Fastech Ezi-SERVOII EtherCAT TO, User Manual

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6. EtherCAT Object Dictionary
6.5.34 Object 60C2h: Interpolation time period
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
60C2h 0 Number of entries U8 RO No No 2
1
Interpolation time period
value
U8 RW Yes No 0
∼
255 2
2 Interpolation time index I8 RW Yes No -4
∼
1 -3
This object indicates and sets cycle time using at synchronous control mode (for example : Cyclic Syn-
chronous Position Mode)
cycle time
[sec] =
Interpolation time period value
×
10
Interpolation time index
Information
If uses DC mode for method of synchronization, cycle time ignores set value as above and auto-
matically uses Sync0 cycle time.
6.5.35 Object 60D0h: Touch probe source
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
60D0h 0 Number of entries U8 RO No No 2
1 Touch probe 1 source U16 RW No No 1
2 Touch probe 2 source U16 RW No No 1
If the value of Bit 2
∼
3, 10
∼
11 for Touch probe function (60B8h) as 2, uses input signal already set at
this Object.
Value Input Source
1 Origin Switch
2 User Input 1
3 User Input 2
5 Z-Phase
Table 6.26: Touch probe 1 source
Value Input Source
1 Origin Switch
2 User Input 3
3 User Input 4
5 Z-Phase
Table 6.27: Touch probe 2 source
6.5.36 Object 60D5h: Touch probe 1 positive edge counter
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
60D5h 0 Touch probe 1 positive edge
counter U16 RO No TxPDO 0
This object displays the number of times the rising edge of Touch Probe 1 is detected.
6.5.37 Object 60D6h: Touch probe 1 negative edge counter
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
60D6h 0 Touch probe 1 negative edge
counter U16 RO No TxPDO 0
This object displays the number of times the falling edge of Touch Probe 1 is detected.
Rev.37
FASTECH Co., Ltd.
91