CL3-E CANopen/USB Technical Manual

203Ah Homing On Block Configuration

Function

This object contains the parameters for homing on block (see the " Homing" section).

Object description


Index 203Ah
Object Name Homing On Block Configuration
Object Code ARRAY
Data type INTEGER32
Saveable yes, category: application
Access  
PDO Mapping  
Admissible Values  
Specified Value  
Firmware Version FIR-v1426
Change History

Firmware Version FIR-v1540: Amount of subentries has changed from 4 to 3.

Firmware Version FIR-v1540: Entry "Name" modified from "Period Of Blocking" to "Block Detection Time".

Firmware Version FIR-v1614: Entry "Data Type" modified from "UNSIGNED32" to "INTEGER32".

Firmware Version FIR-v1614: Entry "Saveable" modified from "No" to "yes, category: application".

Firmware Version FIR-v1614: Entry "Data type" modified from "UNSIGNED32" to "INTEGER32".

Firmware Version FIR-v1614: Entry "Data type" modified from "UNSIGNED32" to "INTEGER32".


Value description


Sub-index 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access Read only
PDO Mapping No
Admissible Values  
Specified Value 02h


Sub-index 01h
Name Minimum Current For Block Detection
Data type INTEGER32
Access Read/write
PDO Mapping No
Admissible Values  
Specified Value FFFFFFBAh


Sub-index 02h
Name Block Detection Time
Data type INTEGER32
Access Read/write
PDO Mapping No
Admissible Values  
Specified Value 000000C8h

Description

The subentries have the following function:

  • 01h: Specifies the current limit value from which blocking is to be detected. Positive number values setting the current limit in mA, negative number values a percentage of object 2031h:01h. Example: The value "1000" is equal to 1000 mA (=1 A), the value "-70" is equal to 70% of 2031h.
  • 02h: Specifies the time in ms that the motor is nevertheless still to travel against the block after block detection.
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