IDN 148 (S-0-0148) Procedure: Drive Controlled Homing

The drive automatically enters an internal position mode and homes the drive. Homing is configured through the „Homing Velocity“ ( IDN 41 ), „Homing Acceleration“ ( IDN 42 ) and the „Homing Parameter“ ( IDN 147 ). The homing procedure should fail under the following conditions:

  1. The drive is disabled, or the master clears any of the enable bits (MDT bits 13-15) during drive-controlled homing.
  2. The „Probing“ procedure ( IDN 170 ) is active.
  3. The home switch is located on the drive ( IDN 147 , bit 2 is set) and will be evaluated during homing ( IDN 147 , bit 5 is clear) and a configurable input has not been configured as a home switch input.
  4. A fault occurs during drive-controlled homing.

The home switch is located on the master ( IDN 147 , bit 2 is clear) and will be evaluated during homing ( IDN 147 , bit 5 is clear) and the „Homing Enable“ signal ( IDN 407 ) has not been configured as a real time control bit.

The master should not cancel the drive-controlled homing procedure until it has aligned its position command with the drive’s present position command. The master may abort drive-controlled homing by first stopping the drive through the start/stop bit (MDT control bit 13), aligning its position command with the drive, and then canceling the procedure.

 

Data Length:

2 bytes

Non-Volatile:

No

Data Type:

Binary

Write Access:

CP4

Minimum:

 

Run-Up Check:

 

Maximum:

 

Cyclic Transfer:

 

Default:

0

Serial Equiv:

 

Units:

 

Version:

5.04 

IDN Type:

PS

ADS Index Group (hex.):

0x0094