Parameterization

Overview

The illustration below provides an overview of the adjustable parameters.

Setting Limit Switches and Reference Switches

The limit switches and reference switches must be set to meet the requirements, see Limit Switches and Reference Switch.

Selection of the Method

The operating mode Homing establishes an absolute position reference between the motor position and a defined axis position. There are various Homing methods which can be selected via the parameter HMmethod.

The HMprefmethod parameter is used to save the preferred method to the nonvolatile memory (persistent). When the preferred method has been set in this parameter, the method is performed during homing even after the device is powered off and on. The value to be entered corresponds to the value in the HMmethod parameter.

Parameter name HMI menu HMI name	Description	Unit Minimum value Factory setting Maximum value	Data type R/W Persistent Expert	Parameter address via fieldbus
HMmethod	Homing method. 1: LIMN with index pulse 2: LIMP with index pulse 7: REF+ with index pulse, inv., outside 8: REF+ with index pulse, inv., inside 9: REF+ with index pulse, not inv., inside 10: REF+ with index pulse, not inv., outside 11: REF- with index pulse, inv., outside 12: REF- with index pulse, inv., inside 13: REF- with index pulse, not inv., inside 14: REF- with index pulse, not inv., outside 17: LIMN 18: LIMP 23: REF+, inv., outside 24: REF+, inv., inside 25: REF+, not inv., inside 26: REF+, not inv., outside 27: REF-, inv., outside 28: REF-, inv., inside 29: REF-, not inv., inside 30: REF-, not inv., outside 33: Index pulse negative direction 34: Index pulse positive direction 35: Position setting Abbreviations: REF+: Search movement in positive direction REF-: Search movement in negative direction inv.: Invert direction in switch not inv.: Direction not inverted in switch outside: Index pulse / distance outside switch inside: Index pulse / distance inside switch Type: Signed decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become active immediately.	- 1 18 35	INT16 R/W - -	Modbus 6936 IDN P-0-3027.0.12
HMprefmethod (oP) → (hoM-) (MEth)	Preferred homing method. Type: Signed decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become active immediately.	- 1 18 35	INT16 R/W per. -	Modbus 10260 IDN P-0-3040.0.10

Setting the Distance From the Switching Point

A distance to the switching point of the limit switch or the reference switch must be parameterized for a reference movement with index pulse. The parameter HMdis lets you set the distance to the switching limit switch or the reference switch.

Parameter name HMI menu HMI name	Description	Unit Minimum value Factory setting Maximum value	Data type R/W Persistent Expert	Parameter address via fieldbus
HMdis	Distance from switching point. The distance from the switching point is defined as the reference point. The parameter is only effective during a reference movement without index pulse. Type: Signed decimal - 4 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become active the next time the motor moves.	usr_p 1 200 2147483647	INT32 R/W per. -	Modbus 10254 IDN P-0-3040.0.7

Defining the Zero Point

The parameter HMp_home is used to specify a desired position value, which is set at the reference point after a successful reference movement. The desired position value at the reference point defines the zero point.

If the value 0 is used, the zero point corresponds to the reference point.

Parameter name HMI menu HMI name	Description	Unit Minimum value Factory setting Maximum value	Data type R/W Persistent Expert	Parameter address via fieldbus
HMp_home	Position at reference point. After a successful reference movement, this position is automatically set at the reference point. Type: Signed decimal - 4 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become active the next time the motor moves.	usr_p -2147483648 0 2147483647	INT32 R/W per. -	Modbus 10262 IDN P-0-3040.0.11

Setting Monitoring

The parameters HMoutdis and HMsrchdis allow you to activate monitoring of the limit switches and the reference switch.

Parameter name HMI menu HMI name	Description	Unit Minimum value Factory setting Maximum value	Data type R/W Persistent Expert	Parameter address via fieldbus
HMoutdis	Maximum distance for search for switching point. 0: Monitoring of distance inactive >0: Maximum distance After detection of the switch, the drive starts to search for the defined switching point. If the defined switching point is not found within the distance defined here, the reference movement is canceled and an error is detected. Type: Signed decimal - 4 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become active the next time the motor moves.	usr_p 0 0 2147483647	INT32 R/W per. -	Modbus 10252 IDN P-0-3040.0.6
HMsrchdis	Maximum search distance after overtravel of switch. 0: Search distance monitoring disabled >0: Search distance The switch must be activated again within this search distance, otherwise the reference movement is canceled. Type: Signed decimal - 4 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become active the next time the motor moves.	usr_p 0 0 2147483647	INT32 R/W per. -	Modbus 10266 IDN P-0-3040.0.13

Reading out the Position Distance

The position distance between the switching point and index pulse can be read out with the following parameter.

The distance between the switching point and the index pulse must be >0.05 revolutions for reproducible reference movements with index pulse.

If the index pulse is too close to the switching point, the limit switch or reference switch can be moved mechanically.

Otherwise the position of the index pulse can be moved with the parameter ENC_pabsusr, see Setting Parameters for Encoder.

Parameter name HMI menu HMI name	Description	Unit Minimum value Factory setting Maximum value	Data type R/W Persistent Expert	Parameter address via fieldbus
_HMdisREFtoIDX_usr	Distance from switching point to index pulse. Allows you to verify the distance between the index pulse and the switching point and serves as a criterion for determining whether the reference movement with index pulse can be reproduced. Type: Signed decimal - 4 bytes	usr_p -2147483648 - 2147483647	INT32 R/- - -	Modbus 10270 IDN P-0-3040.0.15

Setting Velocities

The parameters HMv and HMv_out are used to set the velocities for searching the switch and for moving away from the switch.

Parameter name HMI menu HMI name	Description	Unit Minimum value Factory setting Maximum value	Data type R/W Persistent Expert	Parameter address via fieldbus
HMv (oP) → (hoM-) ( hMn)	Target velocity for searching the switch. The adjustable value is internally limited to the parameter setting in RAMP_v_max. Type: Unsigned decimal - 4 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become active the next time the motor moves.	usr_v - 60 -	UINT32 R/W per. -	Modbus 10248 IDN P-0-3040.0.4
HMv_out	Target velocity for moving away from switch. The adjustable value is internally limited to the parameter setting in RAMP_v_max. Type: Unsigned decimal - 4 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become active the next time the motor moves.	usr_v 1 6 2147483647	UINT32 R/W per. -	Modbus 10250 IDN P-0-3040.0.5

Changing the Motion Profile for the Velocity

It is possible to change the parameterization of the Motion Profile for the Velocity.