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MSD Servo Drive User Manual SERCOS II
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[ Chapter 8 ]
8 Homing
8.1 “Drive-controlled homing” command
To create the distance reference when using relative encoder systems, command
S-0-0148, “Drive-controlled homing”, must be used. As soon as this command has been
set and enabled by the master, the drive moves in position control mode with an internal
profile generator, taking into account S-0-0041: Homing velocity 1 (Move and wait for
reference cam) and P-0-3031: Homing velocity 2 (Find zero point in zero approach run)
as well as S-0-0042: Homing acceleration, according to the strategy defined in P-0-2261:
Homing method. The status “Encoder system home” in parameter S-0-0403 (Actual
position status) is cleared when homing starts (if previously set) and is reset once homing
has completed successfully.
For more information on homing and the available methods please refer to the
MSD Servo Drive Application Manual.
8.2 Setting of SERCOS encoders 1 / 2
The MSD Servo Drive features a maximum of 3 independent encoder interfaces. These
encoder interfaces are assigned to the logical SERCOS position encoder interfaces 1 and
2 via parameters P-0-0530 (Selection of SERCOS encoder 1) and P-0-0531 (Selection of
SERCOS encoder 2). Homing is executed to the position encoder determined by the ac-
tive operation mode (see also section 6).
8.3 Homing velocity
The homing velocity is preset via S-0-0041 (Find reference cam) and P-0-3031 (Find zero
point). The unit and the number of decimal places corresponds to the velocity weighting
in S-0-0044.
8.4 Homing acceleration
The homing acceleration is preset via S-0-0042. The unit and the number of decimal
places corresponds to the acceleration weighting in S-0-0160.
8.5 Homing method
The homing method is selected via P-0-2261. The various methods are detailed in the
MSD Servo Drive Application Manual.
SERCOS profile parameter S-0-0147 defining the homing method is not yet currently sup-
ported.
8.6 Reference distance 1/2
The reference distance 1(2) (S-0-0052, S-0-0054) describes the distance between the
machine zero point and the reference point referred to the motor measurement system.
After homing, the actual position is calculated from the reference distance and the refer-
ence distance offset. The weighting is preset according to S-0-0076. The two parameters
relate to SERCOS encoders 1 and 2 respectively.
8.7 Reference distance offset 1/2
The reference distance offset 1(2) (S-0-0150, S-0-0151) describes the distance between
the reference mark of the position encoder and the reference point. The two parameters
relate to SERCOS encoders 1 and 2 respectively.
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