6. EtherCAT Object Dictionary
Value
Name
0
No Mode
1
Homing on Negative Limit Switch and Index Pulse
2
Homing on Positive Limit Switch and Index Pulse
7
Homing on Origin Switch (Positive Direction, Negative Edge) and Index Pulse
11
Homing on Origin Switch (Negative Direction, Positive Edge) and Index Pulse
17
Homing on Negative Limit Switch
18
Homing on Positive Limit Switch
24
Homing on Origin Switch (Positive Direction, Negative Edge)
28
Homing on Origin Switch (Negative Direction, Positive Edge)
33
Homing Index Pulse (Negative Direction)
34
Homing Index Pulse (Positive Direction)
35
Set the current position origin
37
Set the current position origin and reset current position
-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 6.24: Origin Search Method
Please refer to origin search method for detail operation, direction and velocity of each Homing Method.
6.5.26
Object 6099h: Homing speeds
Sub
PDO
Value
Default
Index
index
Name
Type
Access
SAVE
Mapping
Range
Value
6099h
0
Number of entries
U8
RO
No
No
2
1
Speed during search for
switch
U32
RW
Yes
RxPDO
1
∼
2500000
5000
2
Speed during search for zero
U32
RW
Yes
RxPDO
1
∼
500000
1000
This object sets values of velocity under Homing Mode.
Speed during search for switch (Sub-Index 1) is the velocity is used for correspondent Switch. Please
set appropriate velocity to sense correspondent Switch.
Speed during search for zero (Sub-Index 2) is the velocity is used for searching sensor origin after
searching correspondent Switch.
6.5.27
Object 609Ah: Homing acceleration
Sub
PDO
Value
Default
Index
index
Name
Type
Access
SAVE
Mapping
Range
Value
609Ah
0
Homing acceleration
U32
RW
Yes
RxPDO
1000
∼
1000000000
100000
This object sets Acc/Dec velocity under Homing Mode.
Unit is speed of increasing per second [pulse/
s
2
].
6.5.28
Object 60B8h: Touch probe function
Sub
PDO
Value
Default
Index
index
Name
Type
Access
SAVE
Mapping
Range
Value
60B8h
0
Touch probe function
U16
RW
No
RxPDO
0000h
Rev.37
FASTECH Co., Ltd.
88
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...
