Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 96)

4.16.4.2.1 Description of the homing methods

Choosing a homing method by writing a value to homing_method (Object 6098

) will clearly estab

lish:

the homing signal (P-Stop, N-Stop, reference switch)

the direction of actuation

and where appropriate

the position of the index pulse.

The reference position is give by the reference offset (Object 607C

). The manufacturer-specific

parameter ENCZERO (Object 3537

, Sub-index 01

) 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

Name

homing_speeds

Object code

ARRAY

Number of elements

Data type

UNSIGNED32

Sub-index

Brief description

speed_during_search_for_switch

Mode

Access

PDO mapping

possible

Unit

velocity units

Value range

0 ... (2

-1)

EEPROM

yes

Default value

4.16.4.4 Object 609Ah: homing_acceleration (DS402)

Index

0x609A

Name

homing_acceleration

Object code

VAR

Data type

UNSIGNED32

Mode

Access

PDO mapping

possible

Unit

acceleration units

Value range

0 ... (2

-1)

Default value

EEPROM

yes

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