Overview

Observe the following information on communication:

• Communication occurs via the I/O area.
• The most important data from the object list is mapped in the I/O area. See chapter OSS21C function module for further information.
• You can access the unmapped objects via the acyclical channel.

• Referencing can only be started from the "PtP position profile" operating mode.
• The target position T is the maximum travel position for the referencing. This must be indicated with a positive/negative sign.
• Referencing is carried out with the following steps:
• The higher speed V1 is used to move toward the target position T until the reference switch R is passed.
• The vehicle then decelerates and travels in the opposite direction at speed V1.
• When the reference switch R is passed again, the system decelerates again and travels in the opposite direction at slow speed V2.
• The next time the reference switch is passed, the reference position R is set and approached at speed V2.
• Use one of the digital inputs of the function module to connect the reference switch and specify the polarity of the switch during parameterization.