JVL MAC050 User Manual page 263

5.7 Expansion Module MAC00-FD4
Homing - how to activate.
In almost any system which is using some kind of position related mode it is necessary to
find the mechanical zero point before normal operation of the motor can take place.
Following description gives a guide line on how to activate the build-in Homing function.
It is necessary to determine which kind of Homing type that needs to be activated.
The MAC motors offers a number of various Homing types. Please consult the chapter
Mechanical Homing, page 28 which explain in details which Homing functions that exist
and how they perform Homing.
Please find the section specifying the object 0x25 that can be accessed explicitly for con-
figuration from the DeviceNet network.
Another method for doing Homing is to setup the motor for doing Homing at start-up se-
lecting one of the "Power-up" Homing modes. This can be done from the MacTalk con-
figuration software and can be setup permanent in the motor without any further actions
done through the DeviceNet interface. Please consult the chapter Mechanical Homing,
page 28.
If this method is preferred the motor will automatic perform the Homing every time the
motor is powered up or the 24V control supply is cycled.
Reading and clearing error codes.
The register 35 is a combined error/status -register that represent the actual information
about errors and the current motor status (accelerating, decelerating, motor in position)
etc.
All this information is put into a single register that can be read all the time.
To clear the errors either write register 35= 0
Another method is to execute the special command 225. This is done by writing to reg-
ister 211 which will clear any actual errors.
Please notice that some errors are regarded as fatal and needs 24V power cycle to be
cleared. Please consult the chapter Error messages and error handling, page 36 for further
details about all the error types and what may have caused the error situation.
Resetting the position.
Sometimes it is necessary to reset the actual position counter.
When done manually it requires writing to multiple registers and special handling of the
motor.
All this can be done by sending a the special command 247 to the command register 211
which will set the actual and requested position = 0.
The motor will stay stationary if it is set in a position related mode afterwards.
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 259