Leadshine iSV2-CAN Series User Manual page 51

13
14
15
16
17-32
33
34
35
Name
Index
60FDH
Access
The bits of a 60FDh object are functionally defined as follow:
Bit31
Z signal
Bit23
E-STOP
Bit15
SI12
Bit7
SI4
Index Name
60FEH-0
Access
1
The bits of a 60FEh object are functionally defined as follow:
Bit
Sub-index
01h
Index Name
60FEH-0
Access
2
The bits of a 60FEh object are functionally defined as follow:
Bit
Sub-index
02h
signal
Search the homing point in negative direction, deceleration point is homing switch, homing
point is motor Z signal on the other side of homing switch, the rising edge on the other side of
homing switch must come before Z signal
Search the homing point in negative direction, deceleration point is homing switch, homing
point is motor Z signal on the other side of homing switch, the falling edge on the other side of
homing switch must come before Z signal
Similar with 1-14, but the deceleration point coincides with the homing point
Search the homing point in negative direction, homing point is motor Z signal
Search the homing point in positive direction, homing point is motor Z signal
Set the current position as homing point
Status of digital input
R0 TPDO
Mapping
Bit30 Bit29
Reserved Reserved
Bit22 Bit21
Reserved Reserved
Bit14 Bit13
SI11 SI10
Bit6 Bit5
SI3 SI2
Output valid
RW RPDO
Mapping
31~21 21
Reserve
DO6 valid
d
Output enable
RW
Mapping
31~21 21
DO6
Reserved
enable
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ALL
Mode
Bit28 Bit27
Reserved Touch
Probe 2
Bit20 Bit19
Reserved Reserved
Bit12 Bit11
SI9 SI8
Bit4 Bit3
SI1 Reserved
ALL
Mode
20 19
DO4
DO5 valid DO3 valid
valid
ALL
Mode
20 19
DO5 DO4
enable enable
51
User Manual of iSV2-CAN Servo
Structure VAR
Range 0-ffff
Bit26 Bit25
Touch BRAKE
Probe 1
Bit18 Bit17
Reserved SI14
Bit10 Bit9
SI7 SI6
Bit2 Bit1
HOME POT
Structure VAR
Range 0-ffff
18 17
DO2 valid DO1 valid
Structure VAR
Range 0-ffff
18 17 16
DO3 DO2 DO1
enable enable enable
Type Dint 32
Default
Bit24
INP/V-COIN
/TLC
Bit16
SI13
Bit8
SI5
Bit0
NOT
Type Uint 32
Default 0
16 15~0
Reserved
Type Uint 32
Default 0
15~0
Reserved