Fastech Ezi-SERVOII, User Manual, Page: 86 / 108

6. EtherCAT Object Dictionary
6.5.18 Object 607Ch: Home offset
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
607Ch 0 Home offset I32 RW Yes No
-2147483648
∼
2147483647
0
This object sets value of difference between sensor origin position and mechanical origin position.
During Homing Mode, completes origin search by set mode at Home Method then moves by Home Offset
distance. If set value is over 0, move direction and less than 0, move toward -direction.
6.5.19 Object 607Dh: Software position limit
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
607Dh 0 Number of entries U8 RO No No 2
1 Min position range limit I32 RW Yes No
-2147483648
∼
2147483647
-2147483648
2 Max position range limit I32 RW Yes No
-2147483648
∼
2147483647
2147483647
Absolute position range where position objects can be positioned. Controller is unable to get out of this
range. If needs to move position out of this range, target position can be adjusted within range and if
current position currently is out of range, Status word of ‘Internal Limit Active’ Bit goes SET and unable
to move to correspondent direction.
Software Position Limit is based on Sensor origin. If Home Offset has set by not 0 but other value, Actual
Software Position Limit needs to be used after adjustment by Home Offset.
Actual movable Min. position = Min Position Limit - Home Offset
Actual movable Max. position = Max Position Limit - Home Offset
Figure 6.1: Origin Offset
Information
If you set both Min Position Range Limit and Max Position Range Limit to 0, you can disable the
function of Software position limit.
6.5.20 Object 607Eh: Polarity
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
607Eh 0 Polarity U8 RW Yes No 0
This object sets rotation direction of motor.
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Position Po-
larity - - - - - - -
Table 6.23: Polarity
Rev.37
FASTECH Co., Ltd.
86