Leadshine EM3E Series, Руководство пользователя

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EM3E Series EtherCAT Stepper Drive User Manual
27
n
03
Input3
functio
n
R/W/
S
DINT
0-6553
5
0x16 (Decimal
22)
--
Default is origin signal, take effect
changes need restart power
04
Input4
functio
n
R/W/
S
DINT
0-6553
5
0x01 (Decimal
1)
--
Default is positive limit, take effect
changes need restart power
05
Input5
functio
n
R/W/
S
DINT
0-6553
5
0x02 (Decimal
2)
--
Default is negative limit, take effect
changes need restart power
06
Input6
functio
n
R/W/
S
DINT
0-6553
5
0x19 (Decimal
25)
--
Default is user defined, take effect
changes need restart power
Note:
(1) After configuring the input and output functions through the master station software or
MotionStudio,it needs to save and restart the power to take effect.
(2) If the function configuration of the two input ports is repeated, the input port with the
smaller number is valid, and the other input port will be set to GPIO automatically. For
example: SI3 and SI4 are configured as positive limit, after saving and restarting, SI3
function as positive limit,SI4 function as GPIO.
There are two object dictionaries that can be used to monitor input ports:
0x2155 is used to monitor whether the input port is connected to a valid signal;
0x60FD is used to monitor whether the input port is configured with a function

0x2155 Corresponding Input Port Table:
Input port
Index +Sub
index
Default Function
Value
Default Function
Physical State
Read State1
(3)
IN1 01 (1) 0x17 Probe1 0x2155.00=1 (2)
IN2 02 0x18 Probe2 0x2155.01=1
IN3 03 0x16 Origin Signal (ORG) 0x2155.02=1
IN4 04 0x01 Positive limit (POT) 0x2155.03=1
IN5 05 0x02 Negative limit (NOT) 0x2155.04=1
IN6 06 0x19 GPIO (SI-MON) 0x2155.05=1
Note:
(1) 01 indicates that the index is 0x2152, and sub-index is 01.
(2) 0x2155.01 indicates that the index is 0x2155,and bit is bit1.
(3) Read State1
: w
hen IN1~IN6 inputs are valid, at this time, it has nothing to do with whether
the function is configured, bit0~bit5 of 0x2155 will change to value 1. For example, when
only IN5 input port is valid,bit 4 of 0x2155 will be value 1,then 0x2155=F (Decimal 16).

0x60FD Corresponding Function Table:
Input Function Setting Value
Logic state
Read state2
(1)
Invalid 0x00 -
Probe1 0x17 (Decimal 23) 0x60FD.26=1
Probe2 0x18 (Decimal 24) 0x60FD.27=1
Origin signal (ORG) 0x16 (Decimal 22) 0x60FD.02=1
Positive limit (POT) 0x01 (Decimal 1) 0x60FD.01=1