Parker ECL E Series, Manual

Page: 103 / 107

6. EtherCAT Object Dictionary
89
6.6.3
Object 2003h: Limit stop method
Index
Sub
index
Name Type Access SAVE
PDO
Mapping
Value
Range
Default
Value
2003h 0 Limit stop method U8 RW Yes No
0
∼
2
00h
This Object sets the method of stop once Hardware Limit Sensor goes ON.
Bit Name
0
1
Hardware Limit Stop Method
Software Limit Stop Method
Table 6.35: Limit Stop Method
Value Definition
0
1
2
Quick Stop
Decelerated Stop Ignore
(Does not stop)
Table 6.36: Stop Method
Declaration ratio during decelerated stop follows Deceleration of correspondent operation mode.
6.6.4
Object 2005h: Encoder resolution
Index
Sub
index
Name Type Access SAVE
PDO
Mapping
Value
Range
Default
Value
2005h 0 Encoder resolution U32 RO No No
This Object indicates Resolution of Encoder currently installed.
6.6.5
Object 2006h: Start speed
Index
Sub
index
Name Type Access SAVE
PDO
Mapping
Value
Range
Default
Value
2006h 0 Start speed U16 RW Yes No
1 ∼ 50000
1
This Object sets initial velocity of motor[pps].
6.6.6
Object 2007h: Run current
Index
Sub
index
Name Type Access SAVE
PDO
Mapping
Value
Range
Default
Value
2007h 0 Run current U8 RW Yes No
5 ∼ 15
10
This Object sets Run Current of Motor. Unit is % and proportional to the value of rated current of motor.
Run Current = Value
×
10 [%]
Information
Under Cyclic Synchronous Position Mode, Hardware and Software Limit are all ignored.
Information
Number of pulse to rotate 1 motor revolution follows the value of Reference resolution (200Ch).