Rockwell Automation 2097-Vxxx Kinetix 300 EtherNet/IP Indexing Servo Drive User Manual - Manual (Page 114)

114 Rockwell Automation Publication 2097-UM001D-EN-P - November 2012
Chapter 5 MotionView Software Configuration
The drive indicates whether the homing completed successfully or not. Once
homing has been initiated, the Homing Active status bit in the EtherNet/IP
Input Assembly is set. If the Homing Active status bit is no longer set and the
Homed status bit is also not set, then an error occurred in the homing and the
drive is not homed.
If the drive has not been homed or the stored absolute position information from
an absolute home is no longer valid, any absolute position moves generate a fault.
Incremental position moves do not generate a fault.
Absolute homing is the only method retained after power cycles. With any other
homing method the Homed bit is not set following a power cycle until the
homing has been repeated.
The absolute position information within the drive (if absolute homed) is cleared
and the Homed bit cleared if any of these events occur:
• A change of motor encoder is detected.
• A change of motion polarity is made.
• The absolute position information within the motor nonvolatile memory
does not match the absolute position information within the drive
nonvolatile memory (if absolute homed).
• A feedback related fault has occurred.
• At power up drive is reporting a battery error.
If your drive is set to Indexing mode and you are not using a controller, a home
switch is required to automatically home your incremental encoder at power up.
IMPORTANT All homing methods write to the drive’s non-volatile memory, which is limited
to 1 million write cycles. The drive should not be homed more often than this.