16 homing mode (hm) (ds402), 1 general information, 2 objects that are defined in this section – BECKHOFF AX2000 CANopen communication profile User Manual
Page 94: 3 objects that are defined in other sections, 4 object description, 1 object 607ch: home_offset (ds402), 607ch, Homing mode, Homing mode (hm) (ds402), General information
4.16
Homing Mode (hm) (DS402)
4.16.1
General Information
This section describes the various parameters which are required to define a homing mode.
4.16.2
Objects that are defined in this section
Index
Object
Name
Type
Access
607C
h
VAR
home_offset
INTEGER32
rw
6098
h
VAR
homing_method
INTEGER8
rw
6099
h
ARRAY
homing_speeds
UNSIGNED32
rw
609A
h
VAR
homing_acceleration
UNSIGNED32
rw
4.16.3
Objects that are defined in other sections
Index
Object
Name
Type
Section
6040
h
VAR
control word
INTEGER16
dc (
Þ 4.4)
6041
h
VAR
status word
UNSIGNED16
dc (
Þ 4.4)
4.16.4
Object Description
4.16.4.1
Object 607Ch: home_offset (DS402)
The reference offset (home_offset) is the difference between the zero position for the application
and the zero point of the machine. All subsequent absolute motion tasks take account of the refer-
ence offset.
Index
0x607C
h
Name
home_offset
Object code
VAR
Data type
INTEGER32
Mode
hm
Access
rw
PDO mapping
possible
Unit
user-defined
Value range
(-2
31
) ... (2
31
-1)
Default value
0
EEPROM
yes
94
CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF