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5.4 Common Functions for All Modes
5.4.1 Digital input setting and status display
Please refer to chapter 5 for more details on digital I/O input and polarity settings.60FDh
object complies with IEC61800-200 standard input I/O status mapping object. 60FDh is
set according to function as the table below shows.
Bit31
Bit30
Z signal
Reserved
Bit23
Bit22
E-STOP
Reserved
Bit15
Bit14
DI12
DI11
Bit7
Bit6
DI4
DI3
5.4.2 Digital output setting and control operation method
In addition to the internal operation of the servo system, EL8-EC also provides a function
for the master device to operate digital I/O output of the servo driver.
If I/O output function is set up as master device control, master device can control servo
driver digital I/O output through 60FEh object
Bit
31~21
Sub-index
01h
Reserved
02h
5.4.3 Motor Rotational Direction
Rotational direction is defined in 607Eh.
Mode
PP
Position
0：Rotate in the same direction as the position command
HM
Mode
128：Rotate in the opposite direction to the position command
CSP
PV
Velocity
0：Rotate in the same direction as the position command
Mode
CSV
64：Rotate in the opposite direction to the position command
PT
Torque
0：Rotate in the same direction as the position command
Mode
32：Rotate in the opposite direction to the position command
CST
ALL
0：Rotate in the same direction as the position command
Modes
224：Rotate in the opposite direction to the position command
Bit29
Bit28
Reserved
Reserved
Bit21
Bit20
Reserved
Reserved
Bit13
Bit12
DI10
DI9
Bit5
Bit4
DI2
DI1
21
20
DO6
DO5
valid
valid
DO6
DO5
enabled
enabled
enabled
User manual of EL8-EC***F AC Servo
Bit27
Bit26
Touch
Touch
Probe 2
Probe 1
Bit19
Bit18
Reserved
Reserved
Bit11
Bit10
DI8
DI7
Bit3
Bit2
Reserved
HOME
19
18
17
DO4
DO3
DO2
valid
valid
valid
DO4
DO3
DO2
enabled
enabled
Set value
Bit25
Bit24
BRAKE
INP/V-COIN
/TLC
Bit17
Bit16
DI14
DI13
Bit9
Bit8
DI6
DI5
Bit1
Bit0
POT
NOT
16
15~0
DO1
valid
Reserved
DO1
enabled
183
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