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0198441113586, V2.01, 11.2008
IL•1F CANopen DS301 6 Operation
Fieldbus interface 71
6.4.5 Operating 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 12
h
"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.
Table 6.7 Reference movement
Master <---> Slave
Trigger reference movement R_PDO4 ---> drivectrl
02
h
modeCtrl
92
h
Ref16
0002
h
Ref32
XXXXXXXX
h
Reference movement runningx-
err=0, xend=0
T_PDO4 <--- driveStat
0006
h
modeStat8
2
h
p_act
XXXXXXXX
h
Reference movement complete
xerr=0, xend=1
T_PDO4 <--- driveStat
4006
h
modeStat
A2
h
p_act
00000000
h