Fastech Ezi-SERVOII, User Manual, Page: 85 / 108

6. EtherCAT Object Dictionary
6.5.13 Object 6065h: Following error window
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
6065h 0 Following error window U32 RW Yes No 5000
Set the range of Follow Error Value.
Information
This object can NOT be set while it’s ’Operation Enabled’ state. Please set after ’Operation Disable’.
Please refer to
4.1 Drive Status Control .
If the value of Following error actual value is greater than the value of Following error window, ’FF03h -
Position Tracking Error’ or ’FF0Fh - Position Overflow Error’ alarm occurs and Drive is in Fault state.
6.5.14 Object 6067h: Position window
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
6067h 0 Position window U32 RW Yes No 0
∼
63 0
Set the range of Positioning value.
Information
This object can NOT be set while it’s ’Operation Enabled’ state. Please set after ’Operation Disable’.
Please refer to
4.1 Drive Status Control .
6.5.15 Object 606Bh: Velocity demand value
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
606Bh 0 Velocity demand value I32 RO No TxPDO 0
This object indicates internal command velocity. The velocity value is a positive value when the motor
rotates in the positive direction, and a negative value when the motor rotates in the negative direction.
Information
This object is supported only in Profile Position Mode and Homing Mode. 0 value is displayed in
Cyclic Synchronous Position Mode.
6.5.16 Object 606Ch: Velocity actual value
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
606Ch 0 Velocity actual value I32 RO No TxPDO 0
This object indicates internal command velocity. The velocity value is a positive value when the motor
rotates in the positive direction, and a negative value when the motor rotates in the negative direction.
Information
This object does not display current actual velocity. it displays the same value as the value of
Velocity demand value.
6.5.17 Object 607Ah: Target position
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
607Ah 0 Target position I32 RW No RxPDO
-2147483648
∼
2147483647
0
This object sets target position under Profile Position Mode, Cyclic Synchronous Position Mode.
Rev.37
FASTECH Co., Ltd.
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