Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 94)

4.16 Homing Mode (hm) (DS402)

4.16.1 General Information

This section describes the various parameters which are required to define a homing mode.

4.16.2 Objects that are defined in this section

Index Object Name Type Access

607C

VAR home_offset INTEGER32 rw

6098

VAR homing_method INTEGER8 rw

6099

ARRAY homing_speeds UNSIGNED32 rw

609A

VAR homing_acceleration UNSIGNED32 rw

4.16.3 Objects that are defined in other sections

Index Object Name Type Section

6040

VAR control word INTEGER16

dc (Þ 4.4)

6041

VAR status word UNSIGNED16

dc (Þ 4.4)

4.16.4 Object Description

4.16.4.1 Object 607Ch: home_offset (DS402)

The reference offset (home_offset) is the difference between the zero position for the application

and the zero point of the machine. All subsequent absolute motion tasks take account of the refer-

ence offset.

Index

0x607C

Name

home_offset

Object code

VAR

Data type

INTEGER32

Mode

Access

PDO mapping

possible

Unit

user-defined

Value range

(-2

) ... (2

-1)

Default value

EEPROM

yes

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