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: 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 -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 NVRAMClosed"Non-volatile random access memory" NVRAM is the general name used to describe any type of random access memory which does not lose its information when power is turned off. This is in contrast to the most common forms of random access memory today, which both require continual power in order to maintain their data. NVRAM is a subgroup of the more general class of non-volatile memory types, the difference being that NVRAM devices offer random access, like hard disks. The best-known form of NVRAM memory today is flash memory

 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 to -1

reserved

—

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

—