Danfoss VLT series Programming Guide

Homing
method
Controlword (0x6040)
Drive mirror mode (0x2016.02)
Max torque (0x6072)
Homing method (0x6098)
Homing speeds (0x6099)
Statusword (0x6041)
Velocity demand value
(0x606B)
Homing acceleration (0x609A)
Homing deceleration (0x2040.04)
Homing oset (0x607C)
Homing blocking window velocity (0x2040.01)
Homing blocking window time (0x2040.02)
Homing limit distance (0x2040.03)
130BF179.10
Illustration 2.29 Homing Mode Function
The homing methods that require a physical input (home switch or limit switches) are available depending on the congu-
ration of the analog inputs (see chapter 7.21.3 Parameter: Dual Analog User Inputs Conguration (0x200F)).
The methods are described in detail in the corresponding sub-chapters.
Value Denition
–3 Homing on actual position.
–2 Homing on positive block.
–1 Homing on negative block.
+17 Homing on negative limit switch.
+18 Homing on positive limit switch.
+19 Homing on positive home switch.
+21 Homing on negative home switch.
+37 Homing on current position.
Table 2.4 Supported Homing Methods
The successful completion of a homing procedure is indicated by bit 8 of the Statusword (home bit). This bit remains set
until the servo drive is power-cycled (U
AUX
), reset, or a new homing procedure is started.
Switching to Homing mode while the servo drive is in state Operation enabled is only allowed in standstill. In all other states,
the mode of operation can always be changed.
Exiting Homing mode (and switching to any other mode of operation) is allowed without restrictions. If homing procedure is
being carried out at that time, it is automatically aborted. In this case, the home bit in the Statusword is not set.
2.4.4.1 Homing on Actual Position
In method –3 Homing on actual position, the temporary part of the position oset is set to 0 (see Illustration 2.26). This
method does not require the servo drive to be in state Operation enabled, as there is no movement. If the servo drive is in
state Operation enabled during activation, it must be in standstill.
Servo Drive Operation Programming Guide
MG36D102 Danfoss A/S © 01/2017 All rights reserved. 35
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Danfoss VLT series Specifications

General

Series	VLT
Category	DC Drives
Output Voltage	0-100% of input voltage
Protection Features	Overvoltage, Undervoltage, Overcurrent, Overtemperature, Short Circuit, Ground Fault
Communication Interfaces	Profibus, CANopen
Enclosure Rating	IP20, IP21, IP55, IP66
Cooling Method	Forced Air Cooling, Convection Cooling
Control Mode	Sensorless Vector, Closed Loop Vector
Ambient Temperature	-10°C to +50°C (14°F to 122°F)