Homing Mode Objects; Parameter 52-40: Home Offset (0X607C); Parameter 52-41: Homing Method (0X6098) - Danfoss VLT Series Programming Manual

Servo Drive Parameter Descr...
Attribute
Default value
Table 7.118 0x2051: Torque Window Time

7.13 Homing Mode Objects

7.13.1 Parameter 52-40: Home Offset (0x607C)

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.
The zero position is calculated as:
zero position = home position + home offset (see Illustration 7.4).
Zero
position
Home o set
Illustration 7.4 Home Offset Definition
All subsequent absolute moves are taken relative to this new zero position. The value of this object is given in user-defined
position units. Negative values indicate the opposite direction.
Attribute
Index
LCP parameter number
Name
Object code
Data type
Sub-index
Access
PDO mapping
Value range
Default value
Table 7.119 0x607C: Home Offset

7.13.2 Parameter 52-41: Homing Method (0x6098)

This object indicates the configured homing method to be used. All supported homing methods can be written into this
object.
Attribute
Index
LCP parameter number
Name
Object code
Data type
MG36D102
Programming Guide
Value
50 ms
Home
position
Value
0x607C
52-40
Home offset
Var
INTEGER32
0x00
Read/write
Optional
INTEGER32
0
Value
0x6098
52-41
Homing method
Var
INTEGER8
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