Idn147 Homing Parameter - Kollmorgen Sercos II Translation Of The Original Manual

®
sercos IDN Set
3.113

IDN147 Homing Parameter

Using IDN147 and it's configuration IDNs (41, 42) is sercos
amplifier interprets these IDNs to set the ASCII parameter NREF (see IDNP3027). It's
much easier to use IDNP3027 instead of setting IDN147 (and IDN41 and 42).
The "Amplifier-Controlled Homing" procedure (IDN148) is configured through IDN41,
IDN42 and IDN147.
If command IDN148 is active, then IDN147 is write protected (from firmware 2.26).
If the home switch is evaluated by the amplifier (bit 1=0 and bit 2=1), only the bits 0, 5
and 6 are supported.
All other reserved bits must be set as indicated within the following table. For the different
homing types refer also to IDNP3027.
If the position control is set on the external feedback, bit 3 must be set to 1.
Bit
LSB 0 Homing direction*
10
11 - 15 Reserved.
* Direction as defined by IDNP3025. IDN55 defines direction from the sercos
view.
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
62
Description
1 Not supported
2 Home switch location
3 Feedback source
4 Home enable evaluation
5 Home switch evaluation
6 Marker pulse evaluation
7 Reserved: Stop condition
8 Not supported
9 To limit switch
To mechanical stop with torque Evaluate
Binary
0085h
04/2016
Setting 0
CW
Set to 0
Master
Motor
Home switch+IDN407 IDN 407 only
Evaluate
Evaluate
After position capture
Set to 0
Evaluate
Set to 0
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Kollmorgen
®
standard. The servo
Setting 1
CCW
Amplifier
External
Not evaluated
Not evaluated
On home position
(IDN52,54)
Not evaluated
Not evaluated
®
master's
Yes
CP2, CP3, CP4
®
sercos for S300/S700