Object 6098h: Homing method (DS402)

Index

6098h

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