6. EtherCAT Object Dictionary
Homing method
Name
-3
Homing on Negative Limit touch
-4
Homing on Positive Limit touch
-5
Homing on Negative Limit touch and Index Pulse
-6
Homing on Positive Limit touch and Index Pulse
Table 6.40: List of Homing methods which uses Homing Torque Ratio
6.6.18
Object 2018h: Internal Current Value
Sub
PDO
Value
Default
Index
index
Name
Type
Access
SAVE
Mapping
Range
Value
2018h
0
Internal Current Value
U16
RO
No
TxPDO
0
∼
65535
0
This Object displays the Current value of the Drive control unit. The unit of the value is mA.
6.6.19
Object 201Ah: Push Mode
Sub
PDO
Value
Default
Index
index
Name
Type
Access
SAVE
Mapping
Range
Value
201Ah
0
Number of entries
U8
RO
No
No
2
1
Push ratio
U8
RW
Yes
RxPDO
0
∼
100
50
2
Pull back distance
U32
RW
Yes
RxPDO
0
∼
2147483647
100
This object is used in the Push Motion of Profile Position Mode.
Push ratio
This object set the motor torque at the Push Motion and the value is the ratio of the maximum motor
torque. The unit is %. If a force greater than the torque set is applied to the motor in the opposite
direction of the push direction, it is determined that a work is detected.
Pull back distance
The motor can be pulled back a ceritain distance when the Push Motion is finished. The position where
the motor pulls back is the position added from Position actual value by Pull back distance (in the opposite
direction to the Push Motion). The unit is pulse.
6.6.20
Object 201Bh: Limit Deceleration
This object sets deceleration ratio applied in deceleration stop in Cyclic Synchronous Position Mode.
Sub
PDO
Value
Default
Index
index
Name
Type
Access
SAVE
Mapping
Range
Value
201Bh
0
Limit Deceleration
U32
RW
Yes
No
1000
∼
1000000000
1000000
Unit is speed of increasing per second [pulse/
s
2
].
6.6.21
Object 2020h: Error code history setting
Sub
PDO
Value
Default
Index
index
Name
Type
Access
SAVE
Mapping
Range
Value
2020h
0
Number of entries
U8
RO
No
No
3
1
Function
U32
RW
No
No
0
2
Interval for same Error Code
U32
RW
Yes
No
0
∼
3600000
0
3
Interval for last Error Code
U32
RW
Yes
No
0
∼
3600000
0
This object can delete the record of Error code history or adjust the recording time.
Rev.37
FASTECH Co., Ltd.
102
Summary of Contents for Ezi-SERVOII EtherCAT TO
Page 10: ...Chapter 1 Product Specification Rev 37 FASTECH Co Ltd 10...
Page 12: ...1 Product Specification 1 2 Product Dimension Figure 1 2 Dimensions Rev 37 FASTECH Co Ltd 12...
Page 15: ...Chapter 2 Installation Rev 37 FASTECH Co Ltd 15...
Page 29: ...Chapter 3 EtherCAT Communication Rev 37 FASTECH Co Ltd 29...
Page 35: ...Chapter 4 CiA402 Drive Profile Rev 37 FASTECH Co Ltd 35...
Page 67: ...Chapter 5 Operation Rev 37 FASTECH Co Ltd 67...
Page 71: ...Chapter 6 EtherCAT Object Dictionary Rev 37 FASTECH Co Ltd 71...
