BECKHOFF AX2000 CANopen communication profile - Manual (Page 64)

4.7 Setup data for manufacturer-specific Jogging/Homing mode
4.7.1 Object 2024h: Setup operation for position mode
Index 2024 h
Brief description parameters for homing and jogging
Object code RECORD
Number of elements 7
Used to enter parameters which are important for the homing and jogging modes of operation.
Sub-index 01 h
Brief description homing type
Unit —
Access rw
PDO mapping not possible
Data type UNSIGNED8
Value range 0..6
Default value 0
Used to set the type of homing movement. The following settings are possible:
Value Meaning
0
The reference mark is set to be at the present position.
The actual position that is signaled is then the same as the preset reference offset.
1 Homing to reference switch, followed by search of the resolver zero mark.
2 Homing to limit switch, followed by search of the resolver zero mark.
3 Homing to reference switch, without subsequent search of the resolver zero mark.
4 Homing to limit-switch, without subsequent search of the resolver zero mark.
5
Homing within a single turn of the motor to the resolver zero mark. The direction of movement is given
by the Sub-index 02
h , whereby:
0: negative direction of motion
1: positive direction of motion
2: motor turns in the direction which gives the shortest path to the resolver
zero mark within a single turn.
6
The reference mark is set to the value of the reference offset at the present setpoint position of the
position controller. The new actual position retains the same distance to the setpoint position as be-
fore.
For homing types 1 and 3, a digital input must be configured as the
zero-position input (Home position).
For homing types 2 and 4, a digital input must be configured as a
hardware limit-switch.
For homing types 1 to 5, the setting of the index pulse offset for the ROD
output is taken into account (ASCII command ENCZERO), i.e. the zero
point is positioned so that both the output of the index pulse and the display
of the 0-position take place at the point of the index pulse offset.
Sub-index 02 h
Brief description homing direction
Unit —
Access rw
PDO mapping not possible
Data type UNSIGNED8
Value range 0 ... 2
Default value 0
Used to define the movement direction for homing types 1 to 5.
The values have the following interpretation:
0: negative direction of motion
1: positive direction of motion
2: the motor turns in the direction which gives the shortest path to the
resolver zero mark within a single turn (only relevant for homing type 5).
64 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF