Communication / CBC CANopen Communication Board 02.2004
6SE7087-6QX70 (Version AD) Siemens AG
8.5-86 Compendium Motion Control SIMOVERT MASTERDRIVES
Behavior of MASTERDRIVES with F01
The axis traverses under speed control at homing creep velocity v
R
[MD6] in a positive direction. When the Bero falling edge appears, the
axis is decelerated down to standstill under speed control. It retraces
the deceleration path traveled as a result of the braking operation by
executing a position-controlled return motion (positioning) towards the
zero pulse. The axis then activates "Homing Attained" in the status
word via bit ARFD.
Behavior of MASTERDRIVES without F01
The axis traverses under position control towards the Bero at the
values stored in U006 (homing acceleration) and U873.01 (homing
speed) in a positive direction. When the Bero falling edge appears, the
axis is decelerated to a standstill with the value from U006. It does not
retrace the braking path traveled during the braking operation. It
activates "Homing Attained" in the status word via bit ARFD.
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