Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-20
Index Subindex Name
Access Data Type Unit
Range
Default
03
Speed
Feedforward
Method
RW
INT32
－
0 to 3
0
Recommended Configuration
RPDO
TPDO
Remarks
6040h: Controlword
6041h: Statusword
Mandatory
607Ah: Target Position
6064h: Position Actual Value
Mandatory
6060h: Mode of Operation
6061h: Modes of Operation Display
Optional
6.5
Homing
6.5.1
Homing (HM) Mode
This mode searches for the home and determines the position relationship between home and zero.
Home: mechanical home reference point, that is, the encoder C-pulse.
Zero: absolute zero point in the machine.
After homing is completed, the Motor stops at the home. The relationship between home and zero is set in
607Ch.
Home = Zero + 607Ch (Home Offset)
When 607Ch=0, the zero is the same as the home.
Block Diagram
Homing
method
Controlword (6040h)
Homing method (6098h)
Homing speeds (6099h)
Homing acceleration (609Ah)
Homing offset (607Ch)
Statusword (6041h)
Speed Limit
The speed limit is determined by the smaller of 6080h value and 607F value.
Relevant Objects
Object
Bit
Name
Value Description
Controlword 0
Switch on
0
Disabled
If Bit0 to Bit3 are all 1, the Drive
