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52 SM-EtherCAT User Guide
www.controltechniques.com Issue Number: 2
Use of controlword and statusword
The homing mode uses some bits of the controlword and the statusword for mode-
specific purposes.
Table 7.52 Definition of bits 4 and 8 of the controlword on page 52
defines the values for bits 4 and 8 of the controlword.
Table 7.52 Definition of bits 4 and 8 of the controlword
Table 7.53 Definition of bits 10 and 12 of the statusword on page 52 defines the values
for bits 10 and 12 of the statusword.
Table 7.53 Definition of bits 10 and 12 of the statusword
7.7.2 Homing mode object definitions
0x2803 Homing source
This object indicates the configured source of the homing switch used during the
homing procedure.
Table 7.54 Homing source on page 52 specifies the object
description.
Table 7.54 Homing source
Bit Value Definition
4
0 Do not start homing procedure.
1 Start or continue homing procedure.
8
0 Enable bit 4.
1 Stop axis according to halt option code (0x605D).
Bit 12 Bit 10 Definition
0 0 Homing procedure is in progress.
0 1 Homing procedure is interrupted or not started.
1 0 Homing is attained, but target is not reached.
1 1 Homing procedure was completed successfully.
0 0 Homing error occurred, velocity is not 0.
0 1 Homing error occurred, velocity is 0.
1 X Reserved.
0x2803 Homing source
Sub-index 0
Access: RO Range: N/A Size: Unigned 8 Unit: N/A
Default: 2
Description: The number of the last sub-index in this object.
Sub-index 1
Access: RW Range: 1 to 8
Size: Unsigned 8 Unit: N/A
Default: 5
Description: The source of the homing switch. This will specify a digital input as follows:
1 to 6 - The number of a Drive digital input
7 to 8 - SM-EtherCAT option module digital input 0 or 1
Sub-index 2
Access: RW
Range: 0 to 1 Size: Unsigned 8 Unit: N/A
Default: 0
Description: Use the feedback source freeze for homing. This will cause the freeze from the selected
feedback device to be used instead of the index (marker) pulse when it is required during homing.