![background image](http://html.mh-extra.com/html/leadshine/em3e-series/em3e-series_user-manual_1864875026.webp)
EM3E Series EtherCAT Stepper Drive User Manual
26
04
Homing setting
R/W
UINT
0~32767
5
--
Bit0=0: Homing protection is
not turned on;
Bit0=1: Homing protection is
turned on;
(Homing protection: when
start homing, If the limit
signal takes effect, bit0=0
means
homing
normally,
bit0=1 means stop homing as
limit protection )
Bit2=0: The value of current
position after in position =
0x607C;
Bit2=1: The value of 0x607C is
used as the motion offset,
and finally 0x6064 = 0;
Bit3=0: 0x6064= 0x607C after
in position;
Bit3=1: 0x6064 = 0x607C after
in position;
5015
05
Protocol setting
R/W
UINT
0~32767
255
--
Bit8 is used to select whether
the speed arrival in PV mode
comes
from
bit0
of
0x5000-04
or
bit8
of
0x5000-04.
5400
01
Minimum
synchronization
period
R/W
UINT
250~2000
250
us
--
02
Maximum
synchronization
period
R/W
UINT
250~20000
10000
us
--
5503
04
Special
function
register
R/W
UINT
0~65535
2
--
Bit0
=
0:
Asynchronous
mode, the host will track
0x607A-00 in real time;
Bit0=1: Asynchronous mode,
the host does not track
0x607A-00in real time.
4.3 I/O Configuration Object
The configuration of input ports includes three parts: function setting, filter time and polarity
setting. Therefore, the relevant object dictionary value (Decimal) = Input port function setting
value + Filter time setting value + Input port polarity setting value.
The configuration of output ports includes two parts: function setting and polarity setting.
Therefore,the relevant object dictionary value (Decimal) = Output port function setting value +
Output port polarity setting value.
It is recommended to use Leadshine free tuning software MotionStudio for parameter
settings, which will be very simple. In Leadshine MotionStudio, digital input(DI) and digital
output(DO) are displayed as SI and SO.
4.3.1 Input Ports Function Value
Inde
x
Sub-
inde
x
Name
Acces
s
Type
Range
Default value
Uni
t
Remark
2152
01
Input1
functio
n
R/W/
S
DINT
0-6553
5
0x17 (Decimal
23)
--
Default is touch probe1, take effect
changes need restart power
02
Input2
functio
R/W/
S
DINT
0-6553
5
0x18 (Decimal
24)
--
Default is touch probe2, take effect
changes need restart power