In the operating mode Homing, a reference is generated between a mechanical position and the actual position of the motor.
A reference between a mechanical position and the actual position of the motor is generated by means of a reference movement or by means of position setting.
A successful reference movement or position setting homes the motor and the zero point becomes valid.
The zero point of the movement range is the point of reference for absolute movements.
A movement can be made using different methods:
oReference movement to a limit switch
In the case of a reference movement to a limit switch, a movement to the negative limit switch or the positive limit switch is performed.
When the limit switch is reached, the motor is stopped and a movement is made back to the switching point of the limit switch.
From the switching point of the limit switch, a movement is made to the next index pulse of the motor or to a parameterizable distance from the switching point.
The position of the index pulse or the position of the parameterizable distance from the switching point is the reference point.
oReference movement to the reference switch
In the case of a reference movement to the reference switch, a movement to the reference switch is performed.
When the reference switch is reached, the motor is stopped and a movement is made back to the switching point of the reference switch.
From the switching point of the reference switch, a movement is made to the next index pulse of the motor or to a parameterizable distance from the switching point.
The position of the index pulse or the position of the parameterizable distance from the switching point is the reference point.
oReference movement to the index pulse
In the case of a reference movement to the index pulse, a movement is made from the actual position to the next index pulse. The position of the index pulse is the reference point.
oPosition setting
In the case of position setting, the actual position of the motor is set to a desired position value.
A reference movement must be terminated without interruption for the new zero point to be valid. If the reference movement is interrupted, it must be started again.
Motors with multiturn encoder deliver a valid zero point after they are powered on.
The parameter S-0-0148 is used to start the operating mode Homing.
|
Parameter name HMI menu HMI name |
Description |
Unit Minimum value Factory setting Maximum value |
Data type R/W Persistent Expert |
Parameter address via fieldbus |
|---|---|---|---|---|
|
S-0-0148 |
Drive controlled homing procedure command. This parameter starts homing with the homing method settings made in the drive objects. See the product manual for details on homing. Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 |
- 0 - 3 |
R/W - - |
IDN S-0-0148 |
Information on the operating state and the ongoing movement is available via the fieldbus and the signal outputs.
The table below provides an overview of the signal outputs:
|
Signal output |
Signal output function |
|---|---|
|
DQ0 |
"No Fault" Signals the operating states 4 Ready To Switch On, 5 Switched On and 6 Operation Enabled |
|
DQ1 |
"Active" Signals the operating state 6 Operation Enabled |
|
DQ2 |
"Freely Available" See chapter Setting a Signal Output via Parameter |
It is possible to change the factory settings of the signal outputs, see chapter Digital Inputs and Outputs.
Terminating the Operating Mode
The operating mode is terminated when the motor is at a standstill and one of the following conditions is met:
oHoming successful
oStop caused by “Halt” or “Quick Stop”
oStop caused by a detected error
