Lenze 931E/K Small Drives Control - Manual (Page 104)

Homing
Parameterisation of homing
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104 SW−HB 13.0002−EN 4.1
Settings
Use the Mode field to select the homing mode. With homing, the motor will rotate until
the Destination is activated.
A special case is the No run mode. In this case, the current actual position will be defined
as home position. The drive will not traverse.
In all other cases, the target will be approached at search speed. Afterwards, the drive will
traverse back at crawl speed to determine the contact threshold. The home position (zero
position of the application) is approached at running speed . The home position may differ
from the destination. The zero pulse is, for instance, preferred as home position, because
it is more accurate.
The search, crawl and running speed and acceleration settings are selected in the
Speed/Acceleration/Times tab. A more detailed tab description can be found on the next
page.
If the home position itself − i.e. the calculated zero position for the following positioning
processes − is a certain distance away from the home position of the homing run, the
distance can be specified in the Offset start position field.
When the option Go to zero position after homing run is activated, the drive will traverse
at running speed to the zero position when homing has been completed.
)
Note!
When this option is activated, the zero position must not be after the
Destination of the homing run because this would lead to a homing run error.
You can select a max. search path. Unless a limit switch signal will be detected on the
search path, the 931E/K servo positioning controller will output an error message. The
search path is derived from the maximum position limits. Click Max. position limits to open
the menu for parameterising the general positioning settings, e.g. position limits. See the
chapter "Global positioning settings". (
¶ 73)
When the option Homing run at controller enable is activated, homing will be started
automatically when the controller is enabled.