Owner's manual

Operating modes
Homing
Overview
9
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KHB 13.0003-EN 2.0
9.3 Homing
9.3.1 Overview
This chapter describes how the drive controller finds the start position (also called
reference position, home position or z ero position). There are different methods to
determine this position. Sometimes the limit switches at the end of the positioning range
are used. In order to increase the reproducibility as much as possible, some methods also
integrate the zero pulse of the angle encoder used (resolver, incremental encoder etc.).
Homing
statusword
controlword
homing_method
home_speeds
position_demand_value
931m_054
Fig. 13 Homing
The user can specify the speed, acceleration and type of homing. The home_offset object
can be used to set the zero position of the drive to any position desired.
The value of the home_offset object is added to the value of the homing point (e.g. limit
switch position).
Two homing speeds are distinguished. The higher search speed
(speed_during_search_for_switch, 6099_01) isused tofind thelimit switchor thehoming
switch. For an exact position determination of the corresponding switching edge, switch
over to crawl speed (speed_during_search_for_zero, 6099_02).
 Note!
With CANopen, travelling to the zero position is usually not part of the homing
run. If the drive controller knows all parameters required (e.g. the position of
the zero pulse), no physical movement is executed.