Parker Hannifin
P Series User Guide 140
This drive provides built-in homing function (return to origin). The figure below shows the
relationship of input/out parameters to the homing mode. You can select speed,
acceleration, offset and homing methods.
Homing
Controlword(0x6040)
Homing Method(0x6098)
Homing Speeds(0x6099)
Homing Acceleration(0x609A)
Homing Offset(0x607C)
Statusword(0x6040)
Position Demand Internal Value(0x60FC)
or Position Demand Value(0x6062)
Digital Input
Home switch
Positive limit switch
Negative limit switch
Figure 45. Homing Function
Using Home Offset, you can set the offset between the home position and the zero
position of the machine, where ‘zero position’ means the position where the Position Actual
Value (0x6064) is 0.
Zero Position
Home Offset(0x607C)
Home Position
6.6.1 Homing Methods
This drive supports the following homing methods (0x6098).
Homing
Methods
(0x6098)
Description
1
During reverse operation, the motor is returned to origin by negative limit switch (NOT)
and index (Z) pulse.
2
During forward operation, the motor is returned to origin by positive limit switch (POT)
and index (Z) pulse.
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