Fastech Ezi-SERVOII EtherCAT TO, User Manual

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6. EtherCAT Object Dictionary
6.5.42 Object 60FDh: Digital inputs
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
60FDh 0 Digital inputs U32 RO No TxPDO 0000 0000h
This Object indicates status of input signals.
Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24
- - TQOFF2 TQOFF1 Z-Phase
Signal Motor
Power - -
Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16
- - User Input 6 User Input 5 User Input 4 User Input 3 User Input 2 User Input 1
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
- - - - - - - -
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- - - - - Origin
Switch Positive
Limit Switch Negative
Limit Switch
Table 6.28: Definition of Digital Input
Value Definition
0 Input goes OFF.
1 Input goes ON.
Table 6.29: Definition of Input Value
Bit 28, Bit 29 indicate the status of input signals used for the Safety function.
6.5.43 Object 60FEh: Digital outputs
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
60FEh 0 Number of entries U8 RO No No 2
1 Physical outputs U32 RW No RxPDO 0000 0000h
2 Bit mask U32 RW No No 003F 0000h
Able to control User output through this Object and Brake.
Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24
- - - - - - - -
Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16
- - - User Output
5 User Output
4 User Output
3 User Output
2 User Output
1
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
- - - - - - - -
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- - - - - - - Set Brake
Table 6.30: Definition of Physical outputs and Bit mask
Set Brake
Bit 0: Set Brake controls Brake output signal. Able to manually control Brake as set the value of Bit mask
as 1.
Rev.37
FASTECH Co., Ltd.
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