N5 CANopen Online Manual

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 Highest Sub-index Supported
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 FFFFFFBAh
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:01h. 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.
▶   next

Contents