CANopen Programmer's Manual - Maccon.de

6: Homing Mode Operation CANopen Programmer’s Manual
CAPTURED INDEX POSITION INDEX 0X2402
Type Access Units Range Map PDO Memory
Integer 32 RO counts - YES -
Description
Reading this variable resets bits 0 & 3 of the Position Capture Status Register (index 0x2401, p.
187). Provides the position that the axis was in when an index pulse was captured. Configured by
setting bits in the Position Capture Control Register (index 0x2400, p. 187), and the status of the
captured data can be checked in the Position Capture Status Register. Reading this variable
resets bits 0 & 3 of the Position Capture Status Register.
HOME CAPTURE POSITION INDEX 0X2403
Type Access Units Range Map PDO Memory
Integer 32 RO counts - EVENT -
Description
Provides the position that the axis was in when an input pin configured as a home switch input
became active. This function can be configured by setting bits in the Position Capture Control
Register (index 0x2400, p. 187), and the status of the captured data can be checked in Position
Capture Status Register (index 0x2401, p. 187).
TIME STAMP OF LAST HIGH SPEED POSITION CAPTURE INDEX 0X2404
Type Access Units Range Map PDO Memory
Integer 32 RW microseconds - EVENT R
Description
Provides the time when an input pin configured as a high speed capture input became active (and
the axis position was captured).
CAPTURED POSITION FOR HIGH SPEED POSITION CAPTURE INDEX 0X2405
Type Access Units Range Map PDO Memory
Integer 32 RO counts - EVENT R
Description
Provides the position that the axis was in when an input pin configured as a high speed capture
input became active.
HOMING ADJUSTMENT INDEX 0X2353
Type Access Units Range Map PDO Memory
Integer 32 RO counts - EVENT R
Description
This parameter is updated after each successful homing operation. The value it contains is the
size of the actual position adjustment made in the last home sequence.
188 Copley Controls