Fastech Ezi-STEPII EtherCAT MINI, User Manual

Page: 91 / 95

6. EtherCAT Object Dictionary
Config Internal Limit Active bit
This object can change how to operate Status word - bit 11: Internal Limit Active. If the value is set to 1,
the Internal Limit Active bit also displays the H/W Limit Switch status.
Enable Packet Delay Compensation
In Cyclic Synchronous Position Mode, the EtherCAT master sends the position to which the drive should
go in every cycle, and the drive moves to the position in the DC Sync Event. If the EtherCAT master
sends the packet later than the DC Sync Event, the drive received the position information to go in this
cycle in the next cycle. This causes the motor to repeat the action of stopping for a short time and moving
at double speed. That is, the vibration of the motor occurs due to the delay of the packet.
’Enable Packet Delay Compensation’ object is a function to reduce the vibration of the motor when the
packet sent by the EtherCAT master is delayed in Cyclic Synchronous Position Mode. If the value is set
to 1, the ’Enable Packet Delay Compensation’ function is enabled.
Information
This object is supported on devices with Software version (100Ah) 02.03.48 or higher.
Transit to Fault state when Safety activated
This object can be set to notify as an alarm when the Safety function is activated. If the value is set to
1, an alarm (Error Code FF45h) occurs when Safety function is activated by turning the TQOFF inputs
OFF.
This error can be cleared with the Fault reset command.
Information
This object is supported on devices with Software version (100Ah) 02.02.51 or higher.
6.6.20 Object 2040h: Safety Mode
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
2040h 0 Number of entries U8 RO No No 4
1 Safety Status U8 RO No No 0
2 Control Safety Input U8 RW Yes No 0
∼
2 0
3 Control Safety Output U8 RW Yes No 0
∼
1 0
4 Safety IO Logics U8 RW Yes No 00h
This object set the Safety Function and indicates the status.
Safety Status
This object indicates the status of Safety Function.
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- - TQOFF2 TQOFF1 - Acknowledge
Request Input Status Enable
Table 6.42: Safety Status
Bit 0 - Enable: Safety Function is ready. It indicates that the value of Control Safety Input is set to a value
other than 0, so that Digital In1, Digital In2 input signals are operate as TQOFF Input.
Bit 1 - Inputs Status: Some inputs assigned as TQOFF Input are ON. Inputs Status is ON when TQOFF1
or TQOFF2 is ON. Inputs Status is OFF when TQOFF1 and TQOFF2 are OFF.
Bit 2 - Acknowledge Request: TQOFF Inputs are OFF but the Shutdown command was not received yet.
it’s ON when TQOFF Inputs are OFF after Safety Function is activated. It can be removed by sending
the Shutdown command in Control word.
Bit 4 - TQOFF1: The input assigned as TQOFF1 is OFF.
Bit 5 - TQOFF2: The input assigned as TQOFF2 is OFF.
Rev.37
FASTECH Co., Ltd.
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