Operating mode 6: Homing mode
The homing mode is completely implemented according to IEC 61800-7-200 (doc-
ument 22G/184/FDIS, chapter 11).
In principle, a distinction is made between master-based and slave-based homing.
With master-based homing, the drive is moved to the required position in any oper-
ating mode. Then the actual position is overwritten with the value of hm00 (CiA
0x607C) home offset. Thereby e.g. through the Touch probe function, the actual
function can be scanned by a digital input or at a zero signal of the encoder. The
master can read out and evaluate this information via hm12 and hm13.
In slave-based homing, the inverter searches independently for the home position.
The required homing method is first selected under hm01 (CiA 0x6098) homing
method. Method 37 "on current position" is preset, which overwrites only the actual
position with the position in hm00. Only this method can be used for master-based
homing. All other methods are slave-based homing.
The inverter must be in operating mode 6 "Homing“ to start the homing mode.
The homing mode is started by the positive edge with setting bit 4 in the control
word. (Op. Mode spec. 1 / homing operation start).
In the example with method 37, the actual position is now directly overwritten with
the homing offset. Then the homing mode is completed by resetting bit 4 in the
control word.
Bits 10 (target reached), 12 (homing attained) und 13 (homing error) are set in the
status word by the homing mode.
Error-free homing is stored internally and can be monitored via the switching condi-
tion 54 "Homing done" (e.g. via a digital output).
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