Leadshine EL8-EC Series, Руководство пользователя

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User manual of EL8-EC***F AC Servo
195
5.5.4 Homing mode (HM)
EL8-EC servo system supports every other homing method except for method 36.
Output/input parameters of L7EC are as shown below.
Realization
of homing
function
Homing method(6098h)
High homing velocity(6099-01h)
Homing point
acceleration/deceleration(609Ah)
Homing point offset(607Ch)
Low homing velocity(6099-02h)
Polarity(2006h)
Position feedback(6064h)
Velocity feedback(606Ch)
Actual torque(6077h)
Related Parameters
Basic object
PDO Index+Sub-Index Name
Data
Type
Access Unit Notes
(RXPDO)
6040-00h Control word U16 RW — Required
6098-00h Homing mode I8 RW Uint Optional
6099-01h High homing velocity U32 RW Uint/S Optional
6099-02h Low homing velocity U32 RW Uint /S Optional
609A-00h Homing point acceleration U32 RW
Uint
/S
2
Optional
607C-00h Homing point offset I32 RW Uint Optional
(TXPDO)
60-00h Status word U16 RO — Required
603F-00h Error code U16 RO Optional
6064-00h Actual position feedback I32 RO Uint Optional
606C-00h Actual velocity feedback I32 RO Uint /S Optional
60F4-00h Actual following error I32 RO Uint Optional
6077-00h Actual torque I16 RO 0.1% Optional
Extended object
Index+Sub-Index Label Data Type Access Unit
603F-00h Error code U16 RO —
6060-00h Operation mode I8 RW —
6061-00h Displayed operation mode I8 RO —
6062-00h Position demand value I32 RO Uint
606B-00h Internal command speed I32 RO Uint
608F-01h
Encoder resolution
I32 RO Uint
608F-02h Motor revolution I32 RO Uint