Setup and Reference Guide - Kollmorgen

Homing Process using digital I/O (see descriptions for INx and INxMODE 10 and 12):
When Home Input is activated for the first time after power-up:
• If home switch is already pressed (see INxMODE = 10), the drive moves in the opposite homing direction,
until home switch is released.
• If home switch is not already pressed, drive moves in the homing direction, until home switch is pressed.
• Drive captures position of first index (or resolver 0) past switch.
• Drive decelerates at DEC to stop.
• Drive goes back to home position using ACC, DEC, and HOMESPD (in firmware versions 3.3.0 and later,
the speed is MISPEED0).
• Drive resets the absolute position (PFB) to 0
Otherwise:
• Drive moves to absolute 0 at HOMESPD.
in pos ack = 0: do not indicate when move is complete
in pos ack = 1: indicate when move is complete
Firmware Versions: 3.1.0 and later Command Syntax: MH [in pos ack]
Opmodes: 8
Range: [in pos ack] 0 or 1 (optional)
Drive Status: EN
MHINVA
MHINVA is a variable which applies to encoder-based systems which use hall switches to commutate. This
variable inverts the hall sensor A feedback, causing the system to read the ‘A’ hall channel as inverted data.
MHINVA = 0: do not invert hall A
MHINVA = 1: invert hall A
Firmware Versions: All Type: switch (R/W) Units: N/A
Range: 0, 1 Default: 0 EEPROM: Yes
Opmodes: All Drive Status: DIS
MHINVB
MHINVB is a variable which applies to encoder-based systems which use hall switches to commutate. This
variable inverts the hall sensor B feedback, causing the system to read the ‘B’ hall channel as inverted data.
MHINVB = 0: do not invert hall B
MHINVB = 1: invert hall B
Firmware Versions: All Type: switch (R/W) Units: N/A
Range: 0, 1 Default: 0 EEPROM: Yes
Opmodes: All Drive Status: DIS
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