Referencing Mode - WAGO I/O SYSTEM 750 750-671 Manual

90 • 750-671 [Steppercontroller]
Positioning
2.1.2.11.1.5

Referencing Mode

First, the mode must be activated using M_Reference. The Referencing mode
is active when the M_Reference_ACK bit is set.
The bit Direction_Neg must also be set if the reference run is to be started in a
negative direction, or the Direction_Pos bit set when the reference run is to be
started in the positive direction. Direction for reference switch and
information detailing whether movement is to be made to the reference switch
or a limit switch, specified by the Reference_Mode configuration parameter.
If a reference run is started via the mailbox with the move command
START_REFERENCING, the starting direction, moving direction for the
reference switch and the information specifying whether movement is to be
made toward a reference switch or limit switch, are transferred as parameters.
The reference run is always performed at the setup speed SpeedSetup and at
the setup acceleration SetupAcceleration.
Note
The referencing speed should be low so as to take the mechanical
requirements into account (such as length of limit switch cams, residual travel
after final shutdown, etc).
The reference run is started by the Start rising edge. The drive starts up, or
frequency is output, directly after the setpoints are accepted. The On_Target
bit is canceled immediately and is not set again.
The Busy bit is set from the time of start until the reference run is completed.
If a limit switch is recognized before the reference switch is reached, the
reference run is continued in the opposite direction. If a limit switch is again
recognized before a reference switch, the reference process is terminated and
an error message generated.
If the drive is at a limit switch it will not move further.
In the Mailbox mode the call of the command START_REFERENCING is
acknowledged by error message 23.
No error message is issued in the Referencing mode. In this case, the
ERR_RANGE_NEG, or ERR_RANGE_POS bit is set and can then be
evaluated.
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I/O Modules