Parker Hannifin S.p.A. Divisione S.B.C. user’s manual TWIN-N and SPD-N
156
There are two
homing speeds; in a typical cycle the faster speed is used to find the home
switch and the slower speed is used to find the index pulse. The manufacturer is allowed some
discretion in the use of these speeds as the response to the signals may be dependent upon the
hardware used.
10.3.5.2 Output data description
There is no output data except for those bits in the
statusword which return the status or result
of the homing process and the demand to the position control loops.
10.3.5.3 Internal states
The homing mode will control by the bits of the controlword and statusword.
10.3.5.3.1 Controlword of homing mode
15 9 8 7 6 5 4 3 0
Halt reserved Homing operation start
MSB LSB
Name Value Description
0 Homing mode inactive
0 → 1 Start homing mode
1 Homing mode active
Homing operation start
1 → 0 Interrupt homing mode
0 Execute the instruction of bit 4
Halt
1 Stop axle with homing acceleration
Table 11: Homing mode bits of the controlword
10.3.5.3.2 Statusword of homing mode
15 14 13 12 11 10 9 0
Homing error Homing attained Target reached
MSB LSB
Name Value Description
Target reached 0 Halt = 0: Home position not reached Halt = 1: Axle decelerates
1 Halt = 0: Home position reached Halt = 1: Axle has velocity 0
0 Homing mode not yet completed Homing
attained
1 Homing mode carried out successfully
0 No homing error Homing error
1
Homing error occurred; Homing mode carried out not successfully;
The error cause is found by reading the error code
Table 12: Homing mode bits of the statusword
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