AKD User Guide |
Description of the homing methods
Choosing a homing method by writing a value to homing method (Object 6098h) will clearly establish:
l the homing signal (P-Stop, N-Stop, reference switch)
l the direction of actuation
and where appropriate
l the position of the index pulse.
The reference position is give by the reference offset (Object 607Ch).
A detailed description of the types of homing movement can be found in the description of WorkBench.
The following homing methods are supported:
Method as
per DS402
Brief description: Homing command
-128 to -1 reserved —
0 reserved —
1 homing to negative limit switch, with zeroing, negative count direction HOME.MODE=2,
HOME.DIR=0
2 homing to positive limit switch, with zeroing, positive count direction HOME.MODE=2,
HOME.DIR=1
3 to 7 not supported —
8 homing to reference switch, with zeroing, positive count direction HOME.MODE=5,
HOME.DIR=1
9 to 11 not supported —
12 homing to reference switch, with zeroing, negative count direction HOME.MODE=5,
HOME.DIR=0
13 to 14 not supported —
15 to 16 reserved —
17 homing to negative limit switch, without zeroing, negative count direction HOME.MODE=1,
HOME.DIR=0
18 homing to negative limit switch, without zeroing, positive count direction HOME.MODE=1,
HOME.DIR=1
19 to 23 not supported —
24 homing to reference switch, without zeroing, positive count direction HOME.MODE=4,
HOME.DIR=1
25 to 27 not supported —
28 homing to reference switch, without zeroing, negative count direction HOME.MODE=4,
HOME.DIR=0
29 to 30 not supported —
31 to 32 reserved —
33 homing within a single turn, negative count direction HOME.MODE=7,
HOME.DIR=0
34 homing within a single turn, positive count direction HOME.MODE=7,
HOME.DIR=1
35 set reference point at present position HOME.MODE=0,
HOME.DIR=0
36 to 127 reserved —
111 Kollmorgen | December 2010
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