6098h, 6898h Homing method - AxisX

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 given by the reference offset (Object 607Ch).

A detailed description of the types of homing movement can be found in the description of WorkBench.


  • While many DS402 homing methods are specified to home to an index pulse, for most of them the drive will home to the feedback's zero angle instead. Please refer to the documentation of the AXIS#.HOME.MODE setting in the table below for a detailed description of the drive's behavior.

The following homing methods are supported:

Method as per DS402

Brief description: Homing

Command

-128 to -5

Reserved

—

-4

Find reference switch with fast velocity (6099h sub1) and home on reference switch with low velocity (6099h sub 2), positive count direction

AXIS#.HOME.MODE=16, AXIS#.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

AXIS#.HOME.MODE=16, AXIS#.HOME.DIR=0

-2

 Move to mechanical stop in positive count direction until AXIS1.HOME.PERRTHRESH is exceeded. Current limited by AXIS1.HOME.IPEAK. AXIS#.HOME.MODE=8, AXIS#.HOME.DIR=1

-1

 Move to mechanical stop in negative count direction until AXIS1.HOME.PERRTHRESH is exceeded. Current limited by AXIS1.HOME.IPEAK. AXIS#.HOME.MODE=8, AXIS#.HOME.DIR=0

0

Reserved

—

1

Homing to negative limit switch, with zeroing, negative count direction

AXIS#.HOME.MODE=2, AXIS#.HOME.DIR=0

2

Homing to positive limit switch, with zeroing, positive count direction

AXIS#.HOME.MODE=2, AXIS#.HOME.DIR=1

3 to 7

Not supported

—

8

Homing to reference switch, with zeroing, positive count direction

AXIS#.HOME.MODE=5, AXIS#.HOME.DIR=1

9 to 11

Not supported

—

12

Homing to reference switch, with zeroing, negative count direction

AXIS#.HOME.MODE=5, AXIS#.HOME.DIR=0

13 to 14

Not supported

—

15 to 16

Reserved

—

17

Homing to negative limit switch, without zeroing, negative count direction

AXIS#.HOME.MODE=1, AXIS#.HOME.DIR=0

18

Homing to negative limit switch, without zeroing, positive count direction

AXIS#.HOME.MODE=1, AXIS#.HOME.DIR=1

19 to 23

Not supported

—

24

Homing to reference switch, without zeroing, positive count direction

AXIS#.HOME.MODE=4, AXIS#.HOME.DIR=1

25 to 27

Not supported

—

28

Homing to reference switch, without zeroing, negative count direction

AXIS#.HOME.MODE=4, AXIS#.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.

AXIS#.HOME.MODE=7,11 AXIS#.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.

AXIS#.HOME.MODE=7,11 AXIS#.HOME.DIR=1

35

Set reference point at present position

AXIS#.HOME.MODE=0, AXIS#.HOME.DIR=0

36 to 127

Reserved

—

Axis 1

Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable SMM Versions
Homing method - Axis 1 6098h 0 Signed8 - - Read/Write No All

Axis 2

Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable SMM Versions
Homing method - Axis 2 6898h 0 Signed8 - - Read/Write No All