User`s manual

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual
C27750-001 PAGE 7-63
7.18.1 Homing Mode Parameters
Parameter Name CANopen Index CANopen sub-index PDO mapping Data Type Access Default Value Minimum Value Maximum Value Units Storage Type Data Group Field Number
INPUT PARAMETERS
ds402 home offset
0x607C 0 yes s32 r/w 0 - - pos units C A 4147
ds402 homing method
0x6098 0 yes s08 r/w 0 - - none C A 4204
ds402 homing speeds switch
search
0x6099 1 yes u32 r/w 0 - - vel units C A 4206
ds402 homing speeds zero
search
0x6099 2 yes u32 r/w 0 - - vel units C A 4207
ds402 homing acceleration
0x609A 0 yes u32 r/w 0 - - acc units C A 4208
OUTPUT PARAMETERS
ds402 home position
0x2857 2 no s32 r 0 - - incs N A 4203
ds402 homing logical switch
status
0x2858 0 no u08 r 0 - - none N A 4209
ds402 homing error state
0x2859 2 no u16 r 0 - - none N A 4218
ds402 homing error window
0x2862 0 no f32 r/w 0.125 0.0 0.5 none C A 4221
FEEDBACK VALUES
ds402 position demand value
0x6062 0 yes s32 r 0 - - pos units N A 4167
ds402 position demand value
increments
0x60FC 0 yes s32 r 0 - - incs N A 4168
ds402 position actual value
0x6064 0 yes s32 r 0 - - pos units N A 4169
ds402 position actual value
increments
0x6063 0 yes s32 r 0 - - incs N A 4170
GENERAL PARAMETERS
ds402 control word
0x6040 0 yes u16 r/w 0 - - none N A 1650
ds402 status word
0x6041 0 yes u16 r 0 - - none N A 1651
ds402 modes of operation
0x6060 0 yes s08 r/w 0 - - none N A 1652
ds402 modes of operation display 0x6061 0 yes s08 r 0 - - none N A 1653
ds402 error code 0x603F 0 yes u16 r - - - none N A 4234