CANopen DSP 402 Implementation Guide
55
9.2Objects
Object 0x607C: Home offset
This object is the difference between the zero position for the application and the machine home position (found during homing), measured in position units. During homing, the machine home position is found. Once 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 are taken relative to this new zero position, as illustrated in the following diagram.
Home | Zero | ||||
Position | Position | ||||
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By default, the home offset is 0.
Object description:
| Index |
| 607Ch |
| Name |
| Home offset |
| Object code |
| VAR |
| Data type |
| INTEGER32 |
| Category |
| Optional |
Entry description: |
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| Access |
| Read/write |
| PDO mapping |
| No |
| Value range |
| INTEGER32 |
| Default value |
| No |
The zero position is determined after a successful homing sequence (home attain). Internal position limits are taken relative to the zero position point.
