Homing mode (HomeMode)

For the HomeMode enumeration type, the following constants (INT) are defined:

Name

Initial value

 

Signals/sensors evaluated

TP sensor / encoder zero pulse

xLimitSwitchNeg

xLimitSwitchPos

Reference switch

HomeAbsSwitch

SetPositionDirect

0

Directly set reference

CcwLimitSwitchCwTP

1

CwLimitSwitchCcwTP

2

CwRpCcwRnTP

3

CcwRpCwRnTP

5

CcwLimitSwitch

17

CwLimitSwitch

18

CwRpCcwRn

19

CcwRpCwRn

21

CcwTP

33

CwTP

34

SetPositionInAnyState

97

Set reference position directly, independent of the state of the axis (even with controller inhibit or a movement)

SetOffsetInAnyState

98

Set reference offset directly, independent of the state of the axis (also in case of controller inhibit or a movement)

ResetHomeInfo

99

The "Reference known" state is reset.

CwTorqueLimit

-2

Positive direction to torque limit.

CcwTorqueLimit

-1

Negative direction to torque limit.

DriveBased

100

Use homing mode of the drive

  • The homing mode to be used in the drive could be configured in the subindex 83 , provided it is supported by the drive.
  • The configured homing parameters (homing mode, velocity, accelerations, etc.) are converted automatically to drive units before homing is started and are transferred to the drive via SDO.

Note:

If the selected homing mode is not supported by the drive, the general error message "Home_WriteHomeParameter" is generated due to the incorrect SDO access.

Solution: Use a homing mode supported by the drive (see documentation of the inverter).

In the following sections, the procedures of the homing modes are described.

HomeMode 1: CcwLimitSwitchCwTP

Negative direction - reversing to limit switch - to touch probe

Touch probe/zero pulse

Negative travel range limit switch

Procedure:
  1. Movement in negative direction with profile data set 1.
  2. Reversing to negative travel range limit switch and change-over to profile data set 2.
  3. Negative edge of the travel range limit switch activates touch probe recognition.
  4. The following positive edge of the encoder zero pulse/touch probe sensor sets the reference.
  5. Further action ( HomeStopMode ) can be selected:
    • Drive stops (default setting)
    • Relative positioning by a set target position.
    • Absolute positioning to a set target position.

HomeMode 2: CwLimitSwitchCcwTP

Positive direction - reversing to limit switch - to touch probe

Touch probe/zero pulse

Positive travel range limit switch

Procedure:
  1. Movement in positive direction with profile data set 1.
  2. Reversing to positive travel range limit switch and change-over to profile data set 2.
  3. Negative edge of the travel range limit switch activates touch probe recognition.
  4. The following positive edge of the encoder zero pulse/touch probe sensor sets the reference.
  5. Further action ( HomeStopMode ) can be selected:
    • Drive stops (default setting)
    • Relative positioning by a set target position.
    • Absolute positioning to a set target position.

HomeMode 3: CwRpCcwRnTP

Positive direction - reversing to reference switch - negative edge of reference switch - to touch probe

Touch probe/zero pulse

Reference switch

Procedures:

Case 1:

Axis has not activated reference switch yet:

  1. Movement in positive direction with profile data set 1.
  2. Reversing with positive edge of the reference switch and change-over to profile data set 2.
  3. Negative edge of the reference switch activates touch probe recognition.
  4. The following positive edge of the encoder zero pulse/touch probe sensor sets the reference.
  5. Further action ( HomeStopMode ) can be selected:
    • Drive stops (default setting)
    • Relative positioning by a set target position.
    • Absolute positioning to a set target position.

Case 2:

Axis is already positioned on reference switch:

  1. Movement in negative direction with profile data set 2.
  2. Negative edge of the reference switch activates touch probe recognition.
  3. The following positive edge of the encoder zero pulse/touch probe sensor sets the reference.
  4. Further action ( HomeStopMode ) can be selected:
    • Drive stops (default setting)
    • Relative positioning by a set target position.
    • Absolute positioning to a set target position.

HomeMode 5: CcwRpCwRnTP

Negative direction - reversing to reference switch - negative edge of reference switch - to touch probe

Touch probe/zero pulse

Reference switch

Procedures:

Case 1:

Axis has not activated reference switch yet:

  1. Movement in negative direction with profile data set 1.
  2. Reversing with positive edge of the reference switch and change-over to profile data set 2.
  3. Negative edge of the reference switch activates touch probe recognition.
  4. The following positive edge of the encoder zero pulse/touch probe sensor sets the reference.
  5. Further action ( HomeStopMode ) can be selected:
    • Drive stops (default setting)
    • Relative positioning by a set target position.
    • Absolute positioning to a set target position.

Case 2:

Axis is already positioned on reference switch:

  1. Movement in positive direction with profile data set 2.
  2. Negative edge of the reference switch activates touch probe recognition.
  3. The following positive edge of the encoder zero pulse/touch probe sensor sets the reference.
  4. Further action ( HomeStopMode ) can be selected:
    • Drive stops (default setting)
    • Relative positioning by a set target position.
    • Absolute positioning to a set target position.

HomeMode 17: CcwLimitSwitch

Negative direction to limit switch

Negative travel range limit switch

Procedure:
  1. Movement in negative direction with profile data set 1.
  2. Reversing to negative travel range limit switch and change-over to profile data set 2.
  3. The following negative edge of the travel range limit switch sets the reference.
  4. Further action ( HomeStopMode ) can be selected:
    • Drive stops (default setting)
    • Relative positioning by a set target position.
    • Absolute positioning to a set target position.

HomeMode 18: CwLimitSwitch

Positive direction to limit switch

Positive travel range limit switch

Procedure:
  1. Movement in positive direction with profile data set 1.
  2. Reversing to positive travel range limit switch and change-over to profile data set 2.
  3. The following negative edge of the travel range limit switch sets the reference.
  4. Further action ( HomeStopMode ) can be selected:
    • Drive stops (default setting)
    • Relative positioning by a set target position.
    • Absolute positioning to a set target position.

HomeMode 19: CwRpCcwRn

Reference switch

Case 1: Axis has not activated the reference switch yet:
  1. Movement in positive direction with profile data set 1.
  2. Reversing with positive edge of the reference switch and change-over to profile data set 2.
  3. Negative edge of the reference switch sets reference.
  4. Further action (HomeStopMode) can be selected:
    • Drive stops (default setting)
    • Relative positioning by a set target position.
    • Absolute positioning to a set target position.

Case 2: Axis is already positioned on the reference switch
  1. Movement in negative direction with profile data set 2.
  2. Negative edge of the reference switch sets reference.
  3. Further action (HomeStopMode) can be selected:
    • Drive stops (default setting)
    • Relative positioning by a set target position.
    • Absolute positioning to a set target position.

HomeMode 21: CcwRpCwRn

Reference switch

Case 1: Axis has not activated the reference switch yet:
  1. Movement in negative direction with profile data set 1.
  2. Reversing with positive edge of the reference switch and change-over to profile data set 2.
  3. Negative edge of the reference switch sets reference.
  4. Further action (HomeStopMode) can be selected:
    • Drive stops (default setting)
    • Relative positioning by a set target position.
    • Absolute positioning to a set target position.
Case 2: Axis is already positioned on the reference switch:
  1. Movement in positive direction with profile data set 2.
  2. Negative edge of the reference switch sets reference.
  3. Further action (HomeStopMode) can be selected:
    • Drive stops (default setting)
    • Relative positioning by a set target position.
    • Absolute positioning to a set target position.

HomeMode 33: CcwTP

Negative direction to touch probe

Touch probe/zero pulse

Procedure:
  1. Movement in negative direction with profile data set 1 and activation of the touch probe recognition.
  2. The following edge set for the touch probe sensor sets the reference.
  3. Further action ( HomeStopMode ) can be selected:
    • Drive stops (default setting)
    • Relative positioning by a set target position.
    • Absolute positioning to a set target position.

HomeMode 34: CwTP

Positive direction to touch probe

Touch probe/zero pulse

Procedure:
  1. Movement in positive direction with profile data set 1 and activation of the touch probe recognition.
  2. The following edge set for the touch probe sensor sets the reference.
  3. Further action ( HomeStopMode ) can be selected:
    • Drive stops (default setting)
    • Relative positioning by a set target position.
    • Absolute positioning to a set target position.

HomeMode -1: CcwTorqueLimit

Negative direction to torque limit

Procedure:
  1. Movement in negative direction with reduced torque and profile data set 1.
  2. The reference is set if the two following conditions for the blocking time set are met at the same time:
    • Current speed is lower than the threshold set for standstill recognition.
    • Current torque is higher than the torque limit set ("Homing to end stop").
  3. Further action ( HomeStopMode ) can be selected:
    • Drive stops (default setting)
    • Relative positioning by a set target position.
    • Absolute positioning to a set target position.

HomeMode -2: CwTorqueLimit

Positive direction to torque limit

Procedure:
  1. Movement in positive direction with reduced torque and profile data set 1.
  2. The reference is set if the two following conditions for the blocking time set are met at the same time:
    • Current speed is lower than the threshold set for standstill recognition.
    • Current torque is higher than the torque limit set ("Homing to end stop").
  3. Further action ( HomeStopMode ) can be selected:
    • Drive stops (default setting)
    • Relative positioning by a set target position.
    • Absolute positioning to a set target position.