Leadshine EM3E Series, Руководство пользователя

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EM3E Series EtherCAT Stepper Drive User Manual
29
4.3.3 Output Ports Function & Polarity Value
Inde
x Sub-inde
x
Name
Acce
ss
Type Range
Default
value Uni
t
Remark
2155 00
Digital
I/O
status R DINT
0-6553
5
0 --
Upper 8 bits indicate the status of digital
outputs
2156
01
Output1
function
R/W/
S
DINT
0-6553
5
0x01 --
Default is alarm output, take effect
changes need restart power
02
Output2
function
R/W/
S
DINT
0-6553
5
0x03 --
Default is brake output, take effect
changes need restart power
More detail:
Output Port Function Setting Value Polarity Setting Value
Reserved 0 Normally open (NO) 0
Alarm (ALM) 1 Normally closed (NC) 128
Servo-on (Ready) 2 (invalid)
-
Brake (BRK) 3
In-position (INP) 4 (invalid)
Main control output 5
Therefore,Value of 0x2156 (Decimal) = Output port function value + Polarity value.
For Example:
OUT1 needs to be set as alarm function and polarity is NC:
01= 1+128=129(0x81)
4.3.4 Main Control Output Function
Main control output is also called general output and User-defined output, and its usage is as
follows:
Name
Index+
Sub-index
Polarity
Open main control
output (60FE+01)
Enable main
control output
(60FE+02)
NO NC
OUT1 2156+01 0x05 0x85 bit16 (0x10000) bit16 (0x10000)
OUT2 2156+02 0x05 0x85 bit17 (0x20000) bit17 (0x20000)
For example, when OUT2 is set to main control output function and polarity is NC, the
operation steps are as below:

Set Object (2156+02h) to value 0x05 to main control output function;

Set both 60FE+01 and 60FE+02 to value 0x20000,then it is available.
4.4 Motion Objects
Index Name Access Type Range
Default
value
Unit Remark
603F Error code R
UIN
T
0-65535 0 -- Refer to chapter 5.2
6040
Control
word
R/W
UIN
T
0-65535 0 -- Refer to chapter 6.1
6041 Status word R
UIN
T
0-65535 0 -- Refer to chapter 6.1
605A
Quick stop
type
selection
R/W
UIN
T
0-65535 6 --
0: After stopping immediately, switch on
disable state;
1: After decelerating to stops at a speed