ttr.
0x309C VAR Homing Current Limit Unsigned16 rw
0x309D VAR End On Home Position Unsigned16 rw
0x3218 VAR Homing Operation Indicator Unsigned16 rw
The homing procedure is launched on rising edge of bit 4 of the Control Word and can be interrupted when clear.
Meanings of operation mode specific bits of the Status Word:
Bit 13 Bit 12 Bit 10 Definition
0 0 0 Homing procedure in progress
0 0 1 Homing procedure interrupted or not started
0 1 0 Homing reached, but target is not reached
0 1 1 Homing procedure successfully completed
1 0 0 Homing error occurred, velocity is not 0
1 0 1 Homing error occurred, velocity is 0
1 1 X reserved
If Bit 10 is set, this indicates that the velocity is 0.
If bit 12 is set, this indicates that the home position is known but not available.
Bit 12 is reset at 0:
- at power-up,
- if a sensor fault occurs,
- on homing error,
- when homing is starting,
- when bit 4 of the Control Word is at 0.
Bit 13 indicates a homing error:
- homing launched whereas the drive is not in "operation enabled" (except for homing method 35);
- homing launched with an unimplemented selected method.
Bit 13 is reset at 0:
- at drive power-up,
- on rising edge of bit 7 of the Control Word.
Homing Offset
The Home Offset defines the position feedback value when the motor reaches the homing position.
Index 0x607C
Name Home Offset
Object Code VAR
Data Type Integer32
Object Class hm
Access rw
PDO Mapping No
Unit User position unit
Value Range (-2
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