Commissioning
Selection of the operating mode
"Homing" operating mode
6
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EDBCSXM064 EN 11.0
6.14.2 "Homing" operating mode
Note!
ƒ No homing with absolute value encoders.
ƒ Use C0098 to set another position than the one transmitted by the absolute
value encoder.
Settings
ƒ Select "Homing Mode": C5000 = 6
– The code C5000 (4C77h) is written via parameter channel (SDO) ( 345).
ƒ Selection confirmation: C5001 = 6
– The selection of "homing mode" is confirmed.
– The code C5001 (4C76h) must be read out via parameter channel (SDO).
ƒ Start homing: Ctrl1.Bit12 = 1 (TRUE)
Operating mode−dependent bits in the control word Ctrl1
Bit Name Value Response
1 Release limit switch
Only with user software £1.x (A−SW see nameplate):
0 Limit switch monitoring is active
1 Limit switch monitoring is not active:
l After a TRIP−RESET, the activated hardware limit switch can be
retracted.
12 Activate "Homing
Mode"
0 Homing is not executed.
0 à 1 Start of homing
1 Homing is being executed.
1 à 0 Homing is interrupted or completed.
Operating mode−dependent bits in the status word
Bit Name Value Response
1 Homing is active
0 "Homing mode" is not active
1 Homing is started by setting the control bit 12 = 1.
2 Reference known
0 Homing is being executed or has been aborted.
1 Homing is completed. à Reference is known.
3 Reference error
0 No error during homing
1 Error during homing àFunction abort
4 Reference switch
0 Reference switch is not active
1 Reference switch is active
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