CMD REFERENCE HAND (0x97)

CMD REFERENCE HAND (0x97)

Code: 0x97
Description: A manual referencing activity is executed.
If necessary, some initializing movements executed (space vector search, index track search). The next referencing mode is notified with the CMD WARNING and the code ,,NOT REFERENCED''. Sending ,,CMD REFERENCE HAND'' again causes the jog mode for the module. In this mode the user can use ,,MOVE POS TIME REL'' for adjusting the position to a reference mark. The configured referencing acceleration and velocity may not be exceeded! This step is to be confirmed by the user with ,,CMD REFERENCE HAND'' again. The actual position will be set to the referencing offset. The manual referencing is completed.
Parameter (master -> slave): none
Response (slave -> master): ,,OK'' (0x4F4B) ) if successful. Module executes the next referencing step.
Example:

	D-Len	Cmd	Param
M->S	0x01	0x97
S->M	0x03	0x97	0x4F 0x4B
S->M	0x02	0x89	0x06	Initializing completed
M->S	0x01	0x97
S->M	0x02	0x97	0x06	Jog mode activated
M->S	0x05	0xB9	0xCD 0xCC 0x4C 0x3E	Jog movement
.
.
.
M->S	0x01	0x97
S->M	0x03	0x97	0x4F 0x4B	Reference mark is set

Note: The manual referencing mode is cancelable with CMD STOP. The setting ,,MOVE ZERO AFTER REFERENCING'' is ignored. The target current is set to nominal.

After a successful execution of the manual referencing, the referencing type is set to ,,Manual''.

The manual referencing activity can be easily done with MCDemo durchfüren

The reference mark is still known mostly after the module started next time. See ,,Pseudo absolute value transmitter''