n Target Position in Range (2401h): 0 to 3599
n Actual Position in Range (2402h): 0 to 3599
Linear Applications where movement is typically in one direction only may e.g. be per-
formed by Modulo Positioning functions:
n Always positive direction (2400h|00 = 2)
n Always negative direction (2400h|00 = 3)
n Conveyor belt: 1 mm per motor revolution
n Position Range: endless (e.g. step 100 mm)
n User Unit Configuration: 0.1 mm
1. Disable Software Position Limits
n 607Dh|00 Software Position Limit – Min 8000 0000h
n 607Dh|01 Software Position Limit – Max 7FFF FFFFh
2. Enable Position Range Limits
n 607Bh|00 Position Range Limit – Min 0
n 607Bh|01 Position Range Limit – Max 1000
3. Enable Offset Target Command In Positioning In Range Mode Execution
n 2538h|00 MDI_MOD - 0 (Offset Target Command)
Configuration example
Value range of corresponding target / actual values
n Target Position (607Ah): 8000 0000h to 0 to 7FFF FFFFh
n Position Actual Value (6064h): 8000 0000h to 0 to 7FFF FFFFh
n Target Position in Range (2401h): 0 to 999
n Actual Position in Range (2402h): 0 to 999
14.4 Homing Function
The following figure shows the defined input objects as well as the output objects. The
user may specify the speeds, acceleration and the method of homing. There is a further
object home offset, which allows the user to displace zero in the user's coordinate system
from the home position.
Controlword 1 (STW1) (6040h)
Homing method (6098h)
Homing speeds (6099h)
Homing acceleration (609Ah)
Home offset (607Ch)
Homing
method
Statusword 1 (ZSW1) (6041h)
Position actual value (6064h)
Fig. 366: Relationship between the input objects and the output objects in the Homing
Mode
Linear Applications (e.g.
Conveyor Belts)
Sigma-7 Series SERVOPACKs
PROFIdrive Drive Profile
Homing Function
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 511
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