Bit 0 check zero point offset in hm23 homing options has the following function:
Check the zero signal position to the reference limit switch.
Min. 1/3 revolution, max. 2/3 revolution. Homing is not
acknowledged positively if the condition is not met.
4.8.3.7 Homing done
Error-free homing is stored internally and can be evaluated via the switching condi-
tion 54 „Homing done“.
If the value of a parameter relevant for homing is changed (co03, co04, co08),
Homing done is deleted.
An encoder error of the encoder selected by co04 also deletes Homing done.
After power-on, homing done is always 0.
4.8.3.8 Touch probe
The Touch probe is available in all operating modes. The function and the digital
inputs are sampled with the time adjusted by is22. With a digital input or when
passing the zero signal from the current position encoder, the actual position can
be stored edge-dependent in hm12 or hm13.
The digital inputs I1...I4 are selectable for the touch probe.
The status of the function is displayed in hm11:
The respective operating mode is adjusted via hm10.
(CiA 0x60B8) touch probe function
Switching off the touch probe function
Activation of the touch probe function
Unique storing of the position with an edge of the touch
probe signal in hm12 or hm13. Automatic deactivation of
the function after the edge.
The actual position is stored in hm12 or hm13 with each
edge of the touch probe signal
Digital input I1 serves as touch probe signal.
The position of a positive edge is stored in hm12, the po-
sition of a negative edge is stored in hm13.
zero sig-
nal of po-
sition en-
coder
Zero signal of position encoder serves as touch probe
signal.
The position for forward direction is stored in hm12, the
reverse direction position is stored in hm13.
The source for the touch probe can be selected via the
object 0x60D0.
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