Fastech Ezi-STEPII EtherCAT MINI, Руководство пользователя

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6. EtherCAT Object Dictionary
Actual movable Min. position = Min Position Limit - Home Offset
Actual movable Max. position = Max Position Limit - Home Offset
Figure 6.1: Origin Offset
Information
If you set both Min Position Range Limit and Max Position Range Limit to 0, you can disable the
function of Software position limit.
6.5.18 Object 607Eh: Polarity
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
607Eh 0 Polarity U8 RW Yes No 0
This object sets rotation direction of motor.
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Position Po-
larity - - - - - - -
Table 6.23: Polarity
Position related Objects will be multiplied by -1 when Position Polarity is 1.
6.5.19 Object 607Fh: Max profile velocity
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
607Fh 0 Max profile velocity U32 RW Yes No 1
∼
2500000 2500000
This object sets Max. allowable velocity.
Whatever it receives value of velocity, controller does not move faster than Max Profile Velocity.
6.5.20 Object 6081h: Profile velocity
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
6081h 0 Profile velocity U32 RW Yes RxPDO 1
∼
2500000 10000
This object sets movement velocity under Profile Position Mode.
Rev.37
FASTECH Co., Ltd.
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