Hardware-oriented referencing
A choice can be made from the following reference modes in the NC when the "CANopen DS402" axis type is selected:
Type | Cam | Zero pulse |
|---|---|---|
Default | Required | No zero pulse. Referencing is carried out at the negative edge of the cam. |
PLC CAM | Required | No zero pulse. Referencing is carried out at the negative edge of the cam. |
Hardware Sync | Required | In this procedure, the zero pulse of the measuring system is used for latching. The latched value is converted to the position in the NC. This procedure requires process image 0x1706 & 0x1B06. Suitable encoders: SinCos with a physical zero mark. |
Hardware Latch Pos | Required | In this procedure, latching is carried out in response to digital input 1 (positive edge) of the controller. The latched value is converted to the position in the NC. This procedure requires process image 0x1706 & 0x1B06. Suitable encoders: Any |
Hardware Latch Neg | Required | In this procedure, latching is carried out in response to digital input 1 (negative edge) of the controller. The latched value is converted to the position in the NC. This procedure requires process image 0x1706 & 0x1B06. Suitable encoders: Any |
Software Sync | Required | In this procedure, it is assumed that an absolute single turn measuring system is being used. The zero pulse is generated in the NC when the encoder overruns. Suitable encoders: resolver, single turn. |