GANTRY.HOME.REQUIRED

Description

This keyword defines if both axes must be homed before gantry mode is active (GANTRY.STATE 3).

GANTRY.HOME.REQUIRED = 0 (Disabled)

When GANTRY.HOME.REQUIRED is disabled, when Axis 2 is configured as a gantry (AXIS2.CMDSOURCE = 4) GANTRY.STATE is set to 1. The first time the gantry is enabled, the feedback position from Axis 1 is used as the home position for Axis 2, the gantry immediately activates, GANTRY.STATE is set to 3 and both axes are under gantry control.

A side effect of this is that AXIS2.HOME.MODE is also set to mode 19 (Gantry HomingClosed The Homing procedure allows, based on a position measurement, to set a position offset to the motor in order to ensure it is physically at the home position) so any future homing operations occur following the master axis. This overrides any prior setting that was configured.

GANTRY.HOME.REQUIRED = 1 (Enabled)

When GANTRY.HOME.REQUIRED is enabled, both Axis 1 and Axis 2 must be homed before the gantry is allowed to change from GANTRY.STATE 1 to 3. Homing can be performed individually prior to setting the axis command source to gantry, or afterwards while GANTRY.STATE is 1.

Versions

Action Version Notes
Implemented 02-05-04-000  

General Information

Type Read/Write
Units

N/A
Range 0 to 1
Default Value 0
Data Type Integer
Stored in Non-Volatile Memory No

Variants Supported

All variants are supported.

Fieldbus Information

EtherCATClosed ***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDOClosed PDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. Mappable

GANTRY.HOME.REQUIRED

300eh

04h

Unsigned8

-

-

Read/Write

No
EtherNet/IP

Name

ID

Hex

Data Type

Access

Units

GANTRY.HOME.REQUIRED

3004

BBC

Unsigned8

Read/Write

-
PROFINET

Parameter

PNU

Data Type

Access

Units

GANTRY.HOME.REQUIRED

3004

Unsigned8

Read/Write

-