Lenze E94P PositionServo with MVOB - Manual (Page 61)

PM94H201B_13xxxxxx_EN L 59
Programming
2.15.4 Homing Velocity
There are two homing velocities: fast and slow. These velocity variables are used to find the home switch and to find
the index pulse. How the two velocities are implemented within the homing routines depends on the homing routine
selected. Refer to section 2.5.9.
VAR_HOME_FAST_VEL (#242)
VAR_HOME_SLOW_VEL (#243)
2.15.5 Homing Acceleration
Homing acceleration establishes the velocity ramp rate to be used for all accelerations and decelerations within
the standard homing modes. Note that in the pre-defined homing methods, it is not possible to program a separate
deceleration rate.
VAR_HOME_ACCEL (#239)
2.15.6 Homing Switch
The homing switch variable enables the user to select the PositionServo input used for the Home Switch connection.
The Homing Switch Input Assignment range is 0 - 11. Inputs A1-A4 are assigned 0 to 3, respectively; inputs B1-B4 are
assigned 4 to 7, respectively; and inputs C1-C4 are assigned 8 to 11, respectively.
VAR_HOME_SWITCH_INPUT (#246)
WARNING!
• Setting inputs A1 and A2 as the home switch, even in methods that do NOT use limit switches
can cause the drive to behave in an unexpected manner.
• Input A3 is a dedicated hardware enable input and should never be assigned as the homing
switch input.
• Input C3 can be used as the homing switch input only in methods that do not home to an index
pulse.
2.15.7 Homing Start
There are two methods of starting pre-defined homing operation, the ‘HOME’ command and the Var_Start_Homing
variable. When Homing is initiated from the user program the ‘HOME’ command should always be used. The HOME
command is a blocking instruction that prevents further execution of the Main Program until homing operation is
completed. Any events that are enabled whilst homing is carried out will continue to process.
WARNING!
If using firmware prior to 4.50 then execution of homing functionality does not prevent simultaneous
execution of subsequent programming statements and it is required to immediately follow the HOME
command with the following code line:
WAIT UNTIL VAR_EXSTATUS & 0x400000 == 0x400000.
Doing this ensures no further lines of code will be executed until homing is complete.
The home start variable (Var_Start_Homing) is used to initiate pre-defined homing functionality from a host interface. It
should not be used if the drive contains or is executing a user program. Var_Start_Homing range is: 0 or 1. When set to
0, no action occurs. When set to 1, the homing operation is started.
VAR_START_HOMING (#245)