NOTE
The reference mark signal can be optionally linked to one of the
ISD05 and ISD06 fast digital inputs.
8.5.1.1 Homing to a limit switch:
The digital input must be set to the available selection parameter LCW(5) for a
positive limit switch or to LCCW(6) for a negative limit switch.
8.5.1.2 Homing to a cam
Set digital input to HOMSW(10) (P 106 - MPRO_INPUT_FS_ISD06 to P 107-
MPRO_INPUT_FS_ISD07).
NOTE
The homing methods (-1) to (-12) are manufacturer-specific.
Homing methods (0) to (35) are defined according to CiA 402.
ID
Index Name
Unit
Description
169
0
MPRO_REF_
HOMING_MaxDistance
mDegree Homing: Maximum travel (homing to block:
Block detection)
170
0
MPRO_REF_
HOMING_Ctrl
Homing method Controlword
171
0
MPRO_REF_
HOMING_BackupPos
mDegree Homing: Backup position
225
0
MPRO_REF_
HOMING_TMaxScale
%
Scaling of motor torque limit during homing
2234
0
MPRO_402_
HomeOffset
mDegree 607CH DS402 home offset
2261
0
MPRO_402_
HomingMethod
6098H DS402 homing method
Table 8.20: “Homing” parameters
MOOG
ID
No.:
CB40859-001
Date:
02/2018
MSD Servo Drive - Device Help
190
8 Motion profile
ID
Index Name
Unit
Description
2262
MPRO_402_
HomingSpeeds
6099H DS402 homing speeds
2262
0
SpeedSwitch
rev/min
Cam search speed
2262
1
SpeedZero
rev/min
Zero pulse search speed
2263
0
MPRO_402_
HomingAcc
rev/min/s 609AH DS402 homing acceleration
Table 8.20: “Homing” parameters (continue)