Megmeet M5-N Series User Manual

Chapter 7 EtherCAT Communication
70
7.4.4 Homing Mode
The M5-N drive supports Homing Mode. In this mode, the drive returns to the specified position according to the
set homing mode, homing speed, and homing offset.
7.4.4.1 Common object
The following table lists the objects related to this mode.
Index
Object
Code
Name
Type
Attr.
PDO
mapping
Unit
6040h
VAR
Control word
UINT16
RW
RPDO
-
6041h
VAR
Status word
UINT16
RO
TPDO
-
6060h
VAR
Modes of operation
INT8
RW
RPDO
-
6061h
VAR
Modes of operation display
INT8
RO
TPDO
-
6098h
VAR
Homing method
INT8
RW
RPDO
-
607Ch
VAR
Home offset
INT32
RW
RPDO
Command
unit
6099h
ARRAY
Homing speeds
UINT32
RW
RPDO
Command
unit/s
Object description:
• Homing method (6098h)
M5-N drives support standard CiA 402 Mode 1-Mode 35.
• Homing offset (607Ch)
Number of offset pulses after the M5-N drive finds the origin.
• Homing speed (6099h)
Sub-index
Description
Unit
0
Number of subindexes (2)
-
1
Homing high speed
rpm
2
Homing low speed
rpm
7.4.4.2 Control word and status word
Control word in Homing :
Bit15~Bit5
Bit4
Bit3~Bit0
*
Homing start
*
Control word bit description in Homing :

Megmeet M5-N Series Specifications

General

Brand	Megmeet
Model	M5-N Series
Category	Servo Drives
Language	English