Operating modes
Homing
Control of the homing run
9
111
KHB 13.0003-EN
2.0
Characteristics
Possible settings
Name
Index
Description
Selection
Lenze
6099
h
Homing_speeds
0 number_of_
supported_entries
00
h
{1
h
}
02
h
VAR
UINT8
RO
—
Maximally supported
subindices.
02
h
Three subindices are
supported.
1 speed_during_
search_for_switch
100
0
{1 rpm}
2
32
-1
VAR
UINT32 RW
MAP
Homing speed for reaching
the limit switch.
Usually, the drive then
reverses and the stop
position is approached at a
lower speed.
2 speed_during_
search_for_zero
100
0
{1 rpm}
2
32
-1
VAR
UINT32 RW
MAP
Determining the lower
speed
9.3.3
Control of the homing run
The homing run is controlled by the
control word
and monitored by the
status word
.
Homing is started by setting bit 4 in the
control word
. The successful completion is
indicated by bit 12 being set in the
status word
object. Bit 13 being set in the
status word
object indicates that an error has occurred during the homing run. The error cause can be
determined via the
error_register
and
pre_defined error_field
objects.
Control word
Status word
Bit 4
Meaning
Bit 13
Bit 12
Meaning
0
Homing is not active
0
0
Homing is not yet completed
0 -> 1
Start homing
0
1
Homing has been completed successfully
1
Homing is active
1
0
Homing has not been successful
1 -> 0
Interrupt homing
1
1
Forbidden state
