Fastech Ezi-STEPII EtherCAT MINI, Руководство пользователя

Страница: 83 / 95

6. EtherCAT Object Dictionary
6.6.3 Object 2003h: Limit stop method
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
2003h 0 Limit stop method U8 RW Yes No 0
∼
4 0
This Object sets the method of stop once Hardware Limit Switch goes ON.
Value Definition (pp, hm) Definition (csp)
0 Quick Stop Ignore (Does not stop)
1 Decelerated Stop Ignore (Does not stop)
2 Ignore (Does not stop) Ignore (Does not stop)
3 Quick Stop Quick Stop
4 Decelerated Stop Decelerated Stop
Table 6.36: Stop Method
If the value is 0 or 1, it stops when Limit switch is detected in Profile Position Mode and Homing Mode
only. it doesn’t stop in Cyclic Synchronous Position Mode. If the value is 3 or 4, it stops even in Cyclic
Synchronous Position Mode.
Information
The value of 3 or 4 are supported on devices with Software version (100Ah) 02.02.32 or higher.
Declaration ratio during decelerated stop follows Deceleration of correspondent operation mode. The
deceleration ratio for Cyclic Synchronous Position Mode follows Object 201Bh: Limit Deceleration.
6.6.4 Object 2004h: External Encoder
Sub PDO Value Default
Index index Name Type Access SAVE Mapping Range Value
2004h 0 Number of entries U8 RO No No 3
1 Use Encoder U8 RW Yes No 0
∼
1 0
2 Encoder Multiply U8 RW Yes No 0
∼
2 2
3 Encoder Direction U8 RW Yes No 0
∼
1 0
This Objects set Ezi-STEPII EtherCAT MINI to support an external encoder.
Use Encoder
This object sets whether Ezi-STEPII EtherCAT MINI reads the position of the external encoder or not.
Value Definition Description
0 Ignore external encoder The value of Position actual value is the same as Position demand
value.
1 Use external encoder Position actual value displays the position of the external encoder.
Table 6.37: Use Encoder
Encoder Multiply
This object sets the multiply of the external encoder.
Rev.37
FASTECH Co., Ltd.
83