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0x607C Home offset
This object indicates the configured difference between the zero position for the application and the
machine home position (found during homing). During homing the machine home position is found
and once the homing is completed, the zero position is offset from the home position by adding the
home offset to the home position. All subsequent absolute moves shall be taken relative to this new
zero position. This is illustrated in Figure 7-9 Home offset definition on page 69. The value of this
object shall be given in user-defined position units. Negative values indicate the opposite direction.
Figure 7-9 Home offset definition
position
Table 7-55 Home offse
0x607C
Home offset
Sub-index 0
Access: RW
Default:
0
Description:
Homing offset value.
0x6098 Homing method
This object indicates the configured homing method that shall be used. Table 7-56 Homing
method on page 69 specifies the object description, and Table 7-57 Homing method values on
page 69 specifies the value ranges for this object.
Table 7-56 Homing method
0x6098
Homing method
Sub-index 0
Access: RW
Default:
0
Description:
The homing method that shall be used.
Table 7-57 Homing method values
Value
SI-EtherCAT User Guide
Issue Number: 2
Zero
Home offset
t
Range: 0 to 0xFFFFFFFF
Range: 0 - 35
0
3
34
35
Home
position
Size: Signed 32
Type: DINT
Size: Unsigned 8
Type: USINT
Definition
No homing method assigned
Method 3 shall be used
to
Method 34 shall be used
Method 35 shall be used
Unit: User-defined
position units
Unit: N/A
69
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