34
4 Functional Description
4.3 Homing and limit switches
Example:
Homing with 3rd input as reference input (rising edge):
HP4
SHA4
SHL4
SHN4
Alternatively, the homing sequence can also be set with the command CAHOSEQ in conjunction with
the commands HA, HL and HN.
Homing Speed:
Command Function
Description
HOSP
Load Homing Speed
Load speed and direction of rotation for homing
(GOHOSEQ, GOHIX).
Unit: rpm
Example:
HOSP-100
Direct programming via HA, HL and HN commands:
Command Function
Description
HA
Home Arming
Set position value to 0 and delete relevant HA bit at
edge of respective limit switch. Setting is not saved.
HL
Hard Limit
Stop motor and delete relevant HL bit at edge of
respective limit switch. Setting is not saved.
HN
Hard Notify
Send a character to RS232 and delete relevant HN
bit at edge of respective limit switch. Setting is not
saved.
These special commands can be used to define actions that are to be triggered at an edge of the rel-
evant input, independently of a homing sequence. A programmed limit switch function will remain
effective until the preselected edge occurs. The programming can be changed with a new command
before an edge occurs.
The settings are not saved with the SAVE command, so all limit switches are inactive again after
switch-on.
HL / SHL command:
Positioning mode: When the edge occurs, the motor positions itself on the reference mark with
maximum acceleration.
Velocity controller mode: The motor is decelerated at the set acceleration value when the edge oc-
curs, i.e. it goes beyond the reference mark. The reference mark can be precisely approached with a
subsequent positioning command (command M).
Advantage: No abrupt motion changes.
HN command:
Hard Notify (HN) return values to the RS232 interface
Connection
Return value
"AnIn"
h
"Fault"
f
"3.In"
t
“4.In“ (only MCDC) w
“5.In“ (only MCDC) x
