Applied-motion ST10-C-CE Bedienungsanleitung PDF herunterladen (Seite 52)

920-0025 Rev K

3/5/2015

CANopen User Manual

0x607C home_offset

The home_offset object is the difference between the zero position for the application and

the machine home position (found during homing). During homing the home position is found

and, once the homing is completed, the zero position is offset from the home position by add-

ing the home_offest to the home position. All subsequent absolute moves shall be taken rela-

tive to this new zero position. This is illustrated in the following diagram.

Object Type Data Type Access Type PDO Mapping COS Default value

Var INTEGER32 rw yes No 0

0x607E polarity

This object contains two individual bits to set the polarity of position and velocity in their

own mode. Bit7 (position polarity bit) indicates the position demand value (related to the tar-

get_postition object whose index is 0x607A) shall be multiplied by 1 or by –1. The polarity ag

shall have no inuence on the homing mode. Bit6 (velocity polarity bit) indicates that the veloc-

ity demand value (related to the prole velocity whose index is 0x60FF) shall be multiplied by 1

or -1.

Object Type Data Type Access Type PDO Mapping COS Default value

Var UNSIGNED8 rw yes No 0

The position polarity bit shall be used only for prole position (pp) mode. The velocity po-

larity bit shall be used only for prole velocity (pv) mode.

Home

Position

Zero

Position

Home_Offset

Position polarity

0=> multiply by 1(default)

1=> multiply by -1

Velocity polarity

0=> multiply by 1(default)

1=> multiply by -1

Bit

Meaning

1 2 ... 47 48 49 50 51 52 53 54 55 56 57 ... 100 101

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Applied-motion ST10-C-CE Bedienungsanleitung Seite 52