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8-3-6-11 Digital I/O
When using EtherCAT communication, JSDG2S-E servo driver also supports the user to use digital
I/O; respectively controlled by Object Digital Input (60FDh) & Digital Output (60FEh).
Under EtherCAT communication, Digital Input (60FDh) can acquire the physical DI data of
JSDG2S-E servo driver. Digital Output (0x60FE) can acquire the physical DO status of JSDG2S-E servo
driver and control.
Digital Input (60FDh) bit Signal Description
0 CWL 1: Enable 0: Disable
1 CCWL 1: Enable 0: Disable
2 Home Switch 1: Enable 0: Disable
16 DI-1 1: Enable 0: Disable
17 DI-2 1: Enable 0: Disable
18 DI-3 1: Enable 0: Disable
19 DI-4 1: Enable 0: Disable
20 DI-5 1: Enable 0: Disable
21 DI-6 1: Enable 0: Disable
22 DI-7 1: Enable 0: Disable
23 DI-8 1: Enable 0: Disable
24 DI-9 1: Enable 0: Disable
25 DI-10 1: Enable 0: Disable
26 DI-11 1: Enable 0: Disable
27 DI-12 1: Enable 0: Disable
In object Digital Output (60FEh), there are two subobjects: Physical Output & Bit Mask. Physical
Output function is to modify physical DO status; Bit Mask function shields the original DO function.
When Bit Mask is 1, it means to retain the original DO function, physical DO status is Physical
Output and the original DO status output after OR calculation. When Bit Mask is 0, it means to remove
the original DO function and physical DO status is controlled by Physical Output.
DO-1 state when
Bit Mask.n=1
DO-1 state when
Bit Mask.n=0
n=16~23, x=n-15
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