Emerson 0471-0128-02 manual Homing mode object definitions

Page 52

Use of controlword and statusword

The homing mode uses some bits of the controlword and the statusword for mode- specific purposes. Table 7.52 Definition of bits 4 and 8 of the controlword on page 52 defines the values for bits 4 and 8 of the controlword.

Table 7.52 Definition of bits 4 and 8 of the controlword

	Bit	Value	Definition
	4	0	Do not start homing procedure.
	4	1	Start or continue homing procedure.
		1	Start or continue homing procedure.

	8	0	Enable bit 4.
	8	1	Stop axis according to halt option code (0x605D).
		1	Stop axis according to halt option code (0x605D).

Table 7.53 Definition of bits 10 and 12 of the statusword on page 52 defines the values for bits 10 and 12 of the statusword.

Table 7.53 Definition of bits 10 and 12 of the statusword

Bit 12	Bit 10	Definition
0	0	Homing procedure is in progress.
0	1	Homing procedure is interrupted or not started.

1	0	Homing is attained, but target is not reached.
1	1	Homing procedure was completed successfully.

0	0	Homing error occurred, velocity is not 0.

0	1	Homing error occurred, velocity is 0.
1	X	Reserved.

7.7.2Homing mode object definitions

0x2803 Homing source

This object indicates the configured source of the homing switch used during the homing procedure. Table 7.54 Homing source on page 52 specifies the object description.

Table 7.54 Homing source

0x2803	Homing source
Sub-index 0
Access: RO		Range: N/A	Size: Unigned 8	Unit: N/A

Default: 2

Description: The number of the last sub-index in this object.
Sub-index 1

Access: RW		Range: 1 to 8	Size: Unsigned 8	Unit: N/A

Default: 5

Description: The source of the homing switch. This will specify a digital input as follows: 1 to 6 - The number of a Drive digital input

7 to 8 - SM-EtherCAT option module digital input 0 or 1

Sub-index 2

Access: RW

Range: 0 to 1

Size: Unsigned 8

Unit: N/A

Default: 0

Description: Use the feedback source freeze for homing. This will cause the freeze from the selected feedback device to be used instead of the index (marker) pulse when it is required during homing.

52	SM-EtherCAT User Guide
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Contents SM-EtherCAT General Information Contents Diagnostics Quick Reference Glossary Of TermsElectrical safety general warning Safety InformationSystem design and safety of personnel Adjusting parameters Environmental limitsCompliance with regulations MotorGeneral safety considerations for remote operation Features What is EtherCAT?Solution module identification IntroductionDate code format Conventions used in this guideExample Mechanical Installation General InstallationSM-EtherCAT module information Electrical InstallationModule grounding Network topology Minimum node-to-node cable lengthGetting Started Quick start guideSM-EtherCAT version compatibility SM-EtherCAT XML fileConfiguring the SM-EtherCAT module for cyclic communications Configuring the Sync Managers Cyclic data mapping configuration RxPDO1 TxPDO1 TxPDO6Assigning RxPDO to the Sync Manager Assigning TxPDO to the Sync ManagerQuick start flowchart Quick start flowchartRe-initialise all Solutions Modules Saving parameters to the driveRe-initialising the SM-EtherCAT SM-EtherCAT re-initialiseProtocols CANopen over EtherCAT CoECoE object dictionary Object description formatCoE communication area DefinitionsDevice type object Identity objectRxPDO mappings RxPDO mappingsRxPDO mapping 0x16000x1601 0x1605TxPDO mappings 10 RxPDO mapping11 TxPDO mappings 12 TxPDO mapping13 TxPDO mapping 14 TxPDO mapping0x1A01 Transmit PDO mapping Sub-index 0 Number of mapped objects15 TxPDO mapping 16 TxPDO mapping0x1A05 0x1A15Sync manager configuration 17 Sync manager communication type object18 Sync manager 0 PDO assignment object 19 Sync manager 1 PDO assignment objectFeedback encoder source 20 Sync manager 2 PDO assignment object21 Sync manager 3 PDO assignment object 22 Feedback encoder sourceCommand coding Drive profile DSP-402 support0x6040 Controlword Controlword0x6041 Statusword Common profile featuresSequencing control Page Power disabled CoE state machine transition and events Transition Events Actions2 0x605A Quick stop option code Quickstopoptioncode10 Quick stop value definitions 0x605A5 0x605E Faultreactionoptioncode 4 0x605C Disableoperationoptioncode3 0x605B Shutdownoptioncode 7 0x6061 Modesofoperationdisplay 6 0x6060 Modesofoperation8 0x6085 Quickstopdeceleration 10 0x608F Positionencoderresolution 23 PositionencoderresolutionProfile units 11 0x6091 Gearratio12 0x6092 Feedconstant Basic position control24 Gearratio Feed constant = feed / driving shaft revolutions14 0x6062 Positiondemandvalue 16 0x60F4 Followingerroractualvalue15 0x6064 Positionactualvalue 17 0x60FB Positioncontrolparameterset object Interpolated position mode1 0x60C0 Interpolationsub-modeselect 2 0x60C1 Interpolationdatarecord 3 0x60C2 Interpolationtimeperiod33 0x60C1 Interpolationdatarecord 34 InterpolationtimeperiodVl velocity mode 36 vl velocity mode supported objects1 0x6042 vltargetvelocity 37 vltargetvelocity3 0x6044 vlvelocityactualvalue 2 0x6043 vlvelocitydemand4 0x6046 vlvelocityminmaxamount 5 0x6047 vlvelocityminmax 6 0x6048 vlvelocityacceleration41 0x6047 vlvelocityminmax 0x60477 0x6049 vlvelocitydeceleration 8 0x604A vlvelocityquickstop0x6049 0x604A10 0x604C vldimensionfactor Calculating the vl dimension factor46 0x604C vldimensionfactor 9 0x604B vlsetpointfactorProfile Torque mode 47 Profile torque mode supported objects1 0x6071 Targettorque 48 0x6071 TargettorqueHoming Mode 2 0x6075 Motorratedcurrent3 0x6078 Currentactualvalue 4 0x6087 TorqueslopeMethod 1 Homing on negative limit switch and index pulse General homing definitionsSupport Drive profile DSP-402 SM-EtherCAT User Guide Method 17 to 30 Homing without index pulse Method 15 and 16 ReservedMethod 33 and 34 Homing on index pulse Homing mode object definitions 0x2804 Freeze object 55 Freeze objectFreeze object 0x607C Home offset0x6098 Homing method 57 Homing method58 Homing method values 0x6099 Homing speedsDistributed clocks Advanced featuresSM-EtherCAT protocol support Diagnostics Module identification parametersSM-EtherCAT module ID code SM-EtherCAT firmware versionNetwork configuration objects Commander SK / Commander SLSM-EtherCAT network loss trip Network loss behavior objectDiagnostic parameters Running statesDrive trip display codes SM-EtherCAT module temperatureSM-EtherCAT serial number SM-EtherCAT error codes 12 SM-EtherCAT error codes13 SM-EtherCAT error codes SM-EtherCAT error codes Default Pr MM.50 Range AccessCritical task % free Worst case critical task % freeFlash file system % free Updating SM-EtherCAT firmwareSM-EtherCAT objects reference Quick ReferenceObject Name Description Cross reference Provides the velocity at the motor spin 3 on SM-EtherCAT parameter reference ObjectPr MM.01 Pr MM.32Glossary Of Terms Polled data See Cyclic dataScan rate See Poll rate Index Secure Disable Page 0471-0128-02