Fastech Ezi-SERVOII EtherCAT TO, User Manual

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6. EtherCAT Object Dictionary
Bit Value Description
0 1 Support Restore Default Parameter.
1
∼
31 0 -
Table 6.10: Restore Parameters State
6.2.8 Object 1018h: Identity
Sub
Index index Name Type Access Constant Value
1018h 0 Number of entries U8 RO 4
1 Vendor ID U32 RO 0FA0 0000h
2 Product code U32 RO 0000 1001h
3 Revision number U32 RO 0000 0000h
4 Serial number U32 RO 0000 0000h
This object indicates information of device.
Information
Value for each item of Identity can be differentially indicated by product model and version.
6.2.9 Object 10F1h: Error settings
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
10F1h 0 Number of entries U8 RO No No 2
1 Reserved U32 RO No No 1
2 Sync error counter limit U16 RW No No 0
∼
65535 12
Sync Error Counter Limit
This object sets the crieria for judging the failure to receive Process Data as a Communication Error
when the Communication Synchronization type is DC Sync Event.
If product was not received the Process Data (SM Event does not occur) sent by the Master, ’Internal SM
Event Missed Counter’ increases by 3. Counter decreases by 1 when Process Data is normally received.
If the counter exceeds the value set in the Sync Error Counter Limit, ’EtherCAT Communication Error
(7500h)’ occurs and the EtherCAT State Machine of the product is forcibly changed from OP to SAFE-OP.
An example of increasing / decreasing of the ’Internal SM Event Missed Counter’ is as follows when the
Sync Error Counter Limit is 12:
SM Event occur Counter (changes)
O 0 (-1)
X 3 (+3)
O 2 (-1)
X 5 (+3)
O 4 (-1)
O 3 (-1)
X 6 (+3)
X 9 (+3)
X 12 (+3) / Communication error
Table 6.11: Example of the Internal SM Event Missed Counter
Rev.37
FASTECH Co., Ltd.
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