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02.2004 Communication / CBC CANopen Communication Board
Siemens AG 6SE7087-6QX70 (Version AD)
SIMOVERT MASTERDRIVES Compendium Motion Control
8.5-71
8.5.7.4 Homing mode
The axis can be homed (referenced) by various methods in Homing
mode.
Various objects listed below are required for this purpose. For detailed
information about reference point approach (homing), see Chapter 7
"Functions" or Chapter 9 "Technology Option F01".
The bits of the control and status words are utilized, as specified in
profile DSP 402, to operate homing mode.
After homing mode has been selected, the MASTERDRIVES MC must
be switched to the "Operation Enable" status. The homing approach is
then started by setting control word bit 4 (Homing Operation start).
Homing is stopped by the halt bit or a shutdown. Once the
MASTERDRIVES has reached the home position (reference point), it
sets bit 12 in the status word.
To start a new homing operation when the axis has already been
homed, you must exit Homing mode and then restart it again.
If one of the following errors occurs in the course of homing with a
MASTERDRIVES MC with F01, an EMERGENCY message is sent and
bit 13 in the status word set:
♦
A130
♦
A131
♦
A132
♦
A133
♦
A134
The MASTEDRIVES MC without F01 does not generate any alarms.
Bit 11 in the status word is set if the selected homing position is not
within the software limit switch area.
Bit 13 is set if the selected homing position is outside the software limit
switch area or bit F_REF_BD of B-Pos is set to 1.
Object 607Ch: Home Offset
If it becomes necessary to move the located home position (reference
point) for mechanical reasons, this can be done with the Home Offset
object. The home offset value is entered in machine data 4 (object does
not exist for MASTERDRIVES MC without F01).
Object 6098h: Homing_method
The homing method is selected with the Homing Method object.
If a homing method is selected, a number of parameter tasks are
processed between the CBC and MASTERDRIVES before the SDO
response arrives.
See tables (columns "J-FWD" and "J-BWD"; set with control bit Homing
Operation Start depending on the selected mode).
Parameter P178 (Src Rough Pulse) is not assigned through the
selection of a homing method, although this may need to be changed in
some cases (see MASTERDRIVES Compendium Chapter 7
"Functions" and Chapter 9 "Technology Option F01").
Control and status
bits
Homing mode
objects