Oriental motor aSTEP AZ mini Driver, Руководство пользователя

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Object dictionary
122
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z
Supported homing methods (60E3h)
This indicates the Homing (return-to-home) method supported by the driver.
Index Sub Name Type Access PDO Save Range Update
60E3h
00h Number of entries U8 RO No − 6 −
01h 1st supported homing method U16 RO No − 17 −
02h 2nd supported homing method U16 RO No − 18 −
03h 3rd supported homing method U16 RO No − 24 −
04h 4th supported homing method U16 RO No − 28 −
05h 5th supported homing method U16 RO No − 35 −
06h 6th supported homing method U16 RO No − 37 −
Details of range
Setting value Description
17 Return-to-home by the limit sensor (FW-LS/RV-LS). Starts in the negative direction.
18 Return-to-home by the limit sensor (FW-LS/RV-LS). Starts in the positive direction.
24 Return-to-home by the home sensor (HOMES). Starts in the positive direction.
28 Return-to-home by the home sensor (HOMES). Starts in the negative direction.
35, 37 * Home preset
* 35 and 37 perform the same action.
z
Following error actual value (60F4h)
This indicates the deviation between the command position and the feedback position (actual position).
Index Sub Name Type Access PDO Save Range Update
60F4h 00h
Following error actual value
[step]
INT32 RO TxPDO − − −
z
Digital inputs (60FDh)
This indicates the status of direct I/O.
Index Sub Name Type Access PDO Save Range Update
60FDh 00h Digital inputs U32 RO TxPDO − − −
Details of range
Bit Name Description
0 RV-BLK *1 Status of RV-BLK input (0: OFF, 1: ON) *2
1 FW-BLK *1 Status of FW-BLK input (0: OFF, 1: ON) *2
2 HOMES *1 Status of HOMES input (0: OFF, 1: ON) *2
3 to 15 − Reserved
16 EXT1 *1 Status of EXT1 input (0: OFF, 1: ON) *2
17 EXT2 *1 Status of EXT2 input (0: OFF, 1: ON) *2
18, 19 − Reserved
20 ZSG Status of ZSG output (0: OFF, 1: ON) *2
21 to 23 − Reserved
24 DIN0 Status of DIN0 input (0: Not carrying current, 1: Carrying current) *3
25 DIN1 Status of DIN1 input (0: Not carrying current, 1: Carrying current) *3
26 to 31 − Reserved
*1 To acquire the status, input signals are required to assign to the input terminals IN0 and IN1 of the input signal
connector (CN5). Assign using the DIN0 input function (4840h) and the DIN1 input function (4841h).
*2 [Normally open] ON: Carrying current, OFF: Not carrying current
[Normally closed] ON: Not carrying current, OFF: Carrying current
*3 It represents a state of “Carrying current” or "Not carrying current” of the internal photocoupler.