5008h, 5108h AXIS#.HOME.*
The following tables specify the CANopen mapping for the axis specific homing objects.
Axis 1
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 5008h | 0 | Unsigned8 | - | - | Read only | No | All |
| AXIS1.HOME.SET | 5008h | 1 | Unsigned32 | - | - | Write only | No | All |
| AXIS1.HOME.MODE | 5008h | 2 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS1.HOME.DIR | 5008h | 3 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS1.HOME.AUTOMOVE | 5008h | 4 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.HOME.IPEAK | 5008h | 5 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS1.HOME.PERRTHRESH | 5008h | 6 | Signed32 | - | Position | Read/Write | No | All |
| AXIS1.HOME.DEC | 5008h | 7 | Unsigned32 | - | Acceleration | Read/Write | No | All |
| AXIS1.HOME.ACC | 5008h | 8 | Unsigned32 | - | Acceleration | Read/Write | No | All |
| AXIS1.HOME.DIST | 5008h | 9 | Signed32 | - | Position | Read/Write | No | All |
| AXIS1.HOME.SWITCHSOURCE | 5008h | 10 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.HOME.CREEPFACTOR | 5008h | 11 | Unsigned32 | - | - | Read/Write | No | All |
| AXIS1.HOME.MAXDIST | 5008h | 12 | Unsigned32 | - | Position | Read/Write | No | All |
| AXIS1.HOME.MULTITURNMODE | 5008h | 13 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.HOME.OFFSETUSER | 5008h | 14 | Signed32 | - | Position | Read/Write | No | All |
| AXIS1.HOME.P | 5008h | 15 | Signed32 | - | Position | Read/Write | No | All |
| AXIS1.HOME.V | 5008h | 16 | Unsigned32 | - | Velocity | Read/Write | No | All |
| AXIS1.HOME.SINGLETURNMODE | 5008h | 17 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS1.HOME.OFFSETUSERLIMIT | 5008h | 18 | Signed32 | - | Position | Read/Write | No | All |
Axis 2
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 5108h | 0 | Unsigned8 | - | - | Read only | No | All |
| AXIS2.HOME.SET | 5108h | 1 | Unsigned32 | - | - | Write only | No | All |
| AXIS2.HOME.MODE | 5108h | 2 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS2.HOME.DIR | 5108h | 3 | Unsigned16 | - | - | Read/Write | No | All |
| AXIS2.HOME.AUTOMOVE | 5108h | 4 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.HOME.IPEAK | 5108h | 5 | Signed32 | 1000:1 | - | Read/Write | No | All |
| AXIS2.HOME.PERRTHRESH | 5108h | 6 | Signed32 | - | Position | Read/Write | No | All |
| AXIS2.HOME.DEC | 5108h | 7 | Unsigned32 | - | Acceleration | Read/Write | No | All |
| AXIS2.HOME.ACC | 5108h | 8 | Unsigned32 | - | Acceleration | Read/Write | No | All |
| AXIS2.HOME.DIST | 5108h | 9 | Signed32 | - | Position | Read/Write | No | All |
| AXIS2.HOME.SWITCHSOURCE | 5108h | 10 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.HOME.CREEPFACTOR | 5108h | 11 | Unsigned32 | - | - | Read/Write | No | All |
| AXIS2.HOME.MAXDIST | 5108h | 12 | Unsigned32 | - | Position | Read/Write | No | All |
| AXIS2.HOME.MULTITURNMODE | 5108h | 13 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.HOME.OFFSETUSER | 5108h | 14 | Signed32 | - | Position | Read/Write | No | All |
| AXIS2.HOME.P | 5108h | 15 | Signed32 | - | Position | Read/Write | No | All |
| AXIS2.HOME.V | 5108h | 16 | Unsigned32 | - | Velocity | Read/Write | No | All |
| AXIS2.HOME.SINGLETURNMODE | 5108h | 17 | Unsigned8 | - | - | Read/Write | No | All |
| AXIS2.HOME.OFFSETUSERLIMIT | 5108h | 18 | Signed32 | - | Position | Read/Write | No | All |
