Commissioning
Position control
Parameterising of the homing run
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66
KHB 13.0003-EN 2.0
6.3
Position control
The following example describes the parameterisation and execution of homing. A
controller with node address 1 is used as communication device. In addition, the
commissioning of a position control will be explained.
Select the settings for the lower-level speed control as described in chapter 6.2.2. The
following explanation is based on these controller settings.
6.3.1
Parameterising of the homing run
Before homing is started, the homing method, homing speed and accelerations have to be
defined. After this, the home position can be approached.
No. Description
Identifier Control
field
Command
code
Index
Subindex Data 1 Data 2 Data 3 Data 4
Data
length
Low
byte
High
byte
1
Selecting the operating mode
Homing
Homing (06) is used as
operating mode (modes_of_
operation).
601
5
2F
60
60
00
06
00
00
00
2
Defining the homing method
Traversing to the negative limit
switch under consideration of
the zero pulse (value 1) is
selected as
homing method
.
Alternative setting: current
position (value 35).
601
5
2F
98
60
00
01
00
00
00
3
High homing speed setting
The search speed used while
searching for the limit switch
(speed_during_search_for_swit
ch) is set to 100 rpm.
601
6
2B
99
60
01
64
00
00
00
4
Low homing speed setting
The search speed used while
searching for the zero pulse
(speed_during_search_for_zero)
is set to 50 rpm.
601
6
2B
99
60
02
32
00
00
00
Tab. 6
Parameterisation of homing
The homing status can be seen from the status word. Bit 12 indicates whether homing has
been completed (homing_attained) or is still being carried out.
Unlike the other operating modes, this operating mode requires another step after the
status change to
operation enabled
when traversing the status machine. Then, homing is
started through bit 4 of the control word.
