CANopen Programmer's Manual - Maccon.de

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6: Homing Mode Operation CANopen Programmer’s Manual Copley Controls Home Configuration Object for Custom Homing Methods Copley Controls provides an object that provides access to the amplifier’s internal home configuration register. When a standard CANopen homing method is used, the software automatically sets a value in this register. To specify homing options that are not supported by the standard CANopen methods, the application can directly program this configuration register. This provides finer control of the homing methods then the standard CANopen ones allow. For example, all of the standard CANopen homing methods will cause a move to the new zero position after it has been found. With a large home offset, this could be a large or slow move. This final move can be avoided by programming the internal home configuration register directly. 182 Copley Controls
CANopen Programmer’s Manual 6: Homing Mode Operation 6.2: Homing Mode Operation Objects Contents of this Section This section describes the objects that control the operation of the amplifier in homing mode. They include: Homing Method Index 0x6098 ................................................................................................................ 184 Homing Speeds Index 0x6099 ................................................................................................................ 185 Home Velocity – Fast Index 0x6099, Sub-Index 1 ........................................................................... 184 Home Velocity – Slow Index 0x6099, Sub-Index 2 ........................................................................... 184 Homing Acceleration Index 0x609A ........................................................................................................ 184 Home Offset Index 0x607C.................................................................................................................... 184 Hard Stop Mode Home Delay Index 0x2351 ........................................................................................... 185 Hard Stop Mode Home Current Index 0x2350 ........................................................................................ 185 Home Config Index 0x2352 .................................................................................................................... 185 Position Capture Control Register Index 0x2400 .................................................................................... 186 Position Capture Status Register Index 0x2401 ...................................................................................... 186 Captured Index Position Index 0x2402 ................................................................................................... 187 Home Capture Position Index 0x2403 ..................................................................................................... 187 Time Stamp of Last High Speed Position Capture Index 0x2404 ........................................................... 187 Captured Position for High Speed Position Capture Index 0x2405 ......................................................... 187 Homing Adjustment Index 0x2353 .......................................................................................................... 187 Copley Controls 183
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About this Manual CANopen Programme
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