Parker Hannifin S.p.A Divisione S.B.C. user’s manual TWIN-N and SPD-N
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7.7 Basic functions
The standard drive functions include protection functions whose parameters can be set, such
as automatic limitations of current delivered based on the estimated dissipation (thermal
image or i
2
t drive and motor); diagnostic functions, always available to the user, who can
always check the drive status; configuration functions for some drive inputs/outputs; the
activation of parameter saving/restoring procedures, and further functions common to motion-
control equipment.
7.7.1 Homing function
The homing function, which is available exclusively with operating modes 13, 14 or 15,
provides a typical axis reset procedure. Before using the homing function perform the
following settings:
- connect the homing sensor to digital input 3
- set the homing speed in parameter Pr4 (pay attention to the direction of rotation)
- set Pr5 = 0, b40.12=1, b40.13=0, b40.2=0.
To activate the homing procedure set b94.12=1 for a type 1 reset, or b94.13=1 for a type 2
reset. When the homing procedure is concluded the respective activation bit will be reset. If
you wish to abort the procedure, reset the command bit, stop the motor (e.g. by resetting Pr5)
and, if necessary, read b40.2 which will remain on zero.
RESET TYPE 1 - DESCRIPTION
When the procedure is activated (b94.12=1) the axis is brought to the speed programmed in
Pr4 (Pr5=Pr4); the axis is then brought to zero speed (Pr5=0) on the positive front of the
homing sensor signal; after 150ms with the motor stopped parameters Pr61:60 and Pr63:62
are reset, the position loop is enabled by setting b40.2=1, and command b94.12 is reset. The
homing sensor signal must be maintained active in high status for the entire duration of the
motor stopping phase.
If the homing sensor is already engaged when the procedure is activated, the axis moves at the
speed programmed in Pr4 but in the opposite direction until the homing sensor is freed; At
this point the procedure continues as described above.
RESET TYPE 2 - DESCRIPTION
When the procedure is activated (b94.13=1) the axis is brought to the speed programmed in
Pr4 (Pr5=Pr4); the axis is then brought to zero speed (Pr5=0) on the positive front of the
homing sensor signal; after 150ms with the motor stopped parameters Pr61:60 and Pr63:62
are programmed with the value of parameter Pr28, the position loop is enabled by setting
b40.2=1, and command b94.13 is reset. The homing sensor signal must be maintained active
in high status for the entire duration of the motor stopping phase.
If the homing sensor is already engaged when the procedure is activated, the axis moves at the
speed programmed in Pr4 but in the opposite direction until the homing sensor is freed; at this
point the procedure continues as described above.
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