Switch User Manual
Table Of Contents
- Contents
- 1 Safety Information
- 2 Introduction
- 3 Mechanical Installation
- 4 Electrical Installation
- 5 Getting Started
- 6 Protocols
- 7 Drive profile (DSP-402) support
- 7.1 0x6040 Controlword
- 7.2 0x6041 Statusword
- 7.3 Common profile features
- 7.3.1 Sequencing control
- 7.3.2 0x605A Quick stop option code
- 7.3.3 0x605B Shutdown_option_code
- 7.3.4 0x605C Disable_operation_option_code
- 7.3.5 0x605E Fault_reaction_option_code
- 7.3.6 0x6060 Modes_of_operation
- 7.3.7 0x6061 Modes_of_operation_display
- 7.3.8 0x6085 Quick_stop_deceleration
- 7.3.9 Profile units
- 7.3.10 0x608F Position_encoder_resolution
- 7.3.11 0x6091 Gear_ratio
- 7.3.12 0x6092 Feed_constant
- 7.3.13 Basic position control
- 7.3.14 0x6062 Position_demand_value
- 7.3.15 0x6064 Position_actual_value
- 7.3.16 0x60F4 Following_error_actual_value
- 7.3.17 0x60FB Position_control_parameter_set object
- 7.4 Interpolated position mode
- 7.5 vl velocity mode
- 7.5.1 0x6042 vl_target_velocity
- 7.5.2 0x6043 vl_velocity_demand
- 7.5.3 0x6044 vl_velocity_actual_value
- 7.5.4 0x6046 vl_velocity_min_max_amount
- 7.5.5 0x6047 vl_velocity_min_max
- 7.5.6 0x6048 vl_velocity_acceleration
- 7.5.7 0x6049 vl_velocity_deceleration
- 7.5.8 0x604A vl_velocity_quick_stop
- 7.5.9 0x604B vl_setpoint_factor
- 7.5.10 0x604C vl_dimension_factor
- 7.6 Profile Torque mode
- 7.7 Homing Mode
- 8 Advanced features
- 9 Diagnostics
- 9.1 Module identification parameters
- 9.2 Network configuration objects
- 9.3 Diagnostic parameters
- 9.4 Drive trip display codes
- 9.5 SM-EtherCAT module temperature
- 9.6 SM-EtherCAT serial number
- 9.7 SM-EtherCAT error codes
- 9.8 Critical task % free
- 9.9 Worst case critical task % free
- 9.10 FLASH file system % free
- 9.11 Updating SM-EtherCAT firmware
- 10 Quick Reference
- 11 Glossary Of Terms
- Index
54 SM-EtherCAT User Guide
www.controltechniques.com Issue Number: 2
0x6098 Homing method
This object indicates the configured homing method that shall be used. Ta b le
7.57 Homing method on page 54 specifies the object description, and Table
7.58 Homing method values on page 54 specifies the value ranges for this object.
Table 7.57 Homing method
Table 7.58 Homing method values
0x6099 Homing speeds
This object indicates the configured speeds used during the homing procedure. The
values shall be given in user-defined velocity units.
Table 7.59 Homing speeds on page
54 specifies the object description.
Table 7.59 Homing speeds
0x609A Homing acceleration
This object indicates the configured acceleration and deceleration to be used during the
homing operation. The value shall be given in user-defined acceleration units.
Table
7.60 Homing acceleration on page 54 specifies the object description.
Table 7.60 Homing acceleration
0x6098 Homing Method
Access: RW Range: 0 - 35 Size: Unsigned 8 Unit: N/A
Default: 0
Description: The homing method that shall be used.
Value Definition
0 No homing method assigned
1 Method 1 shall be used
to
34 Method 34 shall be used
35 Method 35 shall be used
0x6099 Homing speeds
Sub-index 0
Access: C Range: 2 Size: Signed 8 Unit: N/A
Default: 2
Description: The number of supported sub-indices.
Sub-index 1
Access: RW Range: Unsigned 32
Size: Unsigned 32 Unit: N/A
Default: 0
Description: Speed during search for a switch.
Sub-index 2
Access: RW
Range: Unsigned 32 Size: Unsigned 32 Unit: N/A
Default: 0
Description: Speed during search for a zero.
0x609A Homing acceleration
Access: RW Range: Unsigned 32 Size: Unsigned 32
Unit: User-defined
acceleration units
Default: 0
Description:
Indicates the configured acceleration and deceleration to be used during homing
operation.