3.1.8.2.3.5.2 Statusword
The mode specific bits of the statusword can be used to monitor the performance of the operation. For further
information please refer to the section on Control Supervision.
3.1.8.2.3.6 Parameters related to homing mode
0x6098 Homing Method Specifies the homing method that shall be used.
0x607C Home Offset Offset from user’s zero position to the home position.
0x6099 Homing Speeds Speed with which to move during homing.
0x609A Homing Acceleration Acceleration used during homing.
0x6040 Controlword Set bit 8 to 0 and bit 4 to 1 to start homing.
0x6041 Statusword Indicates the current state of the homing process.
0x60E3 Supported Homing Methods Array of supported homing methods.
0x60FD Digital inputs Indicates the current state of the digital inputs
0x2210 GPIO Pin configuration Configures the digital inputs for homing and limit switches
Note
Switches can be configured in both active high and active low configuration. But only one GPIO can be
assigned to one switch whether active high or active low. For example If Pin 3 is configured as Active
High Limit Switch, then configuring any other pin as Limit Switch Active High or Active Low will raise
IvldGpio (Invalid GPIO error).
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