Omron R88D-1SN02H-ECT - 9-6 Homing Objects

9 Details on Servo Parameters
9 - 56
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-6 Homing Objects
These objects are used for the homing setting.
• Sets the range (absolute value) to be recognized as the home position.
• Any position within the specified range is recognized as the home position.
Index
(hex)
Sub-
index
(hex)
Object name Setting range Unit
Default
setting
Data
attri-
bute
Size Access
PDO
map
Complete
access
Modes
of oper-
ation
3A00 --- Homing --- --- --- --- --- --- --- Possible ---
00 Number of
entries
--- --- 89 hex --- 1 byte
(U8)
RO --- --- ---
01 Zero Posi-
tion Range
0 to
2,147,483,647
Command
unit
8,000 A 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
02 Homing
Method
0 to 37 --- 0 E 1 byte
(INT8)
RW --- --- hm
03 Speed
During
Search for
Switch
1 to
2,147,483,647
Command
unit/s
5,000 A 4 bytes
(U32)
RW --- --- hm
04 Speed
During
Search for
Zero
1 to
2,147,483,647
Command
unit/s
5,000 A 4 bytes
(U32)
RW --- --- hm
05 Homing
Acceleration
1 to
2,147,483,647
Command
unit/s
2
1,000,000 A 4 bytes
(U32)
RW --- --- hm
06 Home Offset -2,147,483,648
to
2,147,483,647
Command
unit
0 R 4 bytes
(INT32)
RW --- --- csp, csv,
cst, pp,
pv, hm
81 Homing Sta-
tus
--- --- --- --- 4 bytes
(INT32)
RO --- --- hm
82 Homing
Method Mon-
itor
--- --- --- --- 4 bytes
(INT32)
RO --- --- hm
83 1st Sup-
ported Hom-
ing Method
--- --- 8 --- 2 bytes
(INT16)
RO --- --- hm
84 2nd Sup-
ported Hom-
ing Method
--- --- 12 --- 2 bytes
(INT16)
RO --- --- hm
85 3rd Sup-
ported Hom-
ing Method
--- --- 19 --- 2 bytes
(INT16)
RO --- --- hm
86 4th Sup-
ported Hom-
ing Method
--- --- 20 --- 2 bytes
(INT16)
RO --- --- hm
87 5th Sup-
ported Hom-
ing Method
--- --- 33 --- 2 bytes
(INT16)
RO --- --- hm
88 6th Sup-
ported Hom-
ing Method
--- --- 34 --- 2 bytes
(INT16)
RO --- --- hm
89 7th Sup-
ported Hom-
ing Method
--- --- 37 --- 2 bytes
(INT16)
RO --- --- hm
Subindex 01 hex: Zero Position Range