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Operating Manual dryve D1, ST-, DC-, EC/BLDC-Motor Control System - V2.4
6.4.10 Homing
Homing is used to reach a homing (reference) point and thus specify the zero point of the axis.
For this mode to be used, the value 6 must be entered in object 6060h "Modes of Operation".
Homing Execution
Requirements
•
CANopen communication set active
(P. 53)
•
CANopen communication set dominant
(P. 61)
•
Chapter
Necessary User Interface Settings
(p. 84)
•
Digital Input DI 7 „Enable“ set high
•
Pass through the „State Machine“ till „Operation Enabled“
The following objects are to be parameterised
Object
Name
Description
6060h
Modes of Operation
Mode selection
– Target value: 6
Feed_constant_Feed
Shaft federate
Feed_constant_Shaft_revolutions
Shaft revolutions l
Switch Search VEL
Switch Search Speed
Zero Search VEL
Zero Search Speed
Homing ACC
Acceleration/deceleration for homing run
Homing Method
Referencing method
Home Offset
Home Point Offset (optional in user interface)
Controlword
Start Command via Bit 4
Before the Bit 4 start command can be set in Controlword 6040h, one system cycle (waiting for the masters response telegram)
should be planed as a delay to ensure a reliable data adoption. An indication/assessment that the homing run has been
completed positively is possible with Statusword Bit 10 and Bit 12. If these two bits have been set to 1, homing is regarded as
been completed positively. The information that homing has been completed positively will not be saved as a CANopen object.
This information should be stored in the master until a fault occurs and Statusword Bit 3 set.
In addition, the indicator "Referenced" and the Digital Output Do 3 "Referenced" have been set to 1 on the dryve D1 user
interface.
Homing specific explanation Bit 10 and 12 Statusword 6041h
Bit 12
Bit 10
Description
Homing Attained
Target Reached
0
0
Homing is being executed.
0
1
Homing is interrupted or not yet started.
1
0
Homing is executed but the target is not yet reached.
1
1
Homing is executed successfully.
