14.4 Homing
14.4.1 Related Objects
14-14
14.4
Homing
The following figure shows the relationship between the input objects and the output objects in
the Homing Mode. You can specify the speeds, acceleration rate, and homing method. You
can also use
home offset
to offset zero in the user coordinate system from the home position.
14.4.1
Related Objects
14.4.2
Homing Method (6098h)
Controlword (6040h)
Homing method (6098h)
Homing speeds (6099h)
Homing acceleration (609Ah)
Home offset (607Ch)
Homing
method
Statusword (6041h)
Position demand internal value (60FCh)
or position demand value (6062h)
Index
Subindex
Name
Access
PDO
Mapping
Unit
Data
Type
6040h
0
Controlword
RW
Yes
−
UINT
6041h
0
Statusword
RO
Yes
−
UINT
607Ch
0
Home offset
RW
No
Pos unit
DINT
6098h
0
Homing method
RW
Yes
−
SINT
6099h
Homing speeds
1
Speed during search for switch
RW
Yes
Vel unit
UDINT
2
Speed during search for zero
RW
Yes
Vel unit
UDINT
609Ah
0
Homing acceleration
RW
Yes
Acc unit
UDINT
Value
Definition
Description
0
−
No homing (default setting)
1
Homing with the nega-
tive limit switch and
index pulse
With this method, homing starts in the negative direction if the negative
limit switch is inactive. The home position is the first index pulse that is
detected after the negative limit switch becomes inactive.
Continued on next page.
Index pulse
Negative limit switch
(N-OT)
1
