Setup and Reference Guide - Kollmorgen

HOMETYPE
Defines the type of homing function performed. This variable takes on a different meaning depending on the
type of positioning selected (using PCMDMODE). In the following descriptions, “Home switch” refers to a
digital input (IN1-IN3) that has been configured as a home switch by setting INxMODE = 10. “Marker” refers
to an encoder’s index pulse or a resolver zero point:
In Serial Position Mode
(PCMDMODE = 0; also see MH; PFB is normalized to zero after the home search):
0 homing with home switch and marker (PFB = 0).
1 homing with home switch only (PFB = 0).
2 homing with marker only (PFB = 0).
3 present position is home on the rising edge of IN1, IN2, or IN3 with the corresponding
INxMODE value set to 12 (PFB = 0).
4 homing on marker with every drive enable, MH command, or on the rising edge of IN1-IN3
with the corresponding INxMODE set equal to 12 (PFB = 0).
5 homing on marker with every MH command, or on the rising edge of IN1-IN3 with the
corresponding INxMODE set equal to 12 (PFB = 0).
6 homing with home switch and marker (PFB = 0) on every MH command (firmware versions
3.3.0 and later).
7 homing with home switch only (PFB = 0) on every MH command (firmware versions 3.3.0 and
later).
For HOMETYPE 0 to 3, the first execution of the homing command initiates a search for
absolute machine zero. Executing successive homing commands causes an absolute move to
zero position without searching for machine zero. For HOMETYPE 4 to 7, the drive searches
for absolute machine zero on every home command, whether absolute machine zero has
previously been detected or not.
In Analog Position Mode
(PCMDMODE = 1):
HOMETYPES 0 to 7: same as for Serial Position Mode. When homing is complete, PFB is
normalized (set equal to 0) at the current value of the analog input (ANIN). Example: when homing is
complete, if 2 volts are present at the analog input, then PFB will be set equal to 0 at 2 volts of input.
HOMETYPES 50 to 57: same as 0-7, except that when homing is complete, PFB is NOT normalized
at the current value of ANIN. Instead, PFB is normalized at 0 volts input. * Caution! If there is a
voltage on the analog input other than 0v and the drive is enabled, the motor will see this as a “command
to move” and move to the position specified by the analog input voltage.
Firmware revision information: prior to firmware version 3.3.0, only Analog Position Mode HOMETYPES 0
and 3 were available.
Firmware Versions: 3.1.0 and later Type: switch mode (R/W) Units: N/A
Range: 0 to 7
(analog and serial position modes)
Default: 0
EEPROM: Yes
50-57
(analog position mode only)
Drive Status: EN/DIS Opmodes: 8
43