Danfoss VLT Series Programming Manual page 37

Servo Drive Operation
Controlword (0x6040)
Drive mirror mode (0x2016.02)
Max torque (0x6072)
Homing method (0x6098)
Homing speeds (0x6099)
Homing acceleration (0x609A)
Homing deceleration (0x2040.04)
Homing o set (0x607C)
Homing blocking window velocity (0x2040.01)
Homing blocking window time (0x2040.02)
Homing limit distance (0x2040.03)
Illustration 2.29 Homing Mode Function
The homing methods that require a physical input (home switch or limit switches) are available depending on the configu-
ration of the analog inputs (see chapter 7.21.3 Parameter: Dual Analog User Inputs Configuration (0x200F)).
The methods are described in detail in the corresponding sub-chapters.
Value Definition
–3 Homing on actual position.
–2 Homing on positive block.
–1 Homing on negative block.
+17 Homing on negative limit switch.
+18 Homing on positive limit switch.
+19 Homing on positive home switch.
+21 Homing on negative home switch.
+37 Homing on current position.
Table 2.4 Supported Homing Methods
The successful completion of a homing procedure is indicated by bit 8 of the Statusword (home bit). This bit remains set
until the servo drive is power-cycled (U
Switching to Homing mode while the servo drive is in state Operation enabled is only allowed in standstill. In all other states,
the mode of operation can always be changed.
Exiting Homing mode (and switching to any other mode of operation) is allowed without restrictions. If homing procedure is
being carried out at that time, it is automatically aborted. In this case, the home bit in the Statusword is not set.
2.4.4.1 Homing on Actual Position
In method –3 Homing on actual position, the temporary part of the position offset is set to 0 (see Illustration 2.26). This
method does not require the servo drive to be in state Operation enabled, as there is no movement. If the servo drive is in
state Operation enabled during activation, it must be in standstill.
MG36D102
Programming Guide
Statusword (0x6041)
Homing
method
Velocity demand value
(0x606B)
), reset, or a new homing procedure is started.
AUX
Danfoss A/S © 01/2017 All rights reserved.
2 2
35