3.198
IDNP3027 (35 795) Manufacturer Homing Modes
Selection of manufacturer-defined homing modes.
If command IDN148 is active, then IDN147 is write protected (from firmware 2.26).
This IDN contains the saved serial command NREF after reset. Write this P IDN or write
IDN147 through the service channel to change the homing mode used for the ampli-
fier-controlled homing (IDN148). After or while homing with sercos
®
the parameter NREF
contains the value of this IDN. A following SAVE command can save this value perma-
nently.
IDNP 3027 is set using ASCII command NREF.
Mode Function
0
Set reference point to the actual position
1
Traverse to the reference switch with zero-mark recognition
2
Move to hardware limit-switch, with zero-mark recognition
3
Move to reference switch, without zero-mark recognition
4
Move to hardware limit-switch, without zero-mark recognition
5
Move to the next zero-mark of the feedback unit
6
Set reference at actual position, without loosing target position
7
Move to mechanical stop with zero-mark recognition
8
Move to absolute SSI-position
9
Move to mechanical stop without zero-mark recognition
Hardware limit switches must be present and connected. The appropriate limit switch
functions must be switched on, i.e. digital input 3 must be PSTOP (IDNP3002, mode2)
and/or digital input 4 must be NSTOP (IDNP3003, mode 3).
Mechanical Stop Homing (mode 7) without hardware limit switch
This homing mode uses the mechanical stop instead of a separate homing switch or a
hardware limit switch. Set the maximum current (torque) limit through IDN92, to limit the
torque applied against the mechanical stop. When motion toward the stop is no longer
possible, the following error increases up to 150% of the defined following error and then
triggers a movement back to the first zero mark.
Data Length: 2 bytes
Non-Volatile:
No
Data Type:
Unsigned decimal
Write Access:
CP2, CP3, CP4
Minimum:
0
Run-Up Check:
Maximum:
9
Cyclic Transfer:
Default:
1
ASCII Param.:
NREF
Additional IDNs, which are used for homing, are:
IDN 41 Homing Velocity, IDN 42 Homing Acceleration
IDN147 Homing Direction
3.199
IDNP3028 (35 796) Output stage enable order
With this IDN you can select the order of SW- and HW-Enable. The default is that the
HW-Enable for sercos
®
has to be set before SW enable will set (HW-Enable order =0)
otherwise an F29 error (bit 11 in IDN129) will be set.
To allow SW- before HW-Enable, set this IDN to 1 (HW-Enable order =1).
Data Length: 2 bytes
Non-Volatile:
Yes
Data Type:
Unsigned decimal
Write Access:
CP2, CP3, CP4
Minimum:
0
Run-Up Check:
Maximum:
1
Cyclic Transfer:
Default:
0
ASCII Param.:
SERCSET Bit 2
sercos
®
for S300/S700
91
Kollmorgen
04/2016
sercos
®
IDN Set
