Operating Mode 6: Homing Mode - KEB COMBIVERT F6 Programming Manual

Operating modes

Operating mode 6: Homing mode

The homing mode is completely implemented according to IEC 61800-7-200 (doc-
ument 22G/184/FDIS, chapter 11).
In principle, a distinction is made between master-based and slave-based homing.
With master-based homing, the drive is moved to the required position in any oper-
ating mode. Then the actual position is overwritten with the value of
0x607C) home
function can be scanned by a digital input or at a zero signal of the encoder. The
master can read out and evaluate this information via
In slave-based homing, the inverter searches independently for the home position.
The required homing method is first selected under
method. Method 37 "on current position" is preset, which overwrites only the actual
position with the position in hm00. Only this method can be used for master-based
homing. All other methods are slave-based homing.
The inverter must be in operating mode 6 "Homing" to start the homing mode.
The homing mode is started by the positive edge with setting bit 4 in the control
word. (Op. Mode spec. 1 / homing operation start).
In the example with method 37, the actual position is now directly overwritten with
the homing offset. Then the homing mode is completed by resetting bit 4 in the
control word.
Bit13 Bit12 Bit10
0 0 0
0 0 1
0 1 0
0 1 1
1 0 0
1 0 1
1 1 x
Bits 10 (target reached), 12 (homing attained) und 13 (homing error) are set in the
status word by the homing mode.
Error-free homing is stored internally and can be monitored via the switching condi-
tion 54 "Homing done" (e.g. via a digital output).
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offset. Thereby e.g. through the Touch probe function, the actual
Definition
Homing procedure is in process
Homing procedure is interrupted or not started
Homing is attained, but target is not reached
Homing procedure is completed successfully
Homing error occurred, velocity is not 0
Homing error occurred, velocity is 0
reserved
hm00 (CiA
hm12 and hm13.
hm01 (CiA 0x6098) homing
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