Control Techniques Nidec SI-EtherCAT User Manual page 96

Table 7-66 Definition of bit 10, 12 and 13 of statusword
Bit 13 Bit 12 Bit 10
0 0
0 0
0 1
0 1
1 0
1 0
1 1
7.6.2 Homing mode object definitions
0x3003 Homing source
This object indicates the configured source of the homing switch used during the homing
procedure. The following table gives the object description.
Table 7-67 Homing source
0x3003 Homing source object
Sub-index 0
Access: RO
Default: 2
PDO Mappable: No
Description: The number of the last sub-index in this object.
Sub-index 1
Access: RW
Default: 5
PDO Mappable: No
The source of homing switch. This will specify the number of a drive digital input/output; the
selected Digital I/O also needs to be configured as an input.
If a value of 0 is selected. The homing switch source is taken from the menu and parameter
Description:
defined in sub-indexes 3 & 4. There is no checking that the parameter selected in suitable as a
marker input, the marker is considered activity when the parameter values is not zero.
This value will be read when CiA402 homing operation mode is selected.
Sub-index 2
Access: RW
Default: 0
PDO Mappable: No
Freeze or marker source for homing; this value will be read when CiA402 homing operation
mode is selected. This will have a value as follows:
Description: 0 - Use the marker of the feedback source selected for position feedback (see object 0x3000)
1 - Use the F1 freeze of the selected feedback source (drive or numbered option module).
2 - Use the F2 freeze of the selected feedback source (drive or numbered option module).
Sub-index 3
Access: RW
Default: 0
PDO Mappable: No
Menu to be used for the source of homing switch (0 = none). Also, sub-index 1 needs to be set
Description:
to zero.
96
0 Homing procedure is in progress.
1 Homing procedure is interrupted or not started.
0 Homing is attained, but target is not reached.
1 Homing procedure was completed successfully.
0 Homing error occurred, velocity is not 0.
1 Homing error occurred, velocity is 0.
X Reserved.
Range: 2
Range: 1 to 6
Range: 0 to 2
Range: 0 to 255
Definition
Size: 1 byte
Type: Unsigned integer / USINT
Update Rate: N/A - Never changes
Size: 1 byte
Type: Unsigned integer / USINT
Update Rate: New value used on CiA402
transition to SWITCH_ON
Size: 1 byte
Type: Unsigned integer / USINT
Update Rate: New value used on CiA402
transition to SWITCH_ON
Size: 1 byte
Type: Unsigned integer / USINT
Update Rate: New value used on CiA402
transition to SWITCH_ON
SI-EtherCAT User Guide
Unit: N/A
Unit: N/A
Unit: N/A
Unit: N/A