6098h, 6898h Homing mode - Axis #

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.

The following homing methods are supported:

Method as per DS402

Brief description: HomingClosedThe Homing procedure allows, based on a position measurement, to set a position offset to the motor in order to ensure it is physically at the home position

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
Homing mode - Axis 1 6098h 0h Signed8 - - Read/Write No

Axis 2

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