E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
HIWIN MIKROSYSTEM Corp. 3-31
3.2.4 Homing mode (hm)
This mode is for incremental encoder. After homing procedure is done, the home position of the machine
will be found. To make position zero offset from the home position, add home offset to the home position.
After homing is completed, the values of the following objects are set accordingly.
6062h (position demand value) = 6064h (position actual value) = 607Ch (home offset)
6063h (position actual internal value) = 60FCh (position demand internal value) = 0
The input and output objects of hm mode are shown in Figure 3.2.4.1.
Figure 3.2.4.1
Related objects for hm mode are listed in Table 3.2.4.1.
Table 3.2.4.1
Index
Index
Name
type
Access PDO Valid value Unit
6040h 00h Controlword U16 rw Y 0x0 ~ 0xFFFF -
6041h 00h Statusword U16 ro Y 0x0 ~ 0xFFFF -
6062h 00h Position demand value I32 ro Y -2147483648 ~ 2147483647 inc
6063h 00h Position actual internal value I32 ro Y -2147483648 ~ 2147483647 count
6064h 00h Position actual value I32 ro Y -2147483648 ~ 2147483647 inc
606Ch 00h Velocity actual value I32 ro Y -2147483648 ~ 2147483647 inc/s
6072h 00h Max torque U16 rw Y 0 ~ 65535 0.1%
6074h 00h Torque demand I16 ro Y -32768 ~ 32767 0.1%
6076h 00h Motor rated torque U32 ro - 0 ~ 4294967295 mNm
6077h 00h Torque actual value I16 ro Y -32768 ~ 32767 0.1%
607Ch 00h Home offset I32 rw Y -2147483648 ~ 2147483647 inc
607Fh 00h Max profile velocity U32 rw Y 0 ~ 4294967295 inc/s
6085h 00h Quick stop deceleration U32 rw Y 0 ~ 4294967295 inc/s
2
6098h 00h Homing method I8 rw Y -128 ~ 127 -
6099h
- Homing speeds - - - - -
00h Number of entries U8 ro - 2 -
01h Speed during search for switch U32 rw Y 0 ~ 4294967295 inc/s
02h Speed during search for zero U32 rw Y 0 ~ 4294967295 inc/s
609Ah 00h Homing acceleration U32 rw Y 0 ~ 4294967295 inc/s
2
To Next Page
Loading...
Need help?
General
