Intelligent Motion Systems DSP-402 manual 607C h Homing Offset, Statusword 6041h of Homing Mode

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Statusword (6041h) of Homing Mode

9	14	13			12		11		10	9	0
See 1.4		Homing Error			Homing Attained		See 1.4		Target Reached		See 1.4
MSB											LSB

Bit		Name	Value		Description
			0		Halt=0: Home position not reached
10	Target Reached				Halt=1: Axis decelerating
10	Target Reached		1		Halt=0: Home position reached
			1		Halt=0: Home position reached
					Halt=1: Axis velocity is 0
12	Homing Attained		0		Homing Mode not yet complete
12	Homing Attained		1		Homing Mode carried out successfully
			1		Homing Mode carried out successfully
13	Following Error		0		No homing error
13	Following Error		1		Homing error
			1		Homing error
					Table 7.2: Homing Mode Bits of Statusword

Homing Offset (607Ch)

This object shall indicate the conFigure d difference between

0

HOME

the zero position for the application and the machine home

position (found during homing). During homing the machine

OFFSET (Steps)

home position is found and once the homing is completed

the zero position is offset from the home position by adding

the home offset to the home position. All subsequent absolute

moves shall be taken relative to this new zero position. This is

Figure 7.2: Home Offset

illustrated in Figure 7.2. If this object is not implemented then

the home offset shall be regarded as zero. The value of this

object shall be given in micro steps. Negative values shall indicate the opposite direction.

Object Description

Index

Name

Object Code

Data Type

607Ch

Homing Offset

VAR

Integer 32

Entry Description

Access

PDO Mapping

Range

Default

rw

Possible

Integer 32

0d

42	MDrivePlus CANopen R020507

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Contents Forcetm CANopen DSP402 Application Revision R020507 Contents Device Control Profile Position Mode Optional Application FE General I/O List of Figures This Page Intentionally Left Blank Application Guide MDrivePlus CANopen R020507 MDrivePlus Architecture IntroductionCan Message Format Profile Velocity Mode Section Homing Mode SectionProfile Position Mode Section Device ControlObjects and the Object Dictionary Trajectory GeneratorXxxx h Index Name Yes/NoCategory DefaultPDO Mapping RangeIntentionally Left Blank Process Data Object PDO Accessing The MDrivePlus CANopenService Data Object SDO PDO AttributesPDO Mapping PDO Mapping Procedure Consumer PDODefault Mapping Example Consumer PDO Consumer PDO1 RPDO1 1400h Entry Description PDO ObjectsConsumer PDO1 RPDO1 1400h Object Description 1600h Object Description Mapping Parameters1601h Object Description Mapping Parameters Consumer PDO2 RPDO2 1401h Object DescriptionConsumer PDO2 RPDO2 1401h Entry Description 1601h Entry Description Mapping Parameters1602h Object Description Mapping Parameters Consumer PDO3 RPDO3 1402h Object DescriptionConsumer PDO3 RPDO3 1402h Entry Description 1602h Entry Description Mapping Parameters1A00h Entry Description Mapping Parameters Producer PDO1 TPDO1 1800h Entry Description1A00h Object Description Mapping Parameters Producer PDO2 TPDO2 1801h Object DescriptionProducer PDO3 TPDO3 1802h Object Description 1A01h Object Description Mapping Parameters1A01h Entry Description Mapping Parameters Producer PDO3 TPDO3 1802h Entry Description1A02h Entry Description Mapping Parameters Discretes Object 2000h I/O Discretes ConfigAccessibility Codes UnsignedObject 2004h Input Filter Mask Config 2002 h Config Input SwitchesObject 2002h I/O Discretes Config Object 2006h Input Filter Time ms 2004h2006h Input Filter Time 2020h Software Limits as 2010h Analog InputSee Entry Desc Unsigned HardwareSee Table 2031 h Unit Options2032 h Clock Options 2033 h Capture InputObject 2204h Run Current Percent 2204 h Run Current %2205 h Hold Current % Object 2205h Hold Current PercentInteger Options Setting2211h Point TargetAscii Ser. No Factory5002h 5003hState Machine Control and Status wordsState Machine Transitions Internal Object 6040h Controlword 6040 hUnsigned16 Statusword Object 6041h StatuswordBit 5 Quick Stop Active Bit 4 Voltage EnabledBits 12-13 Operation Mode Specific Bit 7 WarningModes of Operation 6060h Mode of Operation±Integer8 Object 6060h Modes of OperationObject 6502h Supported Drive Modes 6061 h Mode of Operation DisplayObject 6061h Modes of Operation Display = Mode Supported = Mode Not Supported Intentionally Left Blank Trajectory Generator Profile Position ModeGeneral Information Input Data DescriptionFunctional Description Set-Point Transmission from Host ComputerControlword 6040h of Profile Position Mode Single Set-Point Mode Move After a Move 6040h Bit 5=06081 h Profile Velocity 607A h Target PositionPossible Integer 6084 h Profile Deceleration 6082 h End Velocity6083 h Profile Acceleration 6086 h Motion Profile Type Object 6086h Motion Profile TypeOutput Data Description Homing ModeInput Data Description Internal StatesHoming Offset 607Ch Statusword 6041h of Homing Mode607C h Homing Offset Possible ± Integer 6098 h Homing Method± Integer Homing Method 6098hMethod 2 Homing on the Positive Limit Switch and Index Pulse Methods 7 to 14 Homing on the Home Switch and Index Pulse Homing on the Negative Home Switch and Index PulseMethods 31 and 32 Reserved Methods 15 and 16 ReservedMethods 17 to 30 Homing without an Index Pulse Method 35 Homing on the Current Position 6099 h Homing SpeedsMethods 33 and 34 Homing on an Index Pulse Homing Speeds 6099hIntentionally Left Blank 6064 h Position Actual Value 6062 h6063 h Position Actual Value Position Control Function6068 h Position Window Time 6065 h Following Error Window6066 h Following Error Timeout Unsigned Mfg-SpecificStatusword 6041h of Profile Velocity Mode Profile Velocity ModeControlword 6040h of Profile Velocity Mode 606C h Velocity Actual ValueInteger Mfg-Specific 60FF h Target Velocity60FF h Maximum Slippage Object 60FFh Target VelocityObject 60FDh Digital Inputs 60FD h Digital InputsOptional Application FE General I/O 60FE h Digital Outputs Object 60FEh Digital OutputsWarranty Excellence in Motion