Target reached option code (0x2054)Torque window time (0x2051)Torque window (0x2050)Torque actual valueTarget reachedTarget torque (0x6071)Target demand (0x6074)Target torque (0x6071) ComparatorSelectorTimerWindowcomparatorLimitfunction130BF176.10(0x6077)Illustration 2.24 Torque Reached - Functional OverviewIllustration 2.25 shows the definitions of the sub-function Torque reached. A window is defined for the accepted torque rangesymmetrically around the velocity. If a servo drive is running within the accepted torque range over the time torque windowtime, the bit target reached (bit 10) in the Statusword is set to 1.Accepted torque rangeTorquewindowTorque notreachedTorque notreachedTorque reachedTargettorqueTorqueTorquewindow130BF177.10Illustration 2.25 Torque Reached Window2.4.4 Homing ModeIn Homing mode, the application reference position of the servo drive can be set. Several homing methods, described in thischapter, are available.This functionality can be commanded using MC_Home_ISD51x (see chapter 6.5.5.1 MC_Home_ISD51x).The home position is the position where an event was triggered. The type of event depends on the homing method (forexample, detection of an edge of a switch). Based on this home position and the home offset (see chapter 7.13.1 Parameter52-40: Home Offset (0x607C)), the new zero position is calculated (see Illustration 2.26).ZeropositionHomeposition130BF569.10Illustration 2.26 Home Offset DefinitionServo Drive Operation Programming GuideMG36D102 Danfoss A/S © 01/2017 All rights reserved. 332 2
