ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 61)

CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
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9.2 Objects
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_offset
Zero
Position
Home
Position
home_offset
Zero
Position
Home
Position
By default, the home offset is 0.
Object description:
Index 607Ch
Name Home offset
Object code VAR
Data type INTEGER32
Category Optional
Entry description:
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.