8.5
Default PDO mapping ...................................................................................................................... 51
8.6
EMCY codes ..................................................................................................................................... 52
9
Ethernet IP ................................................................................................................................................ 53
9.1
Overview .......................................................................................................................................... 53
9.2
CIP Objects ....................................................................................................................................... 53
9.2.1 COM object
–
0x64 ...................................................................................................................... 54
9.2.2 PAR object
–
0x65 ........................................................................................................................ 54
9.2.3 MISC object
–
0x66 ...................................................................................................................... 55
9.2.4 CIA402 object
–
0x67 ................................................................................................................... 55
9.3
Process data ..................................................................................................................................... 57
10
ProfiNET ............................................................................................................................................... 58
10.1 Overview .......................................................................................................................................... 58
10.2 Device identity ................................................................................................................................. 58
10.3 Process data ..................................................................................................................................... 58
11
Homing types ....................................................................................................................................... 60
11.1 Type 1: Homing on anticlockwise limit switch and index pulse (resolver zero). ............................ 60
11.2 Type 2: Homing on clockwise limit switch and index pulse (resolver zero) ................................... 60
11.3 Type 3 and 4: homing on the positive Home Switch and Index Pulse (resolver zero) .................... 61
11.4 Type 5 and 6: homing on the negative Home Switch and Index Pulse (resolver zero) ................... 62
11.5 Type 7, 8, 9, 10, 11, 12, 13, 14: homing on the Home Switch and Index Pulse (resolver zero) ...... 63
11.6 Types 33 and 34:Homing on Index Pulse (resolver zero). ............................................................... 64
11.7 Type 37: homing in current position. .............................................................................................. 64
12
Warranty Conditions ........................................................................................................................... 65
13
Disclaimer ............................................................................................................................................ 66
