How to Home SERCOS® Drives
The home switch should be connected to the drive input. The ideal position for the source switch is 180 degrees away from the zero pulse of the resolver or the top of the encoder when the movement is in the direction back towards the specified source. Placement of this transition within a band of +/- 45 degrees from the resolver null or encoder marker pulse results in a homing fault (unless the home fault is disabled by the drive's configuration software). The placement position of the switch can be determined by reading the home switch placement error parameter, SERCOS® IDN S-0298 or IDN US-0298, if supported by the drive.
The homing sequence is divided into two steps:
During either step, a Halt, FastStop or DisableDrive function sent to the motion controller will cause homing to abort with an AXIS_SUMMARY_FLT and leave the axis in an un-homed condition. If the Hold function is issued during the first step, homing is aborted with an AXIS_SUMMARY_FLT, leaving the axis in an un-homed condition. Hold and Resume functions are allowed during the second step.
NOTE: During this step, the drive searches for a reference point switch when moving in the specified source direction. The drive, depending on the drive manufacturer, may reverse direction if it encounters an EOT switch or if it encounters the home switch but not in the specified homing direction. (See the homing description in your SERCOS® drive manual).
In general, this operation involves the following events:
