Festo Электромотор MTR-DCI User Manual
Page 263
B. Reference – Festo Handling and Positioning Profile (FHPP)
B-45
Festo P.BE-MTR-DCI-CO-EN en 1209a
B.2.16 Axis parameter electric drives 1 – Reference travel (Homing)
Offset Axis Zero Point
FHPP
1010
–
Var
int32
rw
Description
Offset axis zero point in increments (distance from reference point)
Value range: -2
31
...+(2
31
-1).
CANopen / CI
607Ch
– / 00h
Var
int32
rw
In CANopen “Home Offset”
Homing Method (reference travel method)
FHPP
1011
–
Var
int8
rw
Description
Defines the method which the drive uses to carry out the reference run. The
MTR-DCI supports the following modes:
Values
Function
-17 (0xEF): Search for stop in negative direction
-18 (0xEE): Search for stop in positive direction
23 (17h):
Search for reference switch in positive direction
27 (0x1B):
Search for reference switch in negative direction
Modification of the reference method resets the following parameter to the
factory setting:
– 1010
Offset axis zero point
CANopen / CI
6098h
– / 00h
Var
int8
rw