Fastech Ezi-SERVOII EtherCAT TO, User Manual

Page: 92 / 108

6. EtherCAT Object Dictionary
6.5.38 Object 60D7h: Touch probe 2 positive edge counter
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
60D7h 0 Touch probe 2 positive edge
counter U16 RO No TxPDO 0
This object displays the number of times the rising edge of Touch Probe 2 is detected.
6.5.39 Object 60D8h: Touch probe 2 negative edge counter
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
60D8h 0 Touch probe 2 negative edge
counter U16 RO No TxPDO 0
This object displays the number of times the falling edge of Touch Probe 2 is detected.
6.5.40 Object 60E3h: Supported homing methods
Sub
Index index Name Type Access Constant Value
60E3h 0 Number of entries U8 RO 30
1 1st supported homing method I16 RO 1
2 2nd supported homing method I16 RO 2
3 3rd supported homing method I16 RO 7
4 4th supported homing method I16 RO 10
5 5th supported homing method I16 RO 11
6 6th supported homing method I16 RO 14
7 7th supported homing method I16 RO 17
8 8th supported homing method I16 RO 18
9 9th supported homing method I16 RO 24
10 10th supported homing method I16 RO 25
11 11th supported homing method I16 RO 28
12 12th supported homing method I16 RO 29
13 13th supported homing method I16 RO 33
14 14th supported homing method I16 RO 34
15 15th supported homing method I16 RO 35
16 16th supported homing method I16 RO 36
17 17th supported homing method I16 RO 37
18 18th supported homing method I16 RO -3
19 19th supported homing method I16 RO -4
20 20th supported homing method I16 RO -5
21 21st supported homing method I16 RO -6
22 22nd supported homing method I16 RO 0
.
30 30th supported homing method I16 RO 0
This object indicates lists of origin search methods supported by controller.
Information
Value of each index for Supported homing methods can be differentially indicates by product model
or version.
6.5.41 Object 60F4h: Following error actual value
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
60F4h 0 Following error actual value I32 RO No TxPDO 0
This Object indicates value of position deviation.
Following error actual value
=
Position demand value (6062h)
−
Position actual value (6064h)
If the value of position deviation goes far from Following error window (6065h), Following Error will be
generated.
Rev.37
FASTECH Co., Ltd.
92