203Ah Homing On Block Configuration
Function
This object contains the parameters for Homing on Block (see chapter Homing).
Object description
Index | 203Ah |
Object name | Homing On Block Configuration |
Object Code | ARRAY |
Data type | INTEGER32 |
Savable | yes, category: application |
Access | |
PDO mapping | |
Allowed values | |
Preset value | |
Firmware version | FIR-v1426 |
Change history |
Firmware version FIR-v1540: The number of entries was changed from 4 to 3. Firmware version FIR-v1540: "Name" entry changed from "Period Of Blocking" to "Block Detection time". Firmware version FIR-v1614: "Data Type" entry changed from "UNSIGNED32" to "INTEGER32". Firmware version FIR-v1614: "Savable" entry changed from "no" to "yes, category: application". Firmware version FIR-v1614: "Data Type" entry changed from "UNSIGNED32" to "INTEGER32". Firmware version FIR-v1614: "Data Type" entry changed from "UNSIGNED32" to "INTEGER32". |
Value description
Subindex | 00h |
Name | Number Of Entries |
Data type | UNSIGNED8 |
Access | read only |
PDO mapping | no |
Allowed values | |
Preset value | 02h |
Subindex | 01h |
Name | Minimum Current For Block Detection |
Data type | INTEGER32 |
Access | read / write |
PDO mapping | no |
Allowed values | |
Preset value |
|
Subindex | 02h |
Name | Block Detection Time |
Data type | INTEGER32 |
Access | read / write |
PDO mapping | no |
Allowed values | |
Preset value | 000000C8h |
Description
The subindices have the following function:
- 01h: Specifies the current limit value above which blocking is to be detected. Positive numerical values specify the current limit in mA, negative numbers specify a percentage of object 2031h. Example: The value "1000" corresponds to 1000 mA (= 1 A); the value "-70" corresponds to 70% of 2031h.
- 02h: Specifies the time in ms that the motor is to continue to travel against the block after block detection.