User guide

Parameter Dictionary Parameters

ASCII

DvcNet

MACRO

CAN/ECAT

IDX:SUB

Bank

Type

Description

home. Bit 6 is not used in this mode.

Move in the direction specified by bit 4 until a limit switch is encountered. Then move

in the other direction out of limit. If bit 5 is clear, then the edge location is home. If bit

5 is set, then the next index pulse is home. Bit 6 not used in this mode.

Home on a constant home switch. The initial move is made in the direction specified

by bit 4. When the home switch is encountered, the direction is reversed. The edge

of the home switch is set as home if bit 5 is clear. If bit 5 is set, then an index pulse

is used as the home position. Bit 6 is used to define which index pulse is used.

Home on an intermittent home switch. This mode works the same as mode 2 except

that if a limit switch is encountered when initially searching for home, then the

direction is reversed. In mode 2, hitting a limit switch before finding home would be

considered an error. Bit 8 identifies which edge of the home to search for (positive or

negative).

4 Home to a hard stop. This moves in the direction specified in bit 4 until the home

current limit is reached. It then presses against the hard stop using that current

value until the home delay time expires. If bit 5 (index) is set, drive away from the

hard stop until an index is found.

15 Immediate home. This value causes the amp to be referenced immediately on

power-up. Once the encoder is initialized, the home offset value is added to the

encoder position and the result is set as the current referenced position. This is

primarily useful with absolute encoders.

4 Initial move direction (0=positive, 1=negative).

5 Home on index pulse if set.

Selects which index pulse to use. If set, use the pulse on the DIR side of the sensor edge.

DIR is the direction specified by bit 4 of this word.

7 If set, capture falling edge of index. Capture rising edge if clear.

When using a momentary home switch, this bit identifies which edge of the home switch to

reference on. If set, then the negative edge is used; if clear the positive edge is used.

If set, make a move to the zero position when homing is finished. If clear, the zero position is

found, but not moved to.

If set, the homing sequence will run as normal, but the actual position will not be adjusted at

the end. Note that even though the actual position is not adjusted, the parameter Homing

Adjustment (0xB5) is updated with the size of the adjustment (in counts) that would have

been made.

Also, if bit 10 is set then no move to zero is made regardless of the setting of bit 9.

Copley Controls Page 44