Rockwell Automation 21G PowerFlex 750-Series AC Drives Programming Manual - Manual (Page 136)

136 Rockwell Automation Publication 750-PM001J-EN-P - October 2014
Chapter 3 Drive Port 0 Parameters
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730 Homing Status
Homing Status RO 16-bit
Integer
Indicates status of position control logic.
Bit 0 “Home Request” – Indicates the homing function is requested. The homing function is requested by the homing configuration bits in P731 [Homing Control].
This bit turns off when homing is complete.
Bit 1 “Home Enabled” – Indicates the homing function is enabled. This bit is set when the homing function is requested and the drive starts.
Bit 2 “Homing” – Indicates the drive is heading to home position. This bit is set when the drive is running.
Bit 3 “At Home” – Indicates when the difference between P847 [Psn Fdbk] and P737 [Actual Home Psn] is less than P726 [In Pos Psn Band].
731 Homing Control
Homing Control RW 16-bit
Integer
Sets bits to configure the homing function.
Important: To enable the homing control, Bit 1 or Bit 2 (configuration bits) must be set to go into the Find Home mode. With the drive stopped, verify that a stop
command has not been issued and toggle Bit 0 to 1. The drive will go to the home position at the ensuing startup.
Bit 0 “Find Home” – Puts the drive in the homing mode. Setting this bit requests the homing function and sets homing request bit P730 [Homing Status] Bit 0
“Home Request.” Toggle this bit with the drive stopped to reset the homing function. If the drive is issued a stop command while in Find Home mode, and before
the At Home limit switch is reached, toggle this bit to put the drive back in Find Home mode. Once the At Home limit switch is hit, whether it is wired to the encoder
option or a digital input, the drive will revert to mode selected by P313 [Actv SpTqPs Mode]. Movement may result.
Bit 1 “Home DI” – Configures the homing function to use a switch (digital input). When this bit is on and Bit 2 “Home Marker” is off, the homing function is
configured as home switch mode. When this bit is on and Bit 2 “Home Marker” is on, the homing function is configured as home marker-switch mode.
Bit 2 “Home Marker” – Configures the homing function to use a marker input. When this bit is on and Bit 1 “Home DI” is off, the homing function is configured as
home marker mode. When this bit is on and Bit 1 “Home DI” is on, the homing function is configured as home marker-switch mode. When using this function verify
that the Z Channel of the encoder module is enabled (Bit 0 “Z Chan Enbl” = 1).
Bit 3 “Return Home” – Configures the homing function as return to home through software. The drive returns to the actual home position set by P737 [Actual Home
Psn]. A start command is required to set this bit.
Same as other homing mode, the drive will resume normal operation after the return home procedure.
Bit 4 “Psn Redefine” – Sets the position feedback P847 [Psn Fdbk] to the actual home position P737 [Actual Home Psn].
Bit 5 “Homing Alarm” – Enables the home running alarm when the homing function is active.
Bit 6 “Home DI Inv” – Changes polarity of the switch input (digital input).
Bit 7 “Hold At Home” – Configures the drive to hold the home position after completing the homing function. A new start command is required for the drive to
resume normal operation.
Options
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Default 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
0 = Disabled
1 = Enabled
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Default 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
0 = Disabled
1 = Enabled