Hiwin D1COE, User Manual

Page: 38 / 54

Drive User Guide
38
ControlWord (0x6040)
Description
Bit Value
4
0 Not start homing procedures.
1 Start homing procedures.
8
0 Not stop homing procedures.
1 Stop homing procedures.
StatusWord (0x6041)
Description
Bit15 Bit13 Bit12 Bit10
Accuracy
Compensatio
n Initiated
Error
Search
Homing
Reach
Target
× 0 0 0 Performing homing procedures.
× 0 0 1 Homing procedures interrupted or not initiated.
× 0 1 0 Index signal found but not at the target position.
× 0 1 1 Homing procedures completed.
1 0 1 1
Homing completed, the feedback position of motor
cleared to zero, and accuracy compensation
initiated.
× 1 0 1 Homing fail.
The steps of using homing mode to search homing are shown as follows:

Set up the content of 0x6060 to 6 and operate the drive under homing mode.

Set up the content of 0x6098 to the desired homing method.

Set up the homing acceleration (0x609A), homing speed (0x6099:01, 0x6099:02), and homing
offset (0x607C).

Set up the Bit4 of ControlWord(0x6040) to 1 tostart homing procedures.

Wait the bit10 and bit12 of StatusWord been set to 1, i.e. homing is completed.

Clear the Bit4 of ControlWor(0x6040) to 0.
Initiate Accuracy Compensation:
When the host requires the drive to initiate the accuracy compensation mechanism after
completing the homing, it can set up the object of EtherCAT input function (0x2020) to achieve this
requirement. The steps are shown as follows:
I. Use the human machine interface of HIWIN drive, called Lightening program. Fill the applicable
content into compensation table at the Error Map page of application center window as shown in
the figure below.
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