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 PD6-E891L95-E-65-4: 00000947h PD6-E891L95-ES-65-4: 00000947h PD6-EB80CD-E-65-4: 0000186Ah PD6-EB80CD-ES-65-4: 0000186Ah PD6-E891S95-E-65-4: 00000942h PD6-E891S95-ES-65-4: 00000942h PD6-E891M95-E-65-4: 0000093Fh PD6-E891M95-ES-65-4: 0000093Fh PD6-EB80SD-E-65-4: 000006BDh PD6-EB80SD-ES-65-4: 000006BDh PD6-EB80MD-E-65-4: 00000DACh PD6-EB80MD-ES-65-4: 00000DACh PD6-EB80LD-E-65-4: 0000124Fh PD6-EB80LD-ES-65-4: 0000124Fh 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.
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 PD6-E891L95-E-65-4: 00000947h PD6-E891L95-ES-65-4: 00000947h PD6-EB80CD-E-65-4: 0000186Ah PD6-EB80CD-ES-65-4: 0000186Ah PD6-E891S95-E-65-4: 00000942h PD6-E891S95-ES-65-4: 00000942h PD6-E891M95-E-65-4: 0000093Fh PD6-E891M95-ES-65-4: 0000093Fh PD6-EB80SD-E-65-4: 000006BDh PD6-EB80SD-ES-65-4: 000006BDh PD6-EB80MD-E-65-4: 00000DACh PD6-EB80MD-ES-65-4: 00000DACh PD6-EB80LD-E-65-4: 0000124Fh PD6-EB80LD-ES-65-4: 0000124Fh 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.
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 PD6-E891L95-E-65-4: 00000947h PD6-E891L95-ES-65-4: 00000947h PD6-EB80CD-E-65-4: 0000186Ah PD6-EB80CD-ES-65-4: 0000186Ah PD6-E891S95-E-65-4: 00000942h PD6-E891S95-ES-65-4: 00000942h PD6-E891M95-E-65-4: 0000093Fh PD6-E891M95-ES-65-4: 0000093Fh PD6-EB80SD-E-65-4: 000006BDh PD6-EB80SD-ES-65-4: 000006BDh PD6-EB80MD-E-65-4: 00000DACh PD6-EB80MD-ES-65-4: 00000DACh PD6-EB80LD-E-65-4: 0000124Fh PD6-EB80LD-ES-65-4: 0000124Fh 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.
