Lenze 931E/K Small Drives Control - Manual (Page 98)

Homing 6
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98 SW−HB 13.0002−EN 4.1
6 Homing
In most applications in which the 931E/K servo positioning controller is used in positioning
mode, a zero position must be defined to which the position controller can refer. This
position is called homing position and must be defined every time the controller is
switched on. The homing position is defined in the so−called homing run. You can select
between different homing modes.
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Note!
An exception are absolute value encoders (e.g. sin/cos encoders with
multi−turn functionality). For these encoders, the home position only has to be
defined once during commissioning.
Homing mode
There are 4 possible destinations for the homing run:
ƒ Homing to the negative or positive limit switch with or without the zero pulse of the
angle encoder.
ƒ Homing (without additional signal) to the negative or positive limit stop.
ƒ Homing to the zero pulse of the angle encoder.
ƒ No run.
Homing is started by setting controller enable or via the fieldbus. When homing has been
completed successfully, a status bit will be set in the device. The status can be evaluated
via the fieldbus or via a digital output.
The different homing modes will be described on the next pages. The circled numbers in
the figures correspond to the home positions of the corresponding homing modes. The
numbers correspond to the homing mode numbering specified in the CANopen DSP402.
For information about the activation of the homing modes and the selection of the
corresponding parameters, please see the chapter "Parameterising the homing run".
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