Recommended Configuration; Homing Mode (Hm); Related Objects - Parker FL-20-C Series Product Manual

2002h 26h

7.8.3 Recommended configuration

The basic configuration for the CST mode is described in the following table:
RPDO
6040h: control word
6071h: target torque
6060h: modes of operation

7.9 Homing mode (HM)

This mode searches for home and determines the position relationship between home and zero.
Home: mechanical home reference point, that is, the motor Z signal.
Zero: absolute zero point in the machine
After homing is completed, the motor stops at the home. The relationship between home and
zero is set in 607Ch.
Home = Zero + 607Ch (Home offset)
When 607Ch = 0, the zero is the same as the home.

7.9.1 Related objects

Bit
0 Switch on
1 Enable voltage
2 Quick stop
3 Enable operation
Homing star
4
8 Halt
Torque reached
range
6041h: status word
6064h: position actual value
606Ch: velocity actual value
6077h:torque actual value
6061h: Modes of operation display
Control Word 6040h
Name
1: Valid, 0: Invalid
1: Valid, 0: Invalid
1: Valid, 0: Invalid
1: Valid, 0: Invalid
0->1：Homing start
1：Homing ongoing
1->0：Homing end
0: The servo drive determines whether to start homing
When the difference between the actual torque
and based value is larger than 2002h-26h, the
torque reached signal
is output, and status word 6041h bit10 is set to 1.
When the difference is smaller than 2002h-26h,
the torque reached signal is invalid, and status
word 6041h bit10 is cleared to 0.
TPDO
Description
If bit0 to bit3 are all 1, the
servo
drive starts running.
157
Remarks
Mandatory
Mandatory
Optional
Optional
Optional
Optional