Recommended Configuration; Homing Mode (Hm); Related Objects - Parker FL20-CA Series Product Manual

Torque reached
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 Name
0 Switch on
1 Enable voltage
2 Quick stop
3 Enable operation
Homing star
4
8 Halt
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.
range
When the difference is smaller than 2002h-26h,
the torque reached signal is invalid, and status
word 6041h bit10 is cleared to 0.
TPDO
6041h: status word
6064h: position actual value
606Ch: velocity actual value
6077h:torque actual value
6061h: Modes of operation display
Control Word 6040h
Description
1: Valid, 0: Invalid
If bit0 to bit3 are all 1, the
1: Valid, 0: Invalid
servo
1: Valid, 0: Invalid
drive starts running.
1: Valid, 0: Invalid
0->1：Homing start
1：Homing ongoing
1->0：Homing end
0: The servo drive determines whether to start homing
166
Remarks
Mandatory
Mandatory
Optional
Optional
Optional
Optional