARRAY [0..15] OF UINT UINT 256 0 16 ARRAY [0..2] OF UINT UINT 48 0 3 ARRAY [0..23] OF UINT UINT 384 0 24 ARRAY [0..16383] OF UINT UINT 262144 0 16384 DT1010 136 0 Number of Entries USINT 8 0 ro o 1 Save all parameters UDINT 32 8 rw o 2 Save communication parameters UDINT 32 40 rw o 3 Save application parameters UDINT 32 72 rw o 4 Save manufacturer parameters UDINT 32 104 rw o DT1011 136 0 Number of Entries USINT 8 0 ro o 1 Restore all default parameters UDINT 32 8 rw o 2 Restore communication default parameters UDINT 32 40 rw o 3 Restore application default parameters UDINT 32 72 rw o 4 Restore manufacturer default parameters UDINT 32 104 rw o DT1018 144 0 Number of Entries USINT 8 0 ro 1 Vendor ID UDINT 32 16 ro 2 Product Code UDINT 32 48 ro 3 Revision Number UDINT 32 80 ro 4 Serial Number UDINT 32 112 ro DT1600 400 0 Number of Entries USINT 8 0 rw 1 RPDO 1 Mapping Information 1 UDINT 32 16 rw 2 RPDO 1 Mapping Information 2 UDINT 32 48 rw 3 RPDO 1 Mapping Information 3 UDINT 32 80 rw 4 RPDO 1 Mapping Information 4 UDINT 32 112 rw 5 RPDO 1 Mapping Information 5 UDINT 32 144 rw 6 RPDO 1 Mapping Information 6 UDINT 32 176 rw 7 RPDO 1 Mapping Information 7 UDINT 32 208 rw 8 RPDO 1 Mapping Information 8 UDINT 32 240 rw 9 RPDO 1 Mapping Information 9 UDINT 32 272 rw 10 RPDO 1 Mapping Information 10 UDINT 32 304 rw 11 RPDO 1 Mapping Information 11 UDINT 32 336 rw 12 RPDO 1 Mapping Information 12 UDINT 32 368 rw DT1601 400 0 Number of Entries USINT 8 0 rw 1 RPDO 1 Mapping Information 1 UDINT 32 16 rw 2 RPDO 1 Mapping Information 2 UDINT 32 48 rw 3 RPDO 1 Mapping Information 3 UDINT 32 80 rw 4 RPDO 1 Mapping Information 4 UDINT 32 112 rw 5 RPDO 1 Mapping Information 5 UDINT 32 144 rw 6 RPDO 1 Mapping Information 6 UDINT 32 176 rw 7 RPDO 1 Mapping Information 7 UDINT 32 208 rw 8 RPDO 1 Mapping Information 8 UDINT 32 240 rw 9 RPDO 1 Mapping Information 9 UDINT 32 272 rw 10 RPDO 1 Mapping Information 10 UDINT 32 304 rw 11 RPDO 1 Mapping Information 11 UDINT 32 336 rw 12 RPDO 1 Mapping Information 12 UDINT 32 368 rw DT1602 400 0 Number of Entries USINT 8 0 rw 1 RPDO 1 Mapping Information 1 UDINT 32 16 rw 2 RPDO 1 Mapping Information 2 UDINT 32 48 rw 3 RPDO 1 Mapping Information 3 UDINT 32 80 rw 4 RPDO 1 Mapping Information 4 UDINT 32 112 rw 5 RPDO 1 Mapping Information 5 UDINT 32 144 rw 6 RPDO 1 Mapping Information 6 UDINT 32 176 rw 7 RPDO 1 Mapping Information 7 UDINT 32 208 rw 8 RPDO 1 Mapping Information 8 UDINT 32 240 rw 9 RPDO 1 Mapping Information 9 UDINT 32 272 rw 10 RPDO 1 Mapping Information 10 UDINT 32 304 rw 11 RPDO 1 Mapping Information 11 UDINT 32 336 rw 12 RPDO 1 Mapping Information 12 UDINT 32 368 rw DT1603 400 0 Number of Entries USINT 8 0 rw 1 RPDO 1 Mapping Information 1 UDINT 32 16 rw 2 RPDO 1 Mapping Information 2 UDINT 32 48 rw 3 RPDO 1 Mapping Information 3 UDINT 32 80 rw 4 RPDO 1 Mapping Information 4 UDINT 32 112 rw 5 RPDO 1 Mapping Information 5 UDINT 32 144 rw 6 RPDO 1 Mapping Information 6 UDINT 32 176 rw 7 RPDO 1 Mapping Information 7 UDINT 32 208 rw 8 RPDO 1 Mapping Information 8 UDINT 32 240 rw 9 RPDO 1 Mapping Information 9 UDINT 32 272 rw 10 RPDO 1 Mapping Information 10 UDINT 32 304 rw 11 RPDO 1 Mapping Information 11 UDINT 32 336 rw 12 RPDO 1 Mapping Information 12 UDINT 32 368 rw DT1A00 400 0 Number of Entries USINT 8 0 rw 1 RPDO 1 Mapping Information 1 UDINT 32 16 rw 2 RPDO 1 Mapping Information 2 UDINT 32 48 rw 3 RPDO 1 Mapping Information 3 UDINT 32 80 rw 4 RPDO 1 Mapping Information 4 UDINT 32 112 rw 5 RPDO 1 Mapping Information 5 UDINT 32 144 rw 6 RPDO 1 Mapping Information 6 UDINT 32 176 rw 7 RPDO 1 Mapping Information 7 UDINT 32 208 rw 8 RPDO 1 Mapping Information 8 UDINT 32 240 rw 9 RPDO 1 Mapping Information 9 UDINT 32 272 rw 10 RPDO 1 Mapping Information 10 UDINT 32 304 rw 11 RPDO 1 Mapping Information 11 UDINT 32 336 rw 12 RPDO 1 Mapping Information 12 UDINT 32 368 rw DT1A01 400 0 Number of Entries USINT 8 0 rw 1 RPDO 1 Mapping Information 1 UDINT 32 16 rw 2 RPDO 1 Mapping Information 2 UDINT 32 48 rw 3 RPDO 1 Mapping Information 3 UDINT 32 80 rw 4 RPDO 1 Mapping Information 4 UDINT 32 112 rw 5 RPDO 1 Mapping Information 5 UDINT 32 144 rw 6 RPDO 1 Mapping Information 6 UDINT 32 176 rw 7 RPDO 1 Mapping Information 7 UDINT 32 208 rw 8 RPDO 1 Mapping Information 8 UDINT 32 240 rw 9 RPDO 1 Mapping Information 9 UDINT 32 272 rw 10 RPDO 1 Mapping Information 10 UDINT 32 304 rw 11 RPDO 1 Mapping Information 11 UDINT 32 336 rw 12 RPDO 1 Mapping Information 12 UDINT 32 368 rw DT1C00 48 0 Number of Entries USINT 8 0 ro 1 Comm. Type, Sync Manager 0 USINT 8 16 rw 2 Comm. Type, Sync Manager 1 USINT 8 24 rw 3 Comm. Type, Sync Manager 2 USINT 8 32 rw 4 Comm. Type, Sync Manager 3 USINT 8 40 rw DT1C12 80 0 Number of Entries USINT 8 0 rw 1 Sync Manager 2, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 2, PDO Mapping 1 UINT 16 32 rw 3 Sync Manager 2, PDO Mapping 2 UINT 16 48 rw 4 Sync Manager 2, PDO Mapping 3 UINT 16 64 rw DT1C13 48 0 Number of Entries USINT 8 0 rw 1 Sync Manager 3, PDO Mapping 0 UINT 16 16 rw 2 Sync Manager 3, PDO Mapping 1 UINT 16 32 rw DT1C3X 288 0 Number of Entries USINT 8 0 ro 1 Synchronization Type UINT 16 16 rw 2 Cycle Time UDINT 32 32 rw 3 Shift Time UDINT 32 64 rw 4 Sync Types Supported UINT 16 96 rw 5 Minimum Cycle Time UDINT 32 112 rw 6 Calc. and Copy Time UDINT 32 144 rw 7 Minimum Delay UDINT 32 176 rw 8 Get Cycle Time UINT 16 208 rw 9 Minimum Hardware Delay UDINT 32 224 rw 10 Sync0 Cycle Time UDINT 32 256 rw DT2152 64 0 Number of Entries USINT 8 0 ro 1 Input 1 Function USINT 8 16 rw 2 Input 2 Function USINT 8 24 rw 3 Input 3 Function USINT 8 32 rw 4 Input 4 Function USINT 8 40 rw 5 Input 5 Function USINT 8 48 rw DT2153 96 0 Number of Entries USINT 8 0 ro 1 Input 1 Filter Time UINT 16 16 rw 2 Input 2 Filter Time UINT 16 32 rw 3 Input 3 Filter Time UINT 16 48 rw 4 Input 4 Filter Time UINT 16 64 rw 5 Input 5 Filter Time UINT 16 80 rw DT2156 40 0 Number of Entries USINT 8 0 ro 1 output 1 Function USINT 8 16 rw 2 output 2 Function USINT 8 24 rw 3 output 3 Function USINT 8 32 rw DT5001 64 0 Number of Entries USINT 8 0 ro 1 year UINT 16 8 rw 2 month UINT 8 24 rw 3 data UINT 8 32 rw 4 hour UINT 8 40 rw 5 minute UINT 8 48 rw DT3FFE 176 0 Number of Entries USINT 8 0 ro 1 Fault Record 0 UINT 16 16 rw TR 2 Fault Record 1 UINT 16 32 rw TR 3 Fault Record 2 UINT 16 48 rw TR 4 Fault Record 3 UINT 16 64 rw TR 5 Fault Record 4 UINT 16 80 rw TR 6 Fault Record 5 UINT 16 96 rw TR 7 Fault Record 6 UINT 16 112 rw TR 8 Fault Record 7 UINT 16 128 rw TR 9 Fault Record 8 UINT 16 144 rw TR 10 Fault Record 9 UINT 16 160 rw TR DT5000 96 0 Number of Entries USINT 8 0 ro 1 Trajectory Generator Status UINT 16 16 ro T 2 Motion State Machine UINT 16 32 ro T 3 Interior Enable Status UINT 16 48 ro T 4 Target Reached Status UINT 16 64 ro T 5 Internal Response Status UINT 16 80 ro T DT5002 48 0 Number of Entries USINT 8 0 ro 1 Register Address UINT 16 16 rw TR 2 Register Data UINT 16 32 ro T DT5004 272 0 Number of Entries USINT 8 0 ro 1 Outputs Size UINT 16 16 ro T 2 Inputs Size UINT 16 32 ro T 3 RPDO Count UINT 16 48 ro T 4 TPDO Count UINT 16 64 ro T 5 Sync0 Watch Dog Counter UINT 16 80 ro T 6 Sync0 Watch Dog Counter Internal UINT 16 96 ro T 7 Sync0 Watch Value UINT 16 112 ro T 8 Sync0 Drift Counter UINT 16 128 ro T 9 Sync0 Drift Value UINT 16 144 ro T 10 SM Watch Dog Counter Internal UINT 16 160 ro T 11 SM Watch Dog Value Internal UINT 16 176 ro T 12 SM Sync0 Watch Dog Counter UINT 16 144 ro T 13 SM Sync0 Watch Dog Value UINT 16 192 ro T 14 Sync0 Ratio UINT 16 208 ro T 15 Sync Function Setting UINT 16 224 ro T 16 Sync0 Interval UDINT 32 240 ro T DT5012 128 0 Number of Entries USINT 8 0 ro 1 Home Reached Position DINT 32 16 ro T 2 Home Triggered Position DINT 32 48 ro T 3 Home IO Simulator UDINT 32 80 rw TR 4 Home Setting UINT 16 96 rw T 5 Home Speed Limit UINT 16 112 rw T DT607D 80 0 Number of Entries USINT 8 0 ro 1 Negative software limit position DINT 32 16 rw TR 2 Positive software limit position DINT 32 48 rw TR DT608F 80 0 Number of Entries USINT 8 0 ro 1 Encoder increments UDINT 32 16 ro TR 2 Motor revolutions UDINT 32 48 ro TR DT6091 80 0 Number of Entries USINT 8 0 ro 1 Motor revolutions UDINT 32 16 rw TR 2 Shaft revolutions UDINT 32 48 rw TR DT6092 80 0 Number of Entries USINT 8 0 ro 1 Feed increments UDINT 32 16 ro TR 2 Shaft revolutions UDINT 32 48 ro TR DT6099 80 0 Number of Entries USINT 8 0 ro 1 Homing Velocity (fast) UDINT 32 16 rw TR 2 Homing Velocity (slow) UDINT 32 48 rw TR DT60A4 80 0 Number of Entries USINT 8 0 ro 1 Profile Jerk 1 UDINT 32 16 rw TR 2 Profile Jerk 2 UDINT 32 48 rw TR DT60C1 88 0 Number of Entries USINT 8 0 ro 1 Interpolated position value DINT 32 16 rw TR 2 Interpolated time value USINT 8 48 rw TR 3 Interpolated velocity value DINT 32 56 rw TR DT60C2 32 0 Number of Entries USINT 8 0 ro 1 Interpolation Time Value USINT 8 16 ro 2 Interpolation Time Units USINT 8 24 ro DT60FE 80 0 Number of Entries USINT 8 0 ro 1 Physical Outputs UDINT 32 16 rw TR 2 Bit Mask UDINT 32 48 rw TR #x1000 Device Type UDINT 32 ro #x1001 Error Register USINT 8 ro T #x1008 Manufacturer Device Name STRING(7) 56 ro #x1009 Manufacturer Hardware Version STRING(5) 40 ro #x100A Manufacturer Software Version STRING(5) 40 ro #x1010 Store Parameters DT1010 136 rw #x1011 Restore Default Parameters DT1011 136 rw #x1018 Identity Object DT1018 136 rw #x1600 Receive Pdo Mapping Parameter 1 DT1600 400 rw #x1601 Receive Pdo Mapping Parameter 2 DT1601 400 rw #x1602 Receive Pdo Mapping Parameter 3 DT1602 400 rw #x1603 Receive Pdo Mapping Parameter 4 DT1603 400 rw #x1A00 Transmit Pdo Mapping Parameter 1 DT1A00 400 rw #x1A01 Transmit Pdo Mapping Parameter 2 DT1A01 400 rw #x1C00 Sync Manager Communication Type DT1C00 40 ro #x1C12 Sync Manager2 Pdo Assignment DT1C12 112 rw #x1C13 Sync Manager3 Pdo Assignment DT1C13 112 rw #x2001 Fullstep Resolution UINT 16 rw #x2002 Microstep Resolution UINT 16 rw #x2003 Current Global Scaler UINT 16 rw #x2004 Standby Current UINT 16 rw #x2005 Run Current UINT 16 rw #x2006 Power Down Delay UINT 16 rw #x2007 Power Down Ramp UINT 16 rw #x2008 Moto Dir UINT 16 rw #x2009 Drive Device ID UINT 16 ro #x200A Temp Alarm Level UINT 16 rw #x200B Moto Speed UINT 16 ro #x200C Time Between Two Step UINT 16 ro #x2010 Profile A1 UDINT 32 rw TR #x2011 Profile V1 UDINT 32 rw TR #x2012 Profile D1 UDINT 32 rw TR #x2013 Profile Start Velocity UDINT 32 rw TR #x2016 Driver Filter UINT 16 rw #x2017 Chopper Blank Time UINT 16 rw #x2018 Pwm Enable UINT 16 rw #x2019 Pwm Autograd Enable UINT 16 rw #x2020 Pwm Frequency UINT 16 rw #x2021 Pwm Gradient UINT 16 rw #x2022 Pwm Amplitude UINT 16 rw #x2025 Smart Energy Threshold Speed UDINT 32 rw #x2026 Pwm Threshold Speed UDINT 32 rw #x2027 Time High UDINT 32 rw T #x2028 Chopper Off Time UINT 16 rw #x2029 Chopper Hysteresis Start UINT 16 rw #x2030 Chopper Hysteresis End UINT 16 rw #x2031 Chopper Hysteresis Decrement UINT 16 rw #x2039 Encode Position DINT 32 rw T #x2040 Encode Add Const DINT 32 rw #x2041 Voltage Alarm Val UINT 16 rw #x2042 Driver Gloable State UINT 16 rw #x2043 Driver Error Status Register DINT 32 ro T #x2152 Inputs Function DT2152 64 rw #x2153 Inputs Filter Time DT2153 96 rw #x2154 Inputs Polarity UINT 16 rw #x2155 Physical Inputs Level UINT 16 ro #x2156 Outputs Function DT2156 40 rw #x2158 Outputs Polarity UINT 16 rw #x2159 Latch State When Disable UINT 16 rw #x2203 Supply Voltage UINT 16 ro #x2210 ESC Reg_300_307_0 UINT 16 rw TR #x2211 ESC Reg_300_307_1 UINT 16 rw TR #x2212 ESC Reg_300_307_2 UINT 16 rw TR #x2213 ESC Reg_300_307_3 UINT 16 rw TR #x2214 ESC Reg_300_307_4 UINT 16 rw TR #x2215 ESC Reg_300_307_5 UINT 16 rw TR #x2216 ESC Reg_300_307_6 UINT 16 rw TR #x2217 ESC Reg_310_313_0 UINT 16 rw TR #x2218 ESC Reg_310_313_1 UINT 16 rw TR #x2219 ESC Reg_442_443 UINT 16 rw TR #x221A ESC Reg_F28_F31_0 UINT 16 rw TR #x221B ESC Reg_F28_F31_1 UINT 16 rw TR #x221C ESC Reg_F28_F31_2 UINT 16 rw TR #x221D ESC Reg_F28_F31_3 UINT 16 rw TR #x4003 Brake Disengage Delay UINT 16 rw #x4004 Brake Engage Delay UINT 16 rw #x5000 Target Status UINT 16 ro #x5001 MCU Compilation Date DT5001 64 #x603f Last Error Code UINT 16 ro T #x6040 Control Word UINT 16 rw TR #x6041 Status Word UINT 16 ro T #x605A Quick Stop Option Code INT 16 rw TR #x6060 Modes of Operation UINT 16 rw TR #x6061 Modes of Operation Display UINT 16 ro T #x6062 Commanded Position DINT 32 ro T #x6064 Actual Position DINT 32 ro T #x606A Sensor selection code INT 16 rw R #x606B Commanded Velocity DINT 32 ro T #x606C Actual Velocity DINT 32 ro T #x607A Profile Target Position DINT 32 rw TR #x607C Homing Offset DINT 32 rw TR #x607D Software Position Limit DT607D 80 rw TR #x6081 Profile Velocity UDINT 32 rw TR #x6082 End Velocity UDINT 32 rw TR #x6083 Profile Acceleration UDINT 32 rw TR #x6084 Profile Deceleration UDINT 32 rw TR #x6085 Quick Stop Deceleration UDINT 32 rw TR #x608F Position Encoder Resolution UDINT 32 rw R #x6098 Homing Method UINT 16 rw TR #x6099 Homing Velocity DT6099 80 ro TR #x609A Homing Acceleration UDINT 32 rw TR #x60B0 Position Offset DINT 32 rw TR #x60B8 Touch Probe Function UINT 16 rw TR #x60B9 Touch Probe Status UINT 16 ro T #x60BA Touch Probe 1 Positive Value DINT 32 ro T #x60BB Touch Probe 1 Negative Value DINT 32 ro T #x60BC Touch Probe 2 Positive Value DINT 32 ro T #x60BD Touch Probe 2 Negative Value DINT 32 ro T #x60C2 InterPolation Time Period DT60C2 32 ro #x60D5 Touch Probe 1 Positive Counter UINT 16 ro o T #x60D6 Touch Probe 1 Negative Counter UINT 16 ro o T #x60D7 Touch Probe 2 Positive Counter UINT 16 ro o T #x60D8 Touch Probe 2 Negative Counter UINT 16 ro o T #x60FD Digital Inputs UDINT 32 ro T #x60FE Digital Outputs DT60FE 80 rw TR #x60FF Target Velocity DINT 32 rw TR #x6502 Supported Drive Modes UDINT 32 ro T Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 Receive PDO 1 #x1601 #x1602 #x1603 #x6040 0 16 Control Word UINT #x607A 0 32 Profile Target Position DINT #x6081 0 32 Profile Velocity UDINT #x6083 0 32 Profile Target Acceleration UDINT #x6084 0 32 Profile Target Deceleration UDINT #x60FF 0 32 Target Velocity DINT #x6060 0 16 Modes of Operation UINT #x1601 Receive PDO 2 #x1600 #x1602 #x1603 #x6040 0 16 Control word UINT #x607A 0 32 Profile Target Position DINT #x6081 0 32 Profile Velocity UDINT #x6083 0 32 Profile Target Acceleration UDINT #x6084 0 32 Profile Target Deceleration UDINT #x6060 0 16 Modes of Operation UINT #x1602 Receive PDO 3 #x1600 #x1601 #x1603 #x6040 0 16 Control Word UINT #x60FF 0 32 Target Velocity DINT #x6083 0 32 Profile Acceleration UDINT #x6084 0 32 Profile Deceleration UDINT #x6060 0 16 Modes of Operation UINT #x1603 Receive PDO 4 #x1600 #x1601 #x1602 #x6040 0 16 Control Word UINT #x6098 0 16 Homing Method UINT #x6099 1 32 Homing Velocity (fast) UDINT #x6099 2 32 Homing Velocity (slow) UDINT #x609A 0 32 Homing Acceleration UDINT #x607C 0 32 Homing Offset DINT #x6060 0 16 Modes of Operation UINT #x1a00 Transmit PDO 1 #x1A01 #x603F #x00 16 Last Error Code UINT #x6041 #x00 16 Status Word UINT #x6061 #x00 16 Modes of Operation display UINT #x6064 #x00 32 Position Actual Value DINT #x60B9 #x00 16 Touch Probe Status UINT #x60BA #x00 32 Touch Probe 1 Positive Value DINT #x60FD #x00 32 Digital Inputs UDINT #x1a01 Transmit PDO 2 #x1A00 PS #x6060 0 01 Modes of Operation DC DC-Synchron #x0300 0 0 Synchron SM-Synchron #x0 0 0 0 2048 080E84CC88130000000000800000 0010800000118000