Siemens Simovert Masterdrives Compendium page 654

Communication / CBC CANopen Communication Board
Homing_method 35
Object 6099h
Homing speeds
8.5-96
Homing methods using P178 = 0 and P647.01 = 1 or P648.01 = 1
Behavior of MASTERDRIVES MC with F01
With Homing_method 35, the coordinate is set as soon as homing is
activated by the user program. In this case, the value from MD 3 is set
as the actual position value.
After Homing_method 35 has been selected, a value other than 0 can
be entered in MD 3 (home position coordinate) by means of object
4001h (Parameter Download, see also Subsection 8.5.3).
After a value has been entered in MD 3, parameter U502 can be set to
2 by the user, again using object 4001h.
Home position setting with object 607Ch=0
When control bit 4 is set, the position setpoint and actual position value
are set to the "Home position coordinate" [MD3] and the Homing
Attained bit set in the status word.
Home position setting with object 607Ch ><0
When control bit 4 is set, the axis accelerates to "Homing creep
velocity" (object 6099.02h) in a positive or negative direction
(depending on the sign of object 607Ch) under position control and
traverses the home position offset. The position setpoint and actual
value are then set to the "Home position coordinate" [MD3] and status
bit Homing Attained is set.
Behavior of MASTERDRIVES without F01
With Homing_method 35, the coordinate is set as soon as homing is
activated by the user program. In this case, the value from U874.02
which is connected to U877.03, is set as the actual position value.
After Homing_ method 35 has been selected, a value other than 0 can
be entered in U874.02 using a Parameter Download object.
Object Homing Speed 6099h is used to set the velocity in subindex 1 at
which the drive traverses while it is searching for the homing switch.
The input is in 1000LU/min.
The velocity at which the drive traverses as it is searching for the zero
pulse from the encoder is specified in subindex 2. The input is the same
as for subindex 1, i.e. 1000LU/min. Subindex 2 is not supported on MC
without F01.
For further details about objects, please refer to Profile DSP 402 or
Chapters 7 "Functions" and 9 "Technology Option F01".
6SE7087-6QX70 (Version AD)
Compendium Motion Control
02.2004
Siemens AG
SIMOVERT MASTERDRIVES