Procedure

1.

Send the "Switch off voltage" command, see 0x8100-01 – Control word, bit 3 – 0: xx0x.

2.

Set the following parameters:

• 0x8300-02 – Reference travel method
• Enter the value "17".
• 0x8300-03 – Reference travel digital input DI1 to DI3
• Select the input to which the reference switch is connected.
• 0x8300-04 – Reference travel digital input polarity DI1 to DI3
• Determine the polarity of the switch.
• 0x8300-05 – Reference travel target position
• By specifying a target position, define the maximum distance to be traversed before the reference switch is crossed.
• 0x8300-06 – Reference travel speed V1
• Enter a high speed for approaching the reference switch.
• 0x8300-07 – Reference travel speed V2
• Enter a low speed for approaching the reference switch.
• 0x8300-08 – Reference travel acceleration
• Enter an acceleration for the reference travel.
• 0x8300-09 – Reference travel deceleration
• Enter a deceleration for the reference travel.
• 0x8300-10 – Reference travel offset
• If necessary, set an offset for the reference point.
• Specify the value "0".
• 0x8300-10 – Reference travel offset
• Enter the value "0".
• Set the module to positioning mode 0x8280-01 – Setpoint operating mode.
• Enter the value "1".

3.

Send the "Switch off" command 0x8100-01 – Control word, bit 3 – 0: x110.

The module shows the status "Ready to switch on."

4.

Send the "Switch on" command 0x8100-01 – Control word, bit 3 – 0: 0111.

The module shows the "Switched on" status.

5.

Send the "Enable operation" command 0x8100-01 – Control word, bit 3 – 0: 1111.

The module shows the status "Operation enabled". The drive is now ready for travel commands.

• Set the module to homing mode, 0x8280-01 – Setpoint operating mode.
• Enter the value "6" and the drive starts reference travel.

After completing reference travel, the position of the reference switch is adopted as the reference point.