Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
0x60E0 Positive torque limit value
Index
0x60E0
Object type
VAR
Name
Positive torque limit value
Sub-index
PDO
mapping
Read and write
operations
Data type
Unit
Description
0x00
RXPDO
rw
UINT16
‰
Positive torque limit value
Set the positive torque limit value.
0x60E1 Negative torque limit value
Index
0x60E1
Object type
VAR
Name
Negative torque limit value
Sub-index
PDO
mapping
Read and write
operations
Data type
Unit
Description
0x00
RXPDO
rw
UINT16
‰
Negative torque limit value
Set the negative torque limit value.
6.3.2.5
Homing Mode
Select objects used by mode 0x06 (HM), Homing for object 0x6060.
0x607C Home offset
Index
0x607C
Object type
VAR
Name
Home offset
Sub-index
PDO
mapping
Read and write
operations
Data type
Unit
Description
0x00
NO
rw
INT32
inc
Home offset
The offset values of zero point and mechanical home. Once the home is set, the absolute position of the subsequent
motion is the position value relative to the home offset. The zero point offset is shown below:
Figure 6.3-2 Definition of home offset
0x6098 Homing method
Index
0x6098
Object type
VAR
Name
Homing method
Sub-index
PDO
mapping
Read and write
operations
Data type
Unit
Description
0x00
RXPDO
rw
INT8
-
Homing method
Set the homing method
Byte0: Homing method
0x00-Reserved;
0x01-Find negative limit switch and index pulse;
0x02-Find positive limit switch and index pulse;
0x03-Find positive home switch and index pulse 1;
60
Содержание EtherCAT CoolDrive RC Series
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