5.10.4.2 Object 6098h: Homing method (DS402)
Index 6098h
Name homing method
Object code VAR
Data type INTEGER8
Mode hm
Access rw
PDO mapping possible
Unit position units
Value range -128 to 127
Default value 0
EEPROM yes
The following homing methods are supported:
Method Brief description: Homing ASCII command
-128..-9 reserved —
-8 move to absolute SSI positionS —
-7 move to mechanical stop, following error sets reference NREF = 9, DREF = 0
-6 move to mechanical stop, following error sets reference NREF = 9, DREF = 1
-5, -4 reserved —
-3 move to mechanical stop, with zeroing NREF = 7
-2 set reference point at present position, allowing for following
error
NREF = 6
-1 homing within a single turn (direction depends on distance) NREF = 5, DREF= 2
0 reserved —
1 homing to negative limit switch, with zeroing, negative count dir-
ection
NREF = 2, DREF= 0
2 homing to positive limit switch, with zeroing, positive count dir-
ection
NREF = 2, DREF= 1
3..7 not supported —
8 homing to reference switch, with zeroing, positive count direction NREF = 1, DREF= 1
9..11 not supported —
12 homing to reference switch, with zeroing, negative count dir-
ection
NREF = 1, DREF= 0
13..14 not supported —
15..16 reserved —
17 homing to negative limit switch, without zeroing, negative count
direction
NREF = 4, DREF= 0
18 homing to negative limit switch, without zeroing, positive count
direction
NREF = 4, DREF= 1
19..23 not supported —
24 homing to reference switch, without zeroing, positive count dir-
ection
NREF = 3, DREF= 1
25..27 not supported —
28 homing to reference switch, without zeroing, negative count dir-
ection
NREF = 3, DREF= 0
29..30 not supported —
31..32 reserved —
33 homing within a single turn, negative count direction NREF = 5, DREF= 0
34 homing within a single turn, positive count direction NREF = 5, DREF= 1
35 set reference point at present position NREF = 0
36..127 reserved —
S300-S700 CANopen | 5 CANopen Drive Profile
Kollmorgen | kdn.kollmorgen.com | December 2019 83
To Next Page
Loading...
Need help?
General
