BECKHOFF AX2000 PROFIBUS DP communication profile - Manual (Page 29)

4.2.6 Setup mode: position
4.2.6.1 PNU 1773: homing type
This parameter can be used to determine which type of homing run should be applied. The
assignment can be seen in the following table:
PWE Type of homing run
0 Reference point at the present position
1 Initiator with resolver zero mark
2 Hardware limit-switch resolver zero mark
3 Initiator without resolver zero mark
4 Hardware limit-switch without resolver zero mark
5 Zero mark / feedback unit
6 Reference point at the actual position
7 Hardware limit-switch with resolver zero mark
8 Absolute SSI-position
9 Move to Mechanical Stop
4.2.6.2 PNU 1644: homing direction
This parameter can be used to determine the direction of motion for homing runs. If set equal 0,
then the direction of motion is negative; for a value 1 it is positive, and for a 2 it depends on the dis-
tance to the reference point in the direction in which the homing run started.
4.2.7 Actual values
4.2.7.1 PNU 1401: speed
The parameter value is the actual speed of the motor in increments / 250 µsec, which are the
amplifier’s internal units.
4.2.7.2 PNU 1402: incremental position, actual value
The parameter value is the actual position value in increments.
4.2.7.3 PNU 1800: actual position value in SI (User) units
The parameter value is the actual SI (user unit) position value.
4.2.7.4 PNU 1414: actual position, 32 bit floating decimal point format
With this object the actual position (see ASCII-command PFB) can be read in a 32 Bit Floating deci-
mal point format (IEEE).
Right of decimal point positions will be truncated. This object is, aside from the data format, identi-
cal to PNU1800.
Use:
PLC Controls that support only 16 Bit integer and 32 Bit floating decimal point.
PROFIBUS for AX2000/2500 29
BECKHOFF
12/05
Using the parameter channel (PKW)