Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 117)

EDS94TA11010xxxx EN 1.2 - 03/2010
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9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Homing mode
3.9.9 Control commands & status information
The CiA402 control word ( 0x6040 ) serves to execute the following control commands in
the "homing mode" operation mode:
The CiA402 status word ( 0x6041 ) serves to output the following status information for
referencing in the "homing mode" operation mode:
Control word Status Function
Bit 4 0 Homing is not active
0 Ê 1 Start reference search
1 Ì 0 Cancel reference search
Bit 11 0 Ê 1 Set reference
Bit 12 0 Ê 1 Delete reference
Status word Status Meaning
Bit 12 0 Homing is not active or reference search not yet completed
1 Reference search completed (observe bit 13)
Bit 13 0 Reference search has been executed successfully
1 An error has occurred during the reference search
Bit 14 0 Home position is not available
1 Home position is available