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Digitax ST User Guide 93
Issue: 5
9.22.2 Homing mode object definitions
0x2803 Homing source
This object indicates the configured source of the homing switch used
during the homing procedure. Table 9-97 specifies the object
description.
Table 9-97 Homing source
0x2804 Freeze object
This object is used to configure the freeze function that can be used
within the Homing mode profile. Table 9-98 specifies the object
description.
Table 9-98 Freeze object
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 9-19. The value of this object shall be given in user-
defined position units. Negative values indicate the opposite direction.
Figure 9-19 Home offset definition
Table 9-99 Home offse
t
0x6098 Homing method
This object indicates the configured homing method that shall be used.
Table 9-100 specifies the object description, and Table 9-101 specifies
the value ranges for this object.
Table 9-100 Homing method
Table 9-101 Homing method values
0x6099 Homing speeds
This object indicates the configured speeds used during the homing
procedure. The values shall be given in user-defined velocity units. Table
9-102 specifies the object description.
Table 9-102 Homing speeds
0x609A Homing acceleration
This object indicates the configured acceleration and deceleration to be
used during the homing operation. The value shall be given in user-
defined acceleration units. Table 9-103 specifies the object description.
0x2803 Homing source
Sub-index 0
Access: RO Range: N/A
Size:
Unsigned 8
Unit: N/A
Default: 2
Description: The number of the last sub-index in this object.
Sub-index 1
Access:
RW
Range: 1 to 8
Size:
Unsigned 8
Unit: N/A
Default: 5
Description: The source of the homing switch. This will specify a digital
input as follows:
1 to 6 - The number of a drive digital input
7 to 8 - EtherCAT interface digital input 0 or 1
Sub-index 2
Access:
RW
Range: 0 to 1
Size: Unsigned
8
Unit: N/A
Default: 0
Description: Use the feedback source freeze for homing. This will
cause the freeze from the selected feedback device to be used instead
of the index (marker) pulse when it is required during homing.
0x2804 Freeze object
Sub-index 0
Access: RO Range: N/A
Size:
Unsigned 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
Access: RW
Range: 0 to
0xFFFFFFFF
Size: Signed 32
Unit: User-
defined position
units
Default: 0
Description: Homing offset value.
0x6098 Homing method
Access: RW Range: 0 - 35
Size:
Unsigned 8
Unit: N/A
Default: 0
Descriptio
n:
The homing method that shall be used.
Value Definition
0 No homing method assigned
1 Method 1 shall be used
to
34 Method 34 shall be used
35 Method 35 shall be used
0x6099 Homing speeds
Sub-index 0
Access: RO Range: 2 Size: Signed 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
0xFFFFFFFF
Size:
Unsigned 32
Unit: N/A
Default: 0
Description: Speed during search for a switch.
Sub-index 2
Access:
RW
Range: 0 to
0xFFFFFFFF
Size:
Unsigned 32
Unit: N/A
Default: 0
Description: Speed during search for a zero.
Home offset
Home
position
Zero
position
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