Parker ECL E Series, Manual

Page: 91 / 107

6. EtherCAT Object Dictionary
79
6.5.17
Object 607Ch: Home offset
Index
Sub
index
Name Type Access SAVE
PDO
Mapping
Value
Range
Default
Value
607Ch 0 Home offset I32 RW Yes No
-2147483648
21474
∼
83647
0
This object sets value of difference between sensor origin position and mechanical origin position. During origin
search mode, completes origin search by set mode at Home Method then moves by Home Offset distance. If set
value is over 0, move direction and less than 0, move toward -direction.
6.5.18
Object 607Dh: Software position limit
Index
Sub
index
Name Type Access SAVE
PDO
Mapping
Value
Range
Default
Value
607Dh 0 Number of entries U8 RO No No 2
1 Min position range limit I32 RW Yes No
-2147483648
21474
∼
83647
-2147483648
2
Max position range limit
I32 RW Yes No
-2147483648
21474
∼
83647
2147483647
Absolute position range where position objects can be positioned. Controller is unable to get out of this range. If
needs to move position out of this range, target position can be adjusted within range and if current position
currently is out of range, Status word of ‘Internal Limit Active’ Bit goes SET and unable to move to correspondent
direction.
Software Position Limit is based on Sensor origin. If Home Offset has set by not 0 but other value, Actual Software
Position Limit needs to be used after adjustment by Home Offset.
This object is unable to be operated under Cyclic Synchronous Position Mode.
Actual movable Min. position = Min Position Limit - Home Offset Actual
movable Max. position = Max Position Limit - Home Offset
Min. Limit Sensor Origin ( = Machine Origin) Max. Limit
-1000 0 (Home Offset = 0) 2000
Sensor Origin Machine Origin
Corrected Min. Limit = -1500 0
Home Offset = 500
Figure 6.1: Origin Offset
Corrected Max. Limit = 1500