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9 Details on Servo Parameters
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-9 Monitoring-related Objects
9
9-9-4 4131 hex: Safety Command Monitor 1
• Gives the status of the safety function.
• Mirror object of 6621-02 hex
Description of Set Values
• Gives the FSoE slave address.
• Mirror object of F980-01 hex
Monitors the safety command.
• Gives the command which is sent from the slave.
• Mirror object of E600-01 hex
• Gives the connection ID which is sent from the slave.
• Mirror object of E600-02 hex
Subindex A2 hex: Safety Statusword 2nd Byte
Set value Description
Bit 7 Gives the safety connection status
0 Without safety connection
1 With safety connection
Subindex B1 hex: FSoE Address
9-9-4 4131 hex: Safety Command Monitor 1
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes of
opera-
tion
4131 --- Safety Com-
mand Monitor 1
--- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 93 hex --- 1 byte
(U8)
RO --- --- ---
81 FSoE Slave CMD --- --- --- --- 1 byte
(U8)
RO --- --- ---
82 FSoE Slave Con-
n_ID
--- --- --- --- 2 bytes
(U16)
RO --- --- ---
83 FSoE Slave
CRC_0
--- --- --- --- 2 bytes
(U16)
RO --- --- ---
91 FSoE Master
CMD
--- --- --- --- 1 byte
(U8)
RO --- --- ---
92 FSoE Master
Conn_ID
--- --- --- --- 2 bytes
(U16)
RO --- --- ---
93 FSoE Master
CRC_0
--- --- --- --- 2 bytes
(U16)
RO --- --- ---
Subindex 81 hex: FSoE Slave CMD
Subindex 82 hex: FSoE Slave Conn_ID
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