Application Manual POWERLINK Controlled Node
Document no. 5.13013.04 Baumüller Nürnberg GmbH
66
of 80
homing_method 0x6098 f P1205 PPosHomingMode
(ref. homing mode)
P1205 f 0x6098
Manufacturer specific x = -128 .. -12 not used y = -128 ..-12
Manufacturer specific x = -10 f y = x Reaching of mechanical stop
with zero pulse, counter-clock
-
wise
x = -10 f y = x
Manufacturer specific x = -9 f y = x Reaching of mechanical stop
with zero pulse, clockwise
rotation
x = -9 f y = x
Manufacturer specific x = -8 f y = x Reaching of mechanical stop,
counter-clockwise
x = -8 f y = x
Manufacturer specific x = -7 f y = x Reaching of mechanical stop,
clockwise rotation
x = -7 f y = x
Manufacturer specific x = -6 f y = x Reaching of the next encoder
zero angle
x = -6 f y = x
Manufacturer specific x = -5 f y = x Moving to pos. limit switch x = -5 f y = x
Manufacturer specific x = -4 f y = x Moving to neg. limit switch x = -4 f y = x
Manufacturer specific x = -3 f y = x Setting of home position x = -3 f y = x
Manufacturer specific x = -2 f y = x Reaching the encoder zero
angle or zero pulse with
counter-clockwise rotation
x = -2 f y = x
Manufacturer specific x = -1 f y = x Reaching the encoder zero
angle or zero pulse with clock
-
wise rotation
x = -1 f y = x
No homing operation x = 0 not used y = 0
Homing on the neg. limit
switch
x = 1 f y = x Neg. limit switch with encoder
zero angle or zero pulse refer
-
ence
x = 1 f y = x
Homing on the pos. limit
switch
x = 2 f y = x Pos. limit switch with encoder
zero angle or zero pulse refer
-
ence
x = 2 f y = x
Homing on the positive
home switch & index pulse
x = 3 f y = x Pos. zero point switch with
encoder zero angle or zero
pulse reference, counter-
clockwise rotation
x = 3 f y = x
CANopen object Index
Value range
f P. no.
Scaling
Controller parameters P. no.
Value range
f Index
re-scaling
Comment
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