Lenze 931K - Manual (Page 107)

Operating modes
Homing
Description of the objects
9
l
107 KHB 13.0002−EN 4.1
9.3.2 Description of the objects
Index Name Possible settings Characteristics
Lenze Selection Description
607C
h
0 home_offset 0 −2 31 {1 inc} 2 31 −1 VAR INT32 RW MAP
Shift of zero position with
respect to home position.
6098
h
0 homing_method 17 −18 {1} 34 VAR INT8 RW Ċ
Value Direction Target Ref. point for zero
−18 Positive Limit
stop
Limit stop Selection of the homing
variant.
There are 3 homing signals:
l Negative and positive
limit switches
l Zero pulse (periodic) of
the angle encoder
l Negative and positive
limit stops
If a method is selected for
homing, the following
settings are made:
l The reference source
(neg./pos. limit switch,
neg. / pos. limit stop)
l The direction and the
sequence of the homing
run
l The way in which the zero
pulse of the used angle
encoder is evaluated
−17 Negativ
e Limit
stop Limit stop
−2 Positive Limit
stop
Zero pulse
−1 Negativ
e Limit
stop Zero pulse
1 Negativ
e Limit
switch Zero pulse
2 Positive Limit
switch
Zero pulse
17 Negativ
e Limit
switch Limit switch
18 Positive Limit
switch
Limit switch
33 Negativ
e Zero
pulse Zero pulse
34 Positive Zero
pulse
Zero pulse
35 No
motion Current actual
position
6099
h
0 homing_speeds ARR UINT32 RO Ċ
Reading−out of the homing
speed
1 speed_during_
search_for_switch
100 0 {1 rpm} 2 32 −1 Ċ UINT32 RW MAP
Speed for approaching the
limit switch or the limit stop.
Usually the speed is then
changed and the final
position is approached with
a slower speed.
2 speed_during_
search_for_zero
10 0 {1 rpm} 2 32 −1 Ċ UINT32 RW MAP
Selection of the slower speed
609A
h
0 homing_
acceleration
250 0 {1 rpm/s} 2 32 −1 VAR UINT32 RW MAP
Selection of the acceleration
and deceleration for the
homing run.
The value applies to all
homing methods and to both
homing speeds.