Output Data Description; Internal States; Controlword Of Homing Mode; Statusword Of Homing Mode - Parker TWIN-N Series User Manual

Parker Hannifin S.p.A. Divisione S.B.C.
There are two homing speeds ; in a typical cycle the faster speed is used to find the home
switch and the slower speed is used to find the index pulse. The manufacturer is allowed some
discretion in the use of these speeds as the response to the signals may be dependent upon the
hardware used.
10.3.5.2

Output data description

There is no output data except for those bits in the statusword which return the status or result
of the homing process and the demand to the position control loops.
10.3.5.3

Internal states

The homing mode will control by the bits of the controlword and statusword .

10.3.5.3.1 Controlword of homing mode

15 9
MSB
Name
Homing operation start
Halt
Table 11: Homing mode bits of the controlword

10.3.5.3.2 Statusword of homing mode

15 14
Homing error Homing attained
MSB
Name Value Description
Target reached 0
1
Homing 0
attained
1
Homing error 0
1
Table 12: Homing mode bits of the statusword
156
8 7 6 5
Halt reserved Homing operation start
Value Description
0
0 → 1 Start homing mode
1
1 → 0 Interrupt homing mode
0
1
13 12
Halt = 0: Home position not reached Halt = 1: Axle decelerates
Halt = 0: Home position reached Halt = 1: Axle has velocity 0
Homing mode not yet completed
Homing mode carried out successfully
No homing error
Homing error occurred; Homing mode carried out not successfully;
The error cause is found by reading the error code
user's manual TWIN-N and SPD-N
4
Homing mode inactive
Homing mode active
Execute the instruction of bit 4
Stop axle with homing acceleration
11 10
Target reached
3 0
LSB
9 0
LSB