SERCOS with zero pulse latch via S-0-146

CNC-controlled homing with zero pulse latch via command S-0-146.

Homing encoder is defined by reading S-0-147, bit 14 and 15 of the signal status and signal control word are used.

Excerpt from parameter list

kenngr.homing_type            CNC_CONTROLLED
kenngr.homing_without_zero_pulse              0
antr.sercos.drive_supports_cnc_homing         1
antr.cnc_homing_encoder                   1
antr.sercos.cnc_homing_rt_bit_layout          16

In the drive the following parameters must be set:

S-0-147: Bit 2 = 0, Bit 4 = 1 (Bit numbers counted startin from zero).

S-0-27 (Assignment control status word): Listelement 14 = 407,

Listelement 15 = 404.

S-0-26 (Assignment signal status word): Listenelement 14 = 408,

Listenelement 15 = 403.

In the cyclic process data S-0-144 uns S-0-145 have to be configured.