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Kollmorgen
3.114
IDN148 Command: Amplifier-Controlled Homing
The amplifier automatically enters an internal position mode and homes the amplifier.
Homing is configured through the "Homing Velocity" (IDN41), "Homing Acceleration"
(IDN42) and the "Homing Parameter" (IDN147147 or IDNP3027).
Homing will fail under the following conditions:
1)
2)
3)
4)
The master should not cancel the amplifier-controlled homing procedure until it has
aligned its position setpoint with the amplifier's present position setpoint. The master con-
troller may abort amplifier-controlled homing by first stopping the amplifier through the
start/stop bit (MDT control bit 13), aligning its position setpoint with the amplifier and then
canceling the procedure.
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
3.115
IDN159 Monitoring Window
The monitoring window defines the maximum position error. When the absolute distance
between the active position setpoint and active position feedback exceeds the monitoring
window, an "excessive position deviation" fault F03 is generated (IDN11, bit 11).
Data Length: 4 bytes
Data Type:
Minimum:
Maximum:
Default:
Units:
®
sercos
for S300/S700
The amplifier is disabled (Enable=0V), or the master clears any of the enable bits
(MDT bits 13-15) during amplifier-controlled homing. With disabled amplifier you
can start NREF 0, if the master has set MDT bit 13.
The "Probing" procedure (IDN170) is active.
The home switch is located on the amplifier (IDN147, bit 2 is set) and will be
evaluated during homing (IDN147, bit 5 is clear) and a configurable input has not
been configured as a home switch input.
A fault occurs during amplifier-controlled homing.
Binary
0
Signed decimal
0
31
2
- 1
262144
IDN76, 77, 78, 79, 123
04/2016
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
®
sercos
IDN Set
No
CP4
Yes
CP2, CP3, CP4
PEMAX
63
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Troubleshooting
