Lenze 931K - Manual (Page 64)

Commissioning
Position control
Parameterising of the homing run
6
l
64 KHB 13.0002−EN 4.1
6.3 Position control
The aim of this example is to show the principle of parameterising and executing homing
runs. A drive controller with the node address 1 is assumed to be the communicating node.
In addition, the commissioning of a position control is explained.
The lower−level current and speed control must be set according to chapters 6.2.2 and 6.2.3.
The following description assumes these drive controllers being set accordingly.
6.3.1 Parameterising of the homing run
Prior to the execution of the homing run, the homing method, the homing speeds and
accelerations must be defined. Then the homing run can be performed.
No
.
Description Identi
fier
Control
field
Comma
nd code
Index Subin
dex
Data 1 Data 2 Data 3 Data 4
Data
length
Low
byte
High
byte
1 Selection of the homing operating mode
For the operating mode
(modes_of_operation), homing (06) is
selected. 601 5 2F 60 60 00 06 00 00 00
2 Definition of the homing method
For the homing method, travel to the
limit switch in negative direction under
consideration of the zero pulse is set
(value 1). 601 5 2F 98 60 00 01 00 00 00
3 Setting of the fast homing speed
The travelling speed used for searching
for the limit switch
(speed_during_search_for_switch) is set
to 100 rpm. 601 6 2B 99 60 01 64 00 00 00
4 Setting of the slow homing speed
The travelling speed used for searching
for the zero pulse
(speed_during_search_for_zero) is set to
50 rpm. 601 6 2B 99 60 02 32 00 00 00
Tab. 7 Parameterisation of homing
The homing state is indicated in the status word. Bit 12 shows whether the started homing
process is completed (homing_attained) or whether it is still running.
In difference to the other operating modes, an additional step is required for running
through the state machine when the state change operation enabled has been made.
Homing can then be started with bit 4 of the control word.