0 1 1 Homing completed
1 0 0 Error detected, motor still turning
1 0 1 Error during homing, motor at standstill
3.1.8.2.3.4.3 Hitting a limit switch in homing mode
Homing modes are meant to be used with homing switches whereas limit switches are considered as physical
end points.
When a limit switch is activated in a homing mode other than method 1-14 (which rely on limit switches), this is
considered a fault and the drive transitions to “Drive disabled” state.
3.1.8.2.3.5 Operation Mode dependent Bits of Status- and
Controlword
3.1.8.2.3.5.1 Controlword
Homing mode uses some bits of the controlword for mode specific purposes which are indicated in yellow.
The figure shows the structure of the controlword. For the general structure and usage, please refer to our
Application note on Status- and Controlword.
Halt: If halt is triggered (Bit 8 of control word is set as 1) during homing, independant of the step the
homing routine is in, Axis begins to ramp down to go to zero velocity. The axis stays at zero velocity as long
as the halt remains active. When the halt bit is lifted, the homing routine is resumed from the same step it
was in before halt.
Homing operation start: set the homing operation start bit to 1 to start the homing procedure.
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