Festo Электромотор MTR-DCI - Manual (Page 263)

B. Reference – Festo Handling and Positioning Profile (FHPP)
B-45
Festo P.BE-MTR-DCI-CO-EN en 1209a
B.2.16 Axis parameter electric drives 1 – Reference travel (Homing)
Offset Axis Zero Point
FHPP 1010 – Var int32 rw
Description Offset axis zero point in increments (distance from reference point)
Value range: -2
31 ...+(2 31 -1).
CANopen / CI 607Ch – / 00h Var int32 rw
In CANopen “Home Offset”
Homing Method (reference travel method)
FHPP 1011 – Var int8 rw
Description Defines the method which the drive uses to carry out the reference run. The
MTR-DCI supports the following modes:
Values
Function
-17 (0xEF): Search for stop in negative direction
-18 (0xEE): Search for stop in positive direction
23 (17h):
Search for reference switch in positive direction
27 (0x1B): Search for reference switch in negative direction
Modification of the reference method resets the following parameter to the
factory setting:
– 1010
Offset axis zero point
CANopen / CI 6098h – / 00h Var int8 rw