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174 • Reference Commands for Move Mode
Setpoint commands
3.2.4.1.11
START_REFERENCING (0x20)
Starts a reference run. This command immediately deletes the bits On_Target
and Reference_OK and sets them when the reference value is reached. The
Busy bit is set during a reference run.
The reference run is always performed at the setup speed SpeedSetup and at
the setup acceleration SetupAcceleration.
Byte
MB0
MB1
MB2
MB3
MB4
MB5
SWT
STD
DIR
Byte
MB0
MB1
MB2
MB3
MB4
MB5
Request
7
6
5
4
2
2
2
2
0x40
T
0x20
Reserved
Reserved
Reserved
0:
Reference run to reference switch:
1:
Reference run to limit switch:
If SWT = 0, then STD indicates the starting direction, if SWT = 1, then
STD specifies the limit switch.
0:
Starting direction negative / negative limit switch:
1:
Starting direction positive / positive limit switch:
DIR is evaluated only when SWT = 1.
0:
Reference run started from negative end.
1:
Reference run started from positive end.
Response
7
6
5
4
2
2
2
2
0x40
T
Return Code
0x20
Reserved
Reserved
Reserved
3
2
1
0
2
2
2
2
-
DIR STD SWT
3
2
1
0
2
2
2
2
WAGO-I/O-SYSTEM 750
I/O Modules
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