3.114
IDN148 Command: Amplifier-Controlled Homing
The amplifier automatically enters an internal position mode and homes the amplifier.
Homing is configured through the “Homing Velocity” (IDN41), “Homing Acceleration”
(IDN42) and the “Homing Parameter” (IDN147147 or IDNP3027).
Homing will fail under the following conditions:
1)
The amplifier is disabled (Enable=0V), or the master clears any of the enable bits
(MDT bits 13-15) during amplifier-controlled homing. With disabled amplifier you
can start NREF 0, if the master has set MDT bit 13.
2)
The “Probing” procedure (IDN170) is active.
3)
The home switch is located on the amplifier (IDN147, bit 2 is set) and will be
evaluated during homing (IDN147, bit 5 is clear) and a configurable input has not
been configured as a home switch input.
4)
A fault occurs during amplifier-controlled homing.
The master should not cancel the amplifier-controlled homing procedure until it has
aligned its position setpoint with the amplifier’s present position setpoint. The master con-
troller may abort amplifier-controlled homing by first stopping the amplifier through the
start/stop bit (MDT control bit 13), aligning its position setpoint with the amplifier 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
ASCII Param.:
3.115
IDN159 Monitoring Window
The monitoring window defines the maximum position error. When the absolute distance
between the active position setpoint and active position feedback exceeds the monitoring
window, an “excessive position deviation” fault F03 is generated (IDN11, bit 11).
Data Length: 4 bytes
Non-Volatile:
Yes
Data Type:
Signed decimal
Write Access:
CP2, CP3, CP4
Minimum:
0
Run-Up Check:
Maximum:
2
31
- 1
Cyclic Transfer:
Default:
262144
ASCII Param.:
PEMAX
Units:
IDN76, 77, 78, 79, 123
Version:
sercos
®
for S300/S700
63
Kollmorgen
04/2016
sercos
®
IDN Set
