Owner manual

Commissioning
Position control
Parameterising of the homing run
6
l 65
KHB 13.0002−EN 4.1
No. Description Identi
fier
Control
field
Comma
nd code
Index Subin
dex
Data 1 Data 2 Data 3 Data 4
Data
length
Low
byte
High
byte
1 State query (read)
Each change of the state must be
executed depending on the initial state.
After a state change you have to wait for
the state change being indicated in the
status word.
601 4 40 41 60 00 00 00 00 00
2 Control word: shut down
With the ’shut down’ command, the
state is adapted to
Ready_To_Switch_On.
601 6 2B 40 60 00 06 00 00 00
3 State query (read)
(Explanation see step 1)
601 4 40 41 60 00 00 00 00 00
4 Control word: switch on
With the switch on command, the state
is adapted to Switched_On.
601 6 2B 40 60 00 07 00 00 00
5 State query (read)
(Explanation see step 1)
601 4 40 41 60 00 00 00 00 00
6 Control word: enable operation
With the enable operation command,
the state is adapted to
Operation_Enable.
Voltage is now applied to the motor.
However, the homing run does not start
yet.
601 6 2B 40 60 00 0F 00 00 00
7 State query (read)
(Explanation see step 1)
601 4 40 41 60 00 00 00 00 00
8 Control word: Enable operation and
homing start
The enable operation and homing start
commands start the homing run.
601 6 2B 40 60 00 1F 00 00 00
9 State query (read)
At this point the homing run is
executed. Homing is completed when
bit 12 (homing attained) is set in the
status word.
601 4 40 41 60 00 00 00 00 00
10 Control word: disable voltage
This command switches off the drive
and sets it to the Switch_On_Disabled
state.
601 6 2B 40 60 00 00 00 00 00
Tab. 8 Execution of the homing run by means of the state machine