Lenze 931M-931W - Manual (Page 111)

Operating modes
Homing
Control of the homing run
9

111 KHB 13.0003-EN 2.0
Characteristics Possible settings Name Index
Description Selection Lenze
6099
h
Homing_speeds
0 number_of_
supported_entries
00
h
{1
h
} 02
h VAR
UINT8 RO —
Maximally supported
subindices.
02
h
Three subindices are
supported.
1 speed_during_
search_for_switch
100 0 {1 rpm} 2 32 -1 VAR UINT32 RW MAP
Homing speed for reaching
the limit switch.
Usually, the drive then
reverses and the stop
position is approached at a
lower speed.
2 speed_during_
search_for_zero
100 0 {1 rpm} 2 32 -1 VAR UINT32 RW MAP
Determining the lower
speed
9.3.3 Control of the homing run
The homing run is controlled by the control word and monitored by the status word.
Homing is started by setting bit 4 in the control word. The successful completion is
indicated by bit 12 being set in the status word object. Bit 13 being set in the status word
object indicates that an error has occurred during the homing run. The error cause can be
determined via the error_register and pre_defined error_field objects.
Control word Status word
Bit 4 Meaning Bit 13 Bit 12 Meaning
0 Homing is not active 0 0 Homing is not yet completed
0 -> 1 Start homing 0 1 Homing has been completed successfully
1 Homing is active 1 0 Homing has not been successful
1 -> 0 Interrupt homing 1 1 Forbidden state