Fastech Ezi-STEPII EtherCAT MINI, Руководство пользователя

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6. EtherCAT Object Dictionary
6.5.13 Object 606Bh: Velocity demand value
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
606Bh 0 Velocity demand value I32 RO No TxPDO 0
This object indicates internal command velocity. The velocity value is a positive value when the motor
rotates in the positive direction, and a negative value when the motor rotates in the negative direction.
Information
This object is supported only in Profile Position Mode and Homing Mode. 0 value is displayed in
Cyclic Synchronous Position Mode.
6.5.14 Object 606Ch: Velocity actual value
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
606Ch 0 Velocity actual value I32 RO No TxPDO 0
This object indicates internal command velocity. The velocity value is a positive value when the motor
rotates in the positive direction, and a negative value when the motor rotates in the negative direction.
Information
This object does not display current actual velocity. it displays the same value as the value of
Velocity demand value.
6.5.15 Object 607Ah: Target position
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
607Ah 0 Target position I32 RW No RxPDO
-2147483648
∼
2147483647
0
This object sets target position under Profile Position Mode, Cyclic Synchronous Position Mode.
6.5.16 Object 607Ch: Home offset
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
607Ch 0 Home offset I32 RW Yes No
-2147483648
∼
2147483647
0
This object sets value of difference between sensor origin position and mechanical origin position.
During Homing Mode, completes origin search by set mode at Home Method then moves by Home Offset
distance. If set value is over 0, move direction and less than 0, move toward -direction.
6.5.17 Object 607Dh: Software position limit
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
607Dh 0 Number of entries U8 RO No No 2
1 Min position range limit I32 RW Yes No
-2147483648
∼
2147483647
-2147483648
2 Max position range limit I32 RW Yes No
-2147483648
∼
2147483647
2147483647
Absolute position range where position objects can be positioned. Controller is unable to get out of this
range. If needs to move position out of this range, target position can be adjusted within range and if
current position currently is out of range, Status word of ‘Internal Limit Active’ Bit goes SET and unable
to move to correspondent direction.
Software Position Limit is based on Sensor origin. If Home Offset has set by not 0 but other value, Actual
Software Position Limit needs to be used after adjustment by Home Offset.
Rev.37
FASTECH Co., Ltd.
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