Homing; Drive-Controlled - Kollmorgen Sercos II Translation Of The Original Manual

Kollmorgen
4.8

Homing

4.8.1

Drive-controlled

If all ASCII parameters are set in such a way that the reference run (homing) works per-
fectly without sercos
sercos
IDN used
IDN 41
IDN 42
IDN 47
IDN 52
IDN 54
IDN 147
IDN 148
IDN 300 (x=0...3) Configuration DIGITAL-In 1...4
IDN 403
IDNP 3004
IDNP 3027
IDNP 3067
IDNP 3068
Drive-controlled referencing
Sequence
Master sets and releases
The cyclical target values are ignored as long
as IDN 148 is active.
Drive deletes the "Position Feedback Value
Status" bit
The drive switches to internal position control
The drive accelerates
To final speed for Homing
Further settings for Homing
Homing mode (see ASCII object reference)
REFMODE
The drive brakes behind the position encoder ref.
mark and stops at the ref. point
The target position values are based on the
ref. mark.
If the drive is at standstill and the actual positi-
on values are based on the ref point.
Homing is completed (bit = 0)
ROFFS
ROFFS
Once homing has been successfully completed, the drive follows the target values.
Should homing be interrupted, the actual position values are not based on the ref mark,
and the bit for the status of actual position values remains at a low level.
®
sercos for S300/S700
®
, for example via the startup software (note incremental scaling via
®
), the drive-controlled reference run can be started using the command IDN148.
Meaning
Homing speed
Homing acceleration
Position setpoint
Reference distance 1 (motor feedback)
Reference distance 2 (external feedback)
Homing parameter
Command: Amplifier-Controlled Homing
Position Feedback Value Status
Position Switch Configuration
Homing mode according to ASCII object
reference
04/2016
IDN
IDN 148
IDN 403
IDN 42
IDN 41
(IDN 147)
IDNP 3027
IDNP 3067 Source of the zero impulse
IDN 42
IDN 47
IDN 403
IDN 148
(IDN 52)
(IDN 54)
Appendix
ASCII Parameter
VREF
ACCR, DECR
ROFFS
ROFFS
NREF
MH
INxMODE
SWCNFG
NREF
REFMODE
DREF
Meaning
Drive-controlled referencing
Position Feedback Value
Status
Homing acceleration
Homing speed
Homing Parameters
Reference run acceleration
Position setpoint
Position Feedback Value
Status
Drive-controlled referencing
Reference distance 1 (motor
feedback)
Reference distance 2 (exter-
nal feedback)
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