Control Techniques Nidec SI-EtherCAT User Manual page 97

0x3003 Homing source object
Sub-index 4
Access: RW
Default: 0
PDO Mappable: No
Parameter to be used for the source of homing switch (0 = none). Also, sub-index 1 needs to be
Description:
set to zero.
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 7-11 Home offset definition on page 97. The value of this
object shall be given in user-defined position units. Negative values indicate the opposite direction.
Figure 7-11 Home offset definition
position
Table 7-68 Home offse
0x607C Home offset
Sub-index 0
Access: RW
Default: 0
PDO Mappable: RxPDO
Motion Profiles: HM
Description: Homing offset value.
SI-EtherCAT User Guide
Range: 0 to 255
Zero
Home offset
t
31 31
Range: -2 to 2 -1
Size: 1 byte
Type: Unsigned integer / USINT
Update Rate: New value used on CiA402
transition to SWITCH_ON
Home
position
Size: 4 bytes
Type: Signed integer / DINT
Update rate: When homing completed to add offset to
homed position.
Unit: N/A
Unit: User-defined
position units
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