User`s manual

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402
PAGE 7-58 C27750-001
Index Name Type Comment
0x607C home offset S32 Difference between the zero position and the home
position (found during homing), in position units.
0x6098 homing method U08 Select the method to be used for homing. Methods
supported are listed above.
0x6099 homing speed Array Defines the speeds used when searching for switch,
and searching for zero.
0x6099/0 number of entries U08 Fixed Value = 2
0x6099/1 switch U32 Speed during search for switch, Default value = 0
0x6099/2 zero U32 Speed during search for zero ,Default value = 0
0x609A homing acceleration U32 Sets acceleration and deceleration used with all
homing modes, in acceleration units.
0x2857/2 home position S32 Home Position in increments.
0x2858/0 home logical switch status U08 Home Digital input Logical Status.
0x2859/2 home error state U16 Home State drive was in when error occurred.
0x2862/0 home error window S32 Position window between switch and zero, that causes
error, in fractions of a rev.
Table 7.20 Table of homing mode parameters
The table below lists the methods supported, and are detailed in DS402.
Method Phase 1 Phase 2 Comment
Dig. Input Direction Dig. Input Direction
-4 Home ↑ Clockwise - Clockwise Home position set at resolver/encoder zero.
-4 Home ↓ Anti-Clk - Clockwise Home position set at resolver/encoder zero.
-3 Home ↑ Clockwise - Anti-Clk Home position set at resolver/encoder zero.
-3 Home ↓ Anti-Clk - Anti-Clk Home position set at resolver/encoder zero.
-2 Pos Lim Clockwise - Anti-Clk Home position set at resolver/encoder zero.
-1 Neg Lim Anti-Clk - Clockwise Home position set at resolver/encoder zero.
0 - - - - Drive Doesn’t Move, Home Pos. unchanged
1 Neg Lim Anti-Clk Index Pulse Clockwise Home position set when index pulse set.
2 Pos Lim Clockwise Index Pulse Anti-Clk Home position set when index pulse set.
3 Home ↑* Clockwise Index Pulse Anti-Clk Home position set when index pulse set.
3 Home ↓ Anti-Clk Index Pulse Anti-Clk Home position set when index pulse set.
4 Home ↑ Clockwise Index Pulse Clockwise Home position set when index pulse set.
4 Home ↓ Anti-Clk Index Pulse Clockwise Home position set when index pulse set.
17 Neg Lim Anti-Clk - - Home position set when Negative Limit hit,
18 Pos Lim Clockwise - - Home position set when Positive Limit hit,
19 Home ↑ Clockwise - - Home position set when Home Sw hit.
19 Home ↓ Anti-Clk - - Home position set when Home Sw hit.
20 Home ↑ Clockwise - - Home position set when Home Sw hit.
20 Home ↓ Anti-Clk - - Home position set when Home Sw hit.
35 - - - - Drive Doesn’t Move, Home Pos = current pos.
* The ↑ is used to indicate an initially inactive state, changing to an active state, and ↓ is the reverse.
Table 7.21 Table of supported homing methods