Isel IMD1, Руководство пользователя

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Positioning module UVE8112, IMD10 CanOpen
protocol
See "Reference Run dialogue box" on page 64.
The type as well as the velocities and acceleration during the search for the zero point can be set.
For the execution of the reference run, the module has to be switched to the Homing Mode of
operation. Via the control word, the reference run is launched and, with the help of the status word,
the actual reference run status can be queried:
rol word aning Cont Bit 4 Me
0 Reference run not active.
0 -> 1 Launch reference run.
1 Reference run active.
1 -> 0 Interrupt reference run.
Status word Bit 12 Status word Meaning
Bit 13
0 0 Reference run not yet completed.
0 1 Reference run successfully completed.
1 0 Error occurred during reference run.
Reference run method
Index Sub Nam Type Attrib Map Default
value
Meaning e
6098 00 Homing method Signed 8 RW N 17 Type of reference run.
The f a ted:
Reference run method Dir Reference point for zero position
ollowing possibilities c n be selec
ection Target
1 negative limit switch
Next index signal after the limit switch
during the moving out of the limit switch.
2 pos Next index signal after the limit switch
during the moving out of the limit switch. itive limit switch
3 positive reference switch Next index signal after the limit switch
during the moving out of the limit switch.
6 neg Next index signal after the limit switch ative reference switch
during the moving out of the limit switch.
17 limit switch limit switch negative
18 positive limit switch limit switch
21 negative reference switch reference switch
19 positive reference switch reference switch
34 no run current position
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