Leadshine CS3E-E Series - Page 25

CS3E-E Series EtherCAT Closed Loop stepper drive User Manual
25
03
Input3
function
R/W/S
DINT
0-65535
0x16 (Decimal 22)
--
Default is Home switch, take effect changes need
restart power
04
Input4
function
R/W/S
DINT
0-65535
0x01 (Decimal 1)
--
Default is positive limit, take effect changes need
restart power
05
Input5
function
R/W/S
DINT
0-65535
0x02 (Decimal 2)
--
Default is negative limit, take effect changes
need restart power
06
Input6
function
R/W/S
DINT
0-65535
0x19 (Decimal 25)
--
Default is user defined, take effect changes need
restart power
Note:
(1) After configuring the input and output functions through the master station software or MotionStudio, it needs to save and
restart the power to take effect.
(2) If the function configuration of the two input ports is repeated, the input port with the smaller number is valid, and the other
input port will be set to GPIO automatically. For example: SI3 and SI4 are configured as positive limit, after saving and restarting,
SI3 function as positive limit,SI4 function as GPIO.
There are two object dictionaries that can be used to monitor input ports:
0x2155 is used to monitor whether the input port is connected to a valid signal;
0x60FD is used to monitor whether the input port is configured with a function

0x2155 Corresponding Input Port Table:
Input port
Index +Sub index
Default Function
Value
Default Function
Physical State
Read State1 (3)
IN1
0x2152+01 (1)
0x17
Probe1
0x2155.00=1 (2)
IN2
0x2152+02
0x18
Probe2
0x2155.01=1
IN3
0x2152+03
0x16
Home switch (ORG)
0x2155.02=1
IN4
0x2152+04
0x01
Positive limit (POT)
0x2155.03=1
IN5
0x2152+05
0x02
Negative limit (NOT)
0x2155.04=1
IN6
0x2152+06
0x19
GPIO (SI-MON)
0x2155.05=1
Note:
(1) 0x2152+01 indicates that the index is 0x2152,and sub-index is 01.
(2) 0x2155.01 indicates that the index is 0x2155,and bit is bit1.
(3) Read State1: when IN1~IN6 inputs are valid, at this time, it has nothing to do with whether the function is configured, bit0~bit5 of
0x2155 will change to value 1. For example, when only IN5 input port is valid, bit 4 of 0x2155 will be value 1, then 0x2155=F (Decimal
16).
 0x60FD Corresponding Function Table:
Input Function
Setting Value
Logic state
Read state2 (1)
Invalid
0x00
-
Probe1
0x17 (Decimal 23)
0x60FD.26=1
Probe2
0x18 (Decimal 24)
0x60FD.27=1
Home switch (ORG)
0x16 (Decimal 22)
0x60FD.02=1
Positive limit (POT)
0x01 (Decimal 1)
0x60FD.01=1
Negative limit (NOT)
0x02 (Decimal 2)
0x60FD.00=1
Quick Stop (EMG)
0x14 (Decimal 20)
0x60FD.23=1
Z signal (Index signal)
-
0x60FD.31=1
GPIO (SI-MON)
0x19 (Decimal 25)
When IN1 is set to GPIO

60FD.04=1
When IN2 is set to GPIO

60FD.05=1
When IN3 is set to GPIO

60FD.06=1
When IN4 is set to GPIO  60FD.07=1
When IN5 is set to GPIO  60FD.08=1
When IN6 is set to GPIO

60FD.09=1