3.113
IDN147 Homing Parameter
Using IDN147 and it's configuration IDNs (41, 42) is sercos
®
standard. The servo
amplifier interprets these IDNs to set the ASCII parameter NREF (see IDNP3027). It's
much easier to use IDNP3027 instead of setting IDN147 (and IDN41 and 42).
The “Amplifier-Controlled Homing” procedure (IDN148) is configured through IDN41,
IDN42 and IDN147.
If command IDN148 is active, then IDN147 is write protected (from firmware 2.26).
If the home switch is evaluated by the amplifier (bit 1=0 and bit 2=1), only the bits 0, 5
and 6 are supported.
All other reserved bits must be set as indicated within the following table. For the different
homing types refer also to IDNP3027.
If the position control is set on the external feedback, bit 3 must be set to 1.
Bit
Description
Setting 0
Setting 1
LSB 0 Homing direction*
CW
CCW
1
Not supported
Set to 0
2
Home switch location
Master
Amplifier
3
Feedback source
Motor
External
4
Home enable evaluation
Home IDN407
IDN 407 only
5
Home switch evaluation
Evaluate
Not evaluated
6
Marker pulse evaluation
Evaluate
Not evaluated
7
Reserved: Stop condition
After position capture
On home position
(IDN52,54)
8
Not supported
Set to 0
9
To limit switch
Evaluate
Not evaluated
10
To mechanical stop with torque Evaluate
Not evaluated
11 - 15 Reserved.
Set to 0
* Direction as defined by IDNP3025. IDN55 defines direction from the sercos
®
master's
view.
Data Length: 2 bytes
Non-Volatile:
Yes
Data Type:
Binary
Write Access:
CP2, CP3, CP4
Minimum:
Run-Up Check:
Maximum:
Cyclic Transfer:
Default:
0085h
ASCII Param.:
62
sercos
®
for S300/S700
sercos
®
IDN Set
04/2016
Kollmorgen
