Lenze 931M-931W - Manual (Page 67)

Commissioning
Position control
Parameterising of the homing run
6

67 KHB 13.0003-EN 2.0
No. Description Identifier Control
field
Command
code
Index Subindex Data 1 Data 2 Data 3 Data 4
Data
length
Low
byte
High
byte
1 Status check (reading)
Every status change must be
carried out depending on the
basic status. After a status
change, you have to wait until
the status change is indicated in
the status word.
601 4 40 41 60 00 00 00 00 00
2 Control word: Shut down
With the shut down command,
the status is changed to
Ready_To_Switch_On.
601 6 2B 40 60 00 06 80 00 00
3 Status check (reading)
(for explanation see 1)
601 4 40 41 60 00 00 00 00 00
4 Control word: Switch on
With the switch on command,
the status is changed to
Switched_On.
601 6 2B 40 60 00 07 80 00 00
5 Status check (reading)
(for explanation see 1)
601 4 40 41 60 00 00 00 00 00
6 Control word: Enable operation
With the enable operation
command, the status is changed
to Operation_Enable.
Now, the motor is energised.
But, homing is not started yet.
601 6 2B 40 60 00 0F 80 00 00
7 Status check (reading)
(for explanation see 1)
601 4 40 41 60 00 00 00 00 00
8 Control word: Enable operation
and homing start
With the enable operation and
homing start command, homing
is started.
601 6 2B 40 60 00 1F 80 00 00
9 Status check (reading)
The home position is
approached. Homing is
completed when bit 12 (homing
attained) is set in the status
word.
601 4 40 41 60 00 00 00 00 00
10 Control word: Disable voltage
With this command, the drive is
switched off and set to the
status Switch_On_Disabled.
601 6 2B 40 60 00 00 80 00 00
Tab. 7 Execution of homing by means of the status machine