TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04
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Object Description
Index
Name
Object Type
Data Type
606C
h
Velocity Actual Value
Variable
SIGNED32
Table 284: Object Description (606C
h
)
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
Refer to CiA402-3
SIGNED32
no
Table 285: Entry Description (606C
h
)
9.2.4
Object 607C
h
: Home Offset
This object indicates the configured difference between the zero position for the application and the
machine home position/home switch (found during homing). While homing, the machine home position is
found and once the homing is completed, the zero position is offset from the home position by adding the
home offset to the home position. The effect of setting the home position to a non-zero value depends on
the selected homing method. The value of this object is given in microsteps. Negative values indicate the
opposite direction.
Home offset
Zero position
Home switch
Figure 19: Home Offset
Object Description
Index
Name
Object Type
Data Type
607C
h
Home offset
Variable
SIGNED32
Table 286: Object Description (607C
h
)
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
SIGNED32
0
Table 287: Entry Description (607C
h
)
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