Object 6098h: Homing method (DS402)
|
Index |
|
|
Name |
homing method, HOME.MODE, HOME.DIR |
|
Object code |
VAR |
|
Data type |
INTEGER8 |
|
Mode |
hm |
|
Access |
R/W |
|
PDO mapping |
not possible |
|
Unit |
position units |
|
Value range |
-128 to 127 |
|
Default value |
0 |
Description of the homing methods
Choosing a homing method by writing a value to homing method (Object 6098h) will clearly establish:
- the homing signal (P-Stop, N-Stop, reference switch)
- the direction of actuation
and where appropriate
- 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 -8 |
reserved |
— |
|
-7 |
find home input in negative direction, then find next feedback zero |
HOME.MODE=18, HOME.DIR=0 |
|
-6 |
find home input in positive direction, then find next feedback zero |
HOME.MODE=18, HOME.DIR = 1 |
|
-5 |
set reference point at actual position and store value in NVRAM |
HOME.MODE=17, HOME.DIR not changed |
|
-4 |
find reference switch with fast velocity (6099h sub1) and home on reference switch with low velocity (6099h sub 2), positive count direction |
HOME.MODE=16, HOME.DIR=0 |
|
-3 |
find reference switch with fast velocity (6099h sub 1) and home on reference switch with low velocity (6099h sub 2), negative count direction |
HOME.MODE=16, HOME.DIR=0 |
|
-2 |
home to mechanical limit, positive count direction |
HOME.MODE = 8, HOME.DIR = 1 |
|
-1 |
home to mechanical limit, negative count direction |
HOME.MODE = 8, HOME.DIR = 0 |
|
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. If the feedback has an index pulse, HOME.MODE 11 will be used. |
HOME.MODE=7,11 HOME.DIR=0 |
|
34 |
homing within a single turn, positive count direction. If the feedback has an index pulse, HOME.MODE 11 will be used. |
HOME.MODE=7,11 HOME.DIR=1 |
|
35 |
set reference point at present position |
HOME.MODE=0, HOME.DIR=0 |
|
36 to 127 |
reserved |
— |
