TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
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<strong>TMCM</strong>-341/342/343/<strong>351</strong> <strong>CANopen</strong> <strong>Firmware</strong> <strong>Manual</strong> (V1.04 / 2011-AUG-01) 60<br />
7.3.5.1 Object 607C h, 687C h, and 707C h: Home offset<br />
This object indicates the configured difference between the zero position for the application and the<br />
machine home position/home switch (found during homing). While homing, the machine home<br />
position is found and once the homing is completed, the zero position is offset from the home<br />
position by adding the home offset to the home position. The effect of setting the home position to<br />
a non-zero value depends on the selected homing method. The value of this object is given in<br />
microsteps. Negative values indicate the opposite direction.<br />
Zero position Home switch<br />
Home offset<br />
Figure 7.7: Home offset definition<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
607C h (motor 0)<br />
687C h (motor 1)<br />
707C h (motor 2)<br />
Home offset Variable SIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h rw Refer to CiA402-3 SIGNED32 -2147483647… +2147483647<br />
7.3.5.2 Object 6098 h, 6898 h, and 7098 h: Homing method<br />
The homing method to be used in homing mode can be selected here. Homing methods supported<br />
by the current firmware are:<br />
VALUE DEFINITION<br />
Value Definition<br />
0 No homing. This is the default value, but there is actually no homing method 0.<br />
3 Search the positive edge of the home switch, than search the next encoder index pulse.<br />
5 Search the negative edge of the home switch, than search the next encoder index pulse.<br />
19 Search the positive edge of the home switch.<br />
21 Search the negative edge of the home switch.<br />
33 Search next index pulse in negative direction.<br />
34 Search next index pulse in positive direction.<br />
35<br />
The actual position is used as the home position. All position values (objects 6062 h , 6063 h , and 6064 h ) are set<br />
to zero, but the motor will not move.<br />
Other homing methods are not supported by the current firmware, but will be added in later<br />
firmware releases.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
6098 h (motor 0)<br />
6898 h (motor 1)<br />
7098 h (motor 2)<br />
Homing method Variable SIGNED8<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h rw Refer to CiA402-3 0, 3, 5, 19, 21, 33, 34, 35 0<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG