Emerson 0471-0128-02 manual Homing Mode, 2 0x6075 Motorratedcurrent, 3 0x6078 Currentactualvalue

7.6.2 0x6075 Motor_rated_current
	This object indicates the configured motor rated current. It is taken from the motor’s
	name-plate. Depending on the motor and drive technology this current is DC, peak or
	rms (root-mean-square) current. All relative current data refers to this value. The value
	of this object is given in mA.
	Table 7.49 0x6075 Motor_rated_current
	0x6075	Motor_rated_current
	Access: RO		Range: 0 to 0xFFFFFFFF	Size: Unsigned 32	Unit: mA
	Default:	0
	Description:	Indicates the configured motor rated current (Pr 5.07).

7.6.3 0x6078 Current_actual_value

This object provides the actual value of the current. It shall correspond to the current in the motor. The value of this object is given per thousand of rated current.

Table 7.50 0x6078 Current_actual_value

0x6078	Current_actual_value
Access: RO		Range: -32768 to +32767	Size: Signed 16	Unit: 0.1% of rated current
Default:	0
Description:	Provides the actual value of the current.

7.6.4 0x6087 Torque_slope

This object indicates the configured rate of change of torque. The value of this object is given in units of per thousand of rated torque per second.

Table 7.51 Torque_slope

0x6087	Torque_slope
Access: RW		Range: 0 to 0xFFFFFFFF	Size: Unsigned 32	Unit: 0.1% of rated torque per second
Default:	0

Description: Indicates the configured rate of change of torque.

7.7Homing Mode

This section describes the method by which a drive seeks the home position (also called, the datum, reference point or zero point).

Figure 7-2Homing mode function on page 47 shows the defined input objects as well as the output objects. The user may specify the speeds, acceleration and the method of homing. There is a further object home offset, which allows the user to displace zero in the user's coordinate system from the home position.

There is no output data except for those bits in the statusword, which return the status or result of the homing process and the demand to the position control loops.

Figure 7-2 Homing mode function

Information	Safety
Introduction
Installation	Mechanical
Installation	Electrical
Getting Started
Protocols
support	Drive profile (DSP-402)
features	Advanced
Diagnostics
Reference	Quick

Controlword (6040h)

Homing method (6098h)

Homing Speeds (6099h)

Homing acceleration (609Ah)

Home offset (607Ch)

Homing method

Statusword (6041h)

Position demand value (6062h)

Glossary Terms

Of

Index

SM-EtherCAT User Guide	47
Issue Number: 2	www.controltechniques.com