Fastech Ezi-STEPII EtherCAT MINI, Руководство пользователя

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4. CiA402 Drive Profile
4.8 Digital Input and Output
4.8.1 Definition
Ezi-STEPII EtherCAT MINI provides 3 default input (ORIGIN, LIMIT+, LIMIT-) and 3 user inputs and also
1 default output (BRAKE) and 2 user outputs.
4.8.2 Related Objects
Object Access Description
Object 60FDh: Digital inputs RO Indicates input signals.
Object 60FEh: Digital outputs
Sub-Index 1 - Physical Outputs R/W Set output signals.
Sub-Index 2 - Bit Mask R/W Set output signals.
Object 2001h: Sensors logics R/W Set Active Level of ORIGIN, LIMIT+, LIMIT- input
signals.
Object 2002h: Reverse limit direction R/W Exchange LIMIT+ and LIMIT- input signals.
Object 2011h: Digital input levels R/W Active Level of user inputs.
Object 2012h: Digital output levels R/W Active Level of user outputs.
Object 2010h: Brake delay R/W Set Delay at BRAKE output.
Table 4.24: I/O related Objects
4.8.3 User I/O
Able to set Active Level of user I/O through Digital input levels, Digital output levels.
Following picture describes the relationship between Digital inputs and Digital input levels and Digital
outputs and Digital output levels.
XOR
XOR AND
User Input
Bit Mask Digital Output Levels
User Output Physical Outputs
Digital Inputs
Digital Input Levels
Figure 4.14: Digital I/O Level
4.8.4 ORIGIN and LIMIT Input
Active Level of ORIGIN and LIMIT input signal can be changed through Sensors logics (2001h) of Bit 0,
1. Please refer to Sensors logics.
LIMIT+ and LIMIT- input signals can be exchanged through Reverse limit direction (2002h). Interrelation
between Reverse limit direction (2002h) and LIMIT+, LIMIT- is as follows.
Rev.37
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