Parker Hannifin S.p.A S.B.C. Division
SLVDN User’s Manual
Page 149 of 181
There are two
homing speeds
; in a typical cycle the faster speed is used to find the home
switch and the slower speed is used to find the index pulse. The manufacturer is allowed some
discretion in the use of these speeds as the response to the signals may be dependent upon the
hardware used.
13.1.5.2.
Output data description
There is no output data except for those bits in the
statusword
which return the status or result
of the homing process and the demand to the position control loops.
13.1.5.3.
Internal states
The homing mode will control by the bits of the
controlword
and
statusword
.
13.1.5.3.1.
Controlword
of homing mode
15 9 8 7 6 5
4
3 0
Halt
reserve
d
Homing operation
start
MSB
LSB
Name
Value
Description
0
Homing mode inactive
0
→
1
Start homing mode
1
Homing mode active
Homing operation start
1
→
0
Interrupt homing mode
0
Execute the instruction of bit 4
Halt
1
Stop axle with homing acceleration
Table 11: Homing mode bits of the
controlword
13.1.5.3.2.
Statusword
of homing mode
15 14
13
12
11
10
9
0
Homing error Homing attained
Target
reached
MSB
LSB
Name
Value Description
Target reached
0
Halt = 0: Home position not reached Halt = 1: Axle decelerates
1
Halt = 0: Home position reached Halt = 1: Axle has velocity 0
0
Homing mode not yet completed
Homing
attained
1
Homing mode carried out successfully
0
No homing error
Homing error
1
Homing error occurred; Homing mode carried out not successfully;
The error cause is found by reading the error code
Table 12: Homing mode bits of the
statusword