NOTE: The CiA 402 operating mode "6 - homing mode" and the different referencing methods are particularly relevant in practical applications for rotary drives without absolute encoders, e.g. MC349 ETH RE. For MovingCap drive variants with absolute encoders, the zero position is only set once as part of the initial setup via RefGo command REF35.
CiA 402 Standard parameters REFERENCING METHOD
index |
Subindex |
type |
Access |
Name [Units] |
Description |
6060h |
0h |
integer8 |
R/W |
modes of operation |
6 = Referencing mode / Homing mode |
6040h |
0h |
unsigned16 |
R/W |
Controlword |
Control of referencing operation via CiA 402 Operating states 31 (001Fh) = Execution of referencing |
6098h |
0h |
integer8 |
R/W |
CiA 402 Homing Method |
Common homing methods: -18 = Stop referencing in positive direction -19 = Stop referencing in negative direction |
6099h |
1h |
unsigned32 |
R/W |
Homing speed during search for switch |
Speed during homing / search for mechanical stop |
609Ah |
0h |
unsigned32 |
R/W |
Homing acceleration |
Acceleration value as for positioning mode |
607Ch |
0h |
integer32 |
R/W |
Home Offset |
Default value = 0 |
*1) The internal resolution of the measuring system (encoder resolution) is used without a different setting for position units/scaling.
*2) If no other setting is made for position units/scaling, the unit used is revolution/minute.
