Procedure

1.

For startup, see Startup preparations and Reference travel – 0x8300.

• Set the state machine to the "Switch-on inhibited" state.
• Send the "Switch off voltage" command, 0x8100-01 – Control word, bit 3 – 0: xx0x.

The module shows the status "Switch-on inhibited".

2.

Set the following parameters:

• 0x8300-02 – Reference travel method
• Enter the value "37".
• 0x8300-10 – Reference travel offset
• If necessary, set an offset for the reference point.
• 0x8400-03 – Position profile target speed
• 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.
• Specify the value "6".
• The current position is adopted as the reference point, taking into account the offset, 0x8300-10 – Reference travel offset.