Absolute Encoder Setup(Fn010、Fn011) - Estun EtherCAT User Manual

Sub-Index 02
Name Bit mask
Object Code VAR
Data Type UINT32
Access RW
PDO Mapping YES
Default Value
0
If the host needs to monitor switch input signals of the servo drive,
the host can read the object 60FDh (Inputs Digital) to obtain. The
definition is as follows:
Bit
0
1
2
3~15
16
17
18
19
20
21
22~31
5.16 Absolute Encoder Setup(Fn010、Fn011)
Setting up the absolute encoder in the following cases.
· When starting the machine for the first time,set Pn002.2 to 0.
· When an encoder error alarm (A.45～A.48, A.51) is generated.
Please use the panel operator or bus in the servo drive for setup. Use
SDO to reset absolute encoder multiturn data and alarm as follows：
1. Writing any data into 321B by SDO can enabled Fn010.
2. Writing any data into 321C by SDO can enabled Fn011.
Note:
1. Encoder setup operation is only possible when the servo is OFF.
2. If the absolute encoder alarms(A.45～A.48，A.51 ) are displayed,
h
Definition
Reverse overtravel switch
Forward overtravel switch
Reference point switch
Reserved
CN1_15
CN1_16
CN1_17
CN1_18
CN1_19
CN1_20
Reserved
65
EtherCAT User's Manual