Parker TPDM - Output Data Description; Internal States; Controlword of Homing Mode; Statusword of Homing Mode

Parker Hannifin Manufacturing Srl user’s manual TPDM
149
discretion in the use of these speeds as the response to the signals may be dependent upon the
hardware used.
12.1.5.2 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.
12.1.5.3 Internal states
The homing mode will control by the bits of the controlword and statusword.
12.1.5.3.1 Controlword of homing mode
15
9
8
7
6
5
4
3
0
Halt
reserved
Homing operation start
MSB
LSB
Name
Value
Description
Homing operation start
0
Homing mode inactive
0 → 1
Start homing mode
1
Homing mode active
1 → 0
Interrupt homing mode
Halt
0
Execute the instruction of bit 4
1
Stop axle with homing acceleration
Table 11: Homing mode bits of the controlword
12.1.5.3.2 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
Homing
attained
0
Homing mode not yet completed
1
Homing mode carried out successfully
Homing error
0
No 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