Homing Mode (Hm) - Leadshine EL8-EC Series User Manual

5.5.4 Homing mode (HM)

EL8-EC servo system supports every other homing method except for method 36.
Output/input parameters of L7EC are as shown below.
High homing velocity(6099-01h)
Low homing velocity(6099-02h)
acceleration/deceleration(609Ah)
Homing point offset(607Ch)
Related Parameters
Basic object
PDO Index+Sub-Index
6040-00h
6098-00h
6099-01h
(RXPDO)
6099-02h
609A-00h
607C-00h
60-00h
603F-00h
6064-00h
(TXPDO)
606C-00h
60F4-00h
6077-00h
Extended object
Index+Sub-Index
603F-00h
6060-00h
6061-00h
6062-00h
606B-00h
608F-01h
608F-02h
Homing method(6098h)
Homing point
Polarity(2006h)
Name
Control word
Homing mode
High homing velocity
Low homing velocity
Homing point acceleration
Homing point offset
Status word
Error code
Actual position feedback
Actual velocity feedback
Actual following error
Actual torque
Label
Error code
Operation mode
Displayed operation mode
Position demand value
Internal command speed
Encoder resolution
Motor revolution
User manual of EL8-EC***F AC Servo
Position feedback(6064h)
Realization
Velocity feedback(606Ch)
of homing
function Actual torque(6077h)
Data
Access
Type
U16 RW
I8 RW
U32 RW
U32 RW
U32 RW
I32 RW
U16 RO
U16 RO
I32 RO
I32 RO
I32 RO
I16 RO
Data Type Access
U16 RO
I8 RW
I8 RO
I32 RO
I32 RO
I32 RO
I32 RO
Unit Notes
— Required
Uint Optional
Uint/S Optional
Uint /S Optional
Uint Optional
2
/S
Uint Optional
— Required
Optional
Uint Optional
Uint /S Optional
Uint Optional
0.1% Optional
Unit
—
—
—
Uint
Uint
Uint
Uint
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