15.8 Homing Mode
15-31
15
Object Dictionary
15.8
Homing Mode
Home Offset (607Ch)
This object contains the offset between the zero position for the application and the machine
home position (found during homing).
•
Incremental Encoder
The machine home position is found during homing. After homing is completed, the zero posi-
tion is offset from the home position by adding the home offset to the home position.
•
Absolute Encoder
If an absolute encoder is connected to the SERVOPACK, the home offset is added to the
encoder absolute position when the power supply to the SERVOPACK is turned ON.
Homing Method (6098h)
This object specifies the homing method. Refer to the following section for details on the oper-
ations that are performed.
Data Description
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
607Ch
0
Home offset
DINT
RW
No
–536,870,912 to
536,870,911
(default: 0) [Pos. unit]
Yes
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
6098h
0
Homing method
SINT
RW
Yes
0 to 35 (default: 35)
No
Value (Method)
Description
0
Homing is disabled.
1
Homing with the negative limit switch and index pulse
2
Homing with the positive limit switch and index pulse
7 to 14
Homing with the home switch and index pulse
24
Homing with the home switch
28
Homing with the home switch
33 or 34
Homing with the index pulse
35
Homing with the current position
Home
position
Home_offset
(607Ch)
Zero
position
