BECKHOFF AX2000 CANopen communication profile - Manual (Page 96)

4.16.4.2.1 Description of the homing methods
Choosing a homing method by writing a value to homing_method (Object 6098
h
) will clearly estab-
lish:
l the homing signal (P-Stop, N-Stop, reference switch)
l the direction of actuation
and where appropriate
l the position of the index pulse.
The reference position is give by the reference offset (Object 607C
h
). The manufacturer-specific
parameter ENCZERO (Object 3537
h
, Sub-index 01
h
) can be used to adapt the initial position of the
motor for homing to match the index pulse for homing with zeroing.
A detailed description of the types of homing movement can be found in the description of the setup
software DRIVE.EXE.
4.16.4.3 Object 6099h: homing_speeds (DS402)
Index 0x6099 h
Name homing_speeds
Object code ARRAY
Number of elements 1
Data type UNSIGNED32
Sub-index 01 h
Brief description speed_during_search_for_switch
Mode hm
Access rw
PDO mapping possible
Unit velocity units
Value range 0 ... (2 32 -1)
EEPROM yes
Default value 2 20
4.16.4.4 Object 609Ah: homing_acceleration (DS402)
Index 0x609A h
Name homing_acceleration
Object code VAR
Data type UNSIGNED32
Mode hm
Access rw
PDO mapping possible
Unit acceleration units
Value range 0 ... (2
32
-1)
Default value 0
EEPROM yes
96 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF