0x2102 - Homing extra parameters
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x2102 | 0x01 | Total homing timeout | UINT16 | RW | No | Yes | UINT16 | 8000 | milliseconds |
0x2102 | 0x02 | Torque threshold | UINT16 | RW | No | Yes | UINT16 | 200 | ‰ rated torque |
| 0x2102 | 0x03 | Start-up homing sensor | UINT8 | RW | No | Yes | 0 to 9 | 9 | - |
This object contains extra parameters necessary by manufacturer specific homing methods.
SubIndex description:
- 0x01 (Total homing timeout): This object indicates the maximum time to complete the whole homing process. If the homing is not completed within this time, the homing process will be aborted, the statusword error bit will be raised, an emergency message will be sent and the system will execute a fault reaction.
- 0x02 (Torque threshold): When using homing methods -1, -2, -3 or -4 this object indicates the threshold of torque to consider that a physical limit has been reached.
0x03 (Start-up homing sensor): Indicates the sensor used during start-up to initialize the position actual value. The register value has the following meaning:
Value
Description
0x00
Quadrature digital incremental encoder
0x01
Digital halls
0x02
Analog halls (Linear halls)
0x03
Reserved
0x04
Analog signal
0x05
SSI Encoder
0x06
SinCos encoder
0x07
PWM signal
0x08
Resolver
0x09
None
0x0A Reserved 0x0B Simulated (only for steppers) 0x0C Digital Tachometer (only on customs)