0x2804 Freeze object, 0x607C Home offset | Emerson 0471-0128-02

0x2804 Freeze object

This object is used to configure the freeze function that can be used within the Homing mode profile. Table 7.55 Freeze object on page 53 specifies the object description.

Table 7.55 Freeze object

0x2804	Freeze object
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: 0 to 1	Size: Unsigned 8	Unit: N/A

Default: 0

Description: Route the option freeze onto the drive. Setting a value of 1 here will route the option digital input 0 onto the drive freeze line.

Sub-index 2

Access: RW	Range: 0 to 1	Size: Unsigned 8	Unit: N/A
Default: 0

Description: Option to drive freeze invert. Setting a value of 1 will invert the freeze signal routed onto the drive from the option input 0 (if 0x2804, sub-index 1 is set to 1). This value will be read only on a transition from 0 to 1 in sub-index 1.

0x607C Home offset

This object indicates the configured difference between the zero position for the application and the machine home position (found during homing). During homing the machine 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 illustrated in Figure 7-11Home offset definition on page 53. The value of this object shall be given in user-defined position units. Negative values indicate the opposite direction.

Figure 7-11 Home offset definition

Table 7.56 Home offset

0x607C	Home offset
Access: RW		Range: -32768 to	Size: Signed 32	Unit: User-defined
Access: RW		+32767	Size: Signed 32	position units
		+32767		position units
Default:	0

Description:	Homing offset value.

Information	Safety

Introduction

Installation	Mechanical

Installation	Electrical

Getting Started

Protocols

support	Drive profile (DSP-402)
features	Advanced

Diagnostics

Reference	Quick

Terms	Glossary
	Of

Index

SM-EtherCAT User Guide	53
Issue Number: 2	www.controltechniques.com

Image 53

Emerson 0471-0128-02 manual 0x2804 Freeze object, 0x607C Home offset

Contents

SM-EtherCAT General Information Contents Quick Reference Glossary Of Terms Diagnostics System design and safety of personnel Safety InformationElectrical safety general warning Environmental limits Adjusting parametersCompliance with regulations Motor General safety considerations for remote operation What is EtherCAT? FeaturesSolution module identification Introduction Example Conventions used in this guideDate code format General Installation Mechanical Installation Module grounding Electrical InstallationSM-EtherCAT module information Minimum node-to-node cable length Network topology Quick start guide Getting StartedSM-EtherCAT version compatibility SM-EtherCAT XML file Configuring the SM-EtherCAT module for cyclic communications Cyclic data mapping configuration RxPDO1 TxPDO1 TxPDO6 Configuring the Sync Managers Assigning TxPDO to the Sync Manager Assigning RxPDO to the Sync Manager Quick start flowchart Quick start flowchart Saving parameters to the drive Re-initialise all Solutions ModulesRe-initialising the SM-EtherCAT SM-EtherCAT re-initialise CANopen over EtherCAT CoE ProtocolsCoE object dictionary Object description format Definitions CoE communication areaDevice type object Identity object RxPDO mappings RxPDO mappingsRxPDO mapping 0x1600 0x1605 0x1601 10 RxPDO mapping TxPDO mappings11 TxPDO mappings 12 TxPDO mapping 14 TxPDO mapping 13 TxPDO mapping0x1A01 Transmit PDO mapping Sub-index 0 Number of mapped objects 16 TxPDO mapping 15 TxPDO mapping0x1A05 0x1A15 17 Sync manager communication type object Sync manager configuration18 Sync manager 0 PDO assignment object 19 Sync manager 1 PDO assignment object 20 Sync manager 2 PDO assignment object Feedback encoder source21 Sync manager 3 PDO assignment object 22 Feedback encoder source Drive profile DSP-402 support Command coding0x6040 Controlword Controlword Sequencing control Common profile features0x6041 Statusword Page Power disabled Transition Events Actions CoE state machine transition and events Quickstopoptioncode 2 0x605A Quick stop option code10 Quick stop value definitions 0x605A 3 0x605B Shutdownoptioncode 4 0x605C Disableoperationoptioncode5 0x605E Faultreactionoptioncode 8 0x6085 Quickstopdeceleration 6 0x6060 Modesofoperation7 0x6061 Modesofoperationdisplay 23 Positionencoderresolution 10 0x608F PositionencoderresolutionProfile units 11 0x6091 Gearratio Basic position control 12 0x6092 Feedconstant24 Gearratio Feed constant = feed / driving shaft revolutions 15 0x6064 Positionactualvalue 16 0x60F4 Followingerroractualvalue14 0x6062 Positiondemandvalue 1 0x60C0 Interpolationsub-modeselect Interpolated position mode17 0x60FB Positioncontrolparameterset object 3 0x60C2 Interpolationtimeperiod 2 0x60C1 Interpolationdatarecord33 0x60C1 Interpolationdatarecord 34 Interpolationtimeperiod 36 vl velocity mode supported objects Vl velocity mode1 0x6042 vltargetvelocity 37 vltargetvelocity 4 0x6046 vlvelocityminmaxamount 2 0x6043 vlvelocitydemand3 0x6044 vlvelocityactualvalue 6 0x6048 vlvelocityacceleration 5 0x6047 vlvelocityminmax41 0x6047 vlvelocityminmax 0x6047 8 0x604A vlvelocityquickstop 7 0x6049 vlvelocitydeceleration0x6049 0x604A Calculating the vl dimension factor 10 0x604C vldimensionfactor46 0x604C vldimensionfactor 9 0x604B vlsetpointfactor 47 Profile torque mode supported objects Profile Torque mode1 0x6071 Targettorque 48 0x6071 Targettorque 2 0x6075 Motorratedcurrent Homing Mode3 0x6078 Currentactualvalue 4 0x6087 Torqueslope General homing definitions Method 1 Homing on negative limit switch and index pulse Support Drive profile DSP-402 SM-EtherCAT User Guide Method 33 and 34 Homing on index pulse Method 15 and 16 ReservedMethod 17 to 30 Homing without index pulse Homing mode object definitions 55 Freeze object 0x2804 Freeze objectFreeze object 0x607C Home offset 57 Homing method 0x6098 Homing method58 Homing method values 0x6099 Homing speeds SM-EtherCAT protocol support Advanced featuresDistributed clocks Module identification parameters DiagnosticsSM-EtherCAT module ID code SM-EtherCAT firmware version Commander SK / Commander SL Network configuration objectsSM-EtherCAT network loss trip Network loss behavior object Running states Diagnostic parameters SM-EtherCAT serial number SM-EtherCAT module temperatureDrive trip display codes 12 SM-EtherCAT error codes SM-EtherCAT error codes13 SM-EtherCAT error codes SM-EtherCAT error codes Default Pr MM.50 Range Access Worst case critical task % free Critical task % freeFlash file system % free Updating SM-EtherCAT firmware Object Name Description Cross reference Quick ReferenceSM-EtherCAT objects reference Provides the velocity at the motor spin 3 on Object SM-EtherCAT parameter referencePr MM.01 Pr MM.32 Polled data See Cyclic data Glossary Of Terms Scan rate See Poll rate Index Secure Disable Page 0471-0128-02