Fastech Ezi-STEPII EtherCAT MINI, Руководство пользователя

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6. EtherCAT Object Dictionary
6.5 Drive Profile Object
6.5.1 Object 603Fh: Error code
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
603Fh 0 Error code U16 RW No TxPDO 0000h
This object indicates latest error value generated from controller.
Please refer to
4.2 Error Code for the value of indicated value at Error code.
6.5.2 Object 6040h: Control word
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
6040h 0 Control word U16 RW No RxPDO 0000h
This object controls device status
Each bit of this object has a meaning as follows.
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
- - oms - - - Halt
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Fault Re-
set
oms Enable
Operation Quick Stop Enable
Voltage Switch On
Table 6.15: Definition of Control word
For details, please refer to each profile description.
6.5.3 Object 6041h: Status word
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
6041h 0 Status word U16 RO No TxPDO 0000h
This object indicates the status of controller.
Each bit of this object has a meaning as follows.
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Safety Ac-
tivated oms Internal
Limit
Ac-
tive
oms Remote oms
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- Switch on
disabled Quick stop Voltage
enabled Fault Operation
enabled Switched
on Ready to
switch on
Table 6.16: Definition of Status word
For details, please refer to each profile description.
6.5.4 Object 605Ah: Quick stop option code
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
605Ah 0 Quick stop option code I16 RW Yes No 0
∼
2, 5, 6 2
This object sets motion of immediate stop once controller status is Quick Stop.
Rev.37
FASTECH Co., Ltd.
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