# Example parameters for a SERCOS drive

kenngr.homing_type TORQ

kenngr.homing.torq_homing_position 100000 # [0.1µm]

kenngr.homing.torq_homing_dir POSITIVE

kenngr.homing.torq_retraction_distance 50000 # [0.1µm]

kenngr.homing.torq_max_distance 200000 # [0.1µm]

kenngr.homing.torq_min_distance 0 # [0.1µm]

kenngr.homing.torq_detect_time 25000 # [µs]

kenngr.homing.torq_detect_pos_lag_limit 2000 # [0.1µm]

kenngr.homing.torq_detect_velocity_limit 300 # [0.1%]

kenngr.homing.torq_detect_torque_limit 600 # [0.1%]

getriebe[0].homing.torq_move_acceleration 50 # [mm/s^2]

getriebe[0].vb_not_referenced 2000 # [µm/s]

antr.fixed_stop.drive_ident[0].id TORQUE_LIMIT

antr.fixed_stop.drive_ident[0].commu ACYCLIC

antr.fixed_stop.drive_ident[0].wr_ident S_0_0092

antr.fixed_stop.drive_ident[0].data_type UNS16

antr.fixed_stop.drive_ident[0].startup_value 1000

antr.fixed_stop.drive_ident[0].scaling_type UNSCALED

antr.fixed_stop.drive_ident[0].max_limit 1000

antr.fixed_stop.drive_ident[0].min_limit 0

antr.fixed_stop.drive_ident[0].mask NOT_USED

antr.fixed_stop.drive_ident[0].scaling_factor 1

antr.fixed_stop.drive_ident[0].active_value 50

antr.fixed_stop.drive_ident[0].use_startup_value 0

antr.fixed_stop.drive_ident[0].rd_ident # Leerstring

antr.fixed_stop.drive_ident[0].default_ident 0

antr.fixed_stop.drive_ident[1].id MON_WINDOW

antr.fixed_stop.drive_ident[1].commu ACYCLIC

antr.fixed_stop.drive_ident[1].wr_ident S-0-0159

antr.fixed_stop.drive_ident[1].data_type UNS32

antr.fixed_stop.drive_ident[1].startup_value 7000

antr.fixed_stop.drive_ident[1].scaling_type UNSCALED

antr.fixed_stop.drive_ident[1].max_limit 429496729

antr.fixed_stop.drive_ident[1].min_limit 0

antr.fixed_stop.drive_ident[1].mask NOT_USED

antr.fixed_stop.drive_ident[1].scaling_factor 1

antr.fixed_stop.drive_ident[1].active_value 429496728

antr.fixed_stop.drive_ident[1].use_startup_value 0

antr.fixed_stop.drive_ident[1].rd_ident # Leerstring

antr.fixed_stop.drive_ident[1].default_ident 0