Festo CiA 402 Manual page 108

6 Operating modes
Index
Name
Object Code
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Object 6098 : homing_method
h
A series of different methods is provided for homing. Through the object homing_method, the variant
needed for the application can be selected. There are three homing signals: The negative and positive
limit switches and the (periodic) zero pulse of the angle encoder. In addition, the motor controller can
perform a homing movement to the negative or positive stop, or to the current position, completely
without any additional signal. If a method for homing is determined through the object homing_meth-
od, the following settings are made:
– The reference source (negative/positive limit switch, negative/positive stop, current position)
– The direction and process of homing
– The type of evaluation of the zero pulse by the angle encoder used
Index
Name
Object Code
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
108
607C
h
home_offset
VAR
INT32
rw
yes
position units
–
0
6098
h
homing_method
VAR
INT8
rw
yes
–
-18, -17, -2, -1, 1, 2, 7, 17, 18, 33, 34, 35
17
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English