BECKHOFF AX2000 CANopen communication profile - Manual (Page 95)

4.16.4.2 Object 6098h: homing_method (DS402)
Index 0x6098 h
Name homing_method
Object code VAR
Data type INTEGER8
Mode hm
Access rw
PDO mapping possible
Unit position units
Value range -128 ... 127
Default value 0
EEPROM yes
The following homing methods are supported:
Method as per
DSP402
Brief description: Homing ASCII command
-128..-4 reserved —
-3 move to mechanical stop, with zeroing NREF = 7
-2
set reference point at present position, allowing for lag/following
error
NREF = 6
-1
homing within a single turn
(direction of rotation depends on distance)
NREF = 5, DREF= 2
0 reserved —
1
homing to negative limit switch,
with zeroing, negative direction of motion
NREF = 2, DREF= 0
2
homing to positive limit switch,
with zeroing, positive direction of motion
NREF = 2, DREF= 1
3..7 not supported —
8
homing to reference switch,
with zeroing, positive direction of motion
NREF = 1, DREF= 1
9..11 not supported —
12
homing to reference switch,
with zeroing, negative direction of motion
NREF = 1, DREF= 0
13..14 not supported —
15..16 reserved —
17
homing to negative limit switch,
without zeroing, negative direction of motion
NREF = 4, DREF= 0
18
homing to negative limit switch,
without zeroing, positive direction of motion
NREF = 4, DREF= 1
19..23 not supported —
24
homing to reference switch,
without zeroing, positive direction of motion
NREF = 3, DREF= 1
25..27 not supported —
28
homing to reference switch,
without zeroing, negative direction of motion
NREF = 3, DREF= 0
29..30 not supported —
31..32 reserved —
33
homing within a single turn
negative direction of rotation
NREF = 5, DREF= 0
34
homing within a single turn
positive direction of rotation
NREF = 5, DREF= 1
35 set reference point at present position NREF = 0
36..127 reserved —
CANopen for AX2000/2500 95
BECKHOFF
07/2007
CANopen Drive Profile