IL•1F CANopen DS301 | 6 Operation |
6.4.5Operating mode Homing
During the reference movement a limit switch or reference switch is ap- proached and then a new value is assigned to this position.
Before a reference movement is started, the parameters must be set by means of SDO write access to satisfy the requirements. See the product manual for detailed information on parameterization and on performing a reference movement.
To start a reference movement the following settings must be made in the R_PDO4:
•Enter the type of reference movement in Ref16 (Ref32 has no sig- nificance here).
The available types of reference movement are described in the device manual.
•In modeCtrl, enter operating mode 12h"Homing".
•Toggle modeCtrl, bit 7, so the data is taken over by the slave.
Example A reference movement to the negative limit switch (LIMN) is to be per- formed; this is reference movement type 2.
Master <---> Slave
Trigger reference movement | R_PDO4 | drivectrl | modeCtrl | Ref16 | Ref32 | |
|
|
| 02h | 92h | 0002h | XXXXXXXXh |
Reference movement runningx- | T_PDO4 | driveStat | modeStat8 |
| p_act | |
err=0, xend=0 |
|
| 0006h | 2h |
| XXXXXXXXh |
Reference movement complete | T_PDO4 | driveStat | modeStat |
| p_act | |
xerr=0, xend=1 |
|
| 4006h | A2h |
| 00000000h |
| Table 6.7 | Reference movement |
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0198441113586, V2.01, 11.2008
Fieldbus interface | 71 |
