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09/29/2020 TR-EMO-BA-GB-0022 v03 Page 139 of 153
Example 2:
Sequence for the safe position adjustment by the homing method 17
"Operation mode" 0x6060 = 6 (Homing mode)
Wait until "Operation mode display" 0x6061 = 6
"Homing method" 0x6098 = 17
"Home offset" 0x607C = negative preset value (= negative known position)
"Fast homing speed" 0x6099:1 = 1200 (rpm)
"Slow homing speed" 0x6099:2 = 60 (rpm)
"Homing acceleration" 0x609A = 6000 (rpm/sec)
"Control word" 0x6040 Bit 4 = 0.
Wait until "Status word" 0x6041 Bit 12 (Homing attained) is 0.
"Status word" 0x6041 Bit 13 (Homing Error) must be 0.
"Control word" 0x6040 Bit 4 = 1.
Wait until "Status word" 0x6041 Bit 12 (Homing attained) is 1.
->
The drive travels down at the fast speed 0x6099:1, until the lower hardware limit
switch 0x60FD Bit 0 toggles from 0 to 1.
Then the drive travels up again at the slow speed 0x6099:2, until this bit toggles back
from 1 to 0.
It adjusts this position to the negative home offset, toggles 0x6041 Bit 12 from 0 to 1,
and stops, while the new position adjustment is stored permanently.
"Status word" 0x6041 Bit 13 (Homing Error) must be 0.
Example 3:
Shifting of the software position limits by the home offset
The home position is the position of the switch, which is used to finish the homing
procedure by triggering the final position adjustment.
The home offset is the distance from the home switch to the zero position. If the home
switch is below the zero position, the home offset is positive. Otherwise it is negative,
unless the home switch is right at the zero position. Then the home offset is of course
zero.
Because the software position limits always refer to the home position, they are shifted
by subtracting the the home offset, before the drives clips the target position according
to the corrected limits.
Because the drive will travel to the home switch during homing, it is wise to increase
the measuring range, so that it includes this position too, plus a negative reserve.
It also must include the corrected min. software position limit, minus a negative
reserve.
It also must include the corrected max. software position limit, plus a positive reserve.
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