LSIS XGT Series - Page 123

Chapter 5 Memory and Parameter
5-25
(d) ‘Start’ command
- It is the function to set the specific object during transition of the slave during EtherCAT connecting operation.
- It is used for initialization of the slave parameters as well as slave Rx and TxPDO address assignment and item settings.
- It is provided up to 50 per a slave.
Item
Description
Setting range
Initial value
Transition
Set the transition process in which the object setting
function operates.
IP, PS, SO, SP, OP, OS None
Index Set the index and sub-index of the object. XML -
Data Set the data to be configured for the object.
Variable depending on data
type
-
Statement Add the statement for the object you want to set. - -
Flag Display the flag of the relevant ‘Start’ command. Fixed -
Notes
The configuration of the transition follows the below EtherCAT state transition diagram.
(e) Online service
- For more information on the online service, refer to Chapter 08 Motion Control Functions -8.5.FoE Functions.
5. Axis Parameter
(1) Axis/Slave connection
There are two types of axes that can be controlled by the motion controller; a real axis and a virtual axis. The actual axis is the
axis allocated to the actual EtherCAT slave, and the virtual axis is arbitrarily generated and controlled within the motion controller.
The slave registered as the EtherCAT slave can be assigned as the axis that can be controlled by the motion controller.
You can set the axis in the project tree by selecting [Axis parameters] - [Add item] - [Axis], or [Axis parameters] - [Axis / slave
connection].