Drive control and features
68
Position correction
Homing
Normally, before first homing, the actual position of the driven machinery does not
correspond to the internal zero position in the drive position control (for example,
with an incremental encoder after each power-up). Homing establishes a
correspondence between these two positions. During homing, the direction can be
changed by an external latch signal or limit switch.
Homing is implemented according to the CANopen Standard Proposal 402 for
Device Profile Drives and Motion Control. The profile includes 35 different homing
sequences (see the following homing method table and
). The start direction and used latch signals depend on the selected homing
) and the status of the external home switch
signal (
).
A homing sequence (except homing method 35) can be executed only in homing
control mode when the drive is modulating. When homing is activated by the homing
start signal (
), the drive accelerates, as defined by homing
), to homing speed 1 (
). During homing, the direction can only be changed with homing
methods 1…14. Homing speed 1 is maintained until an external latch signal for
homing speed 2 (
) or for the home position is received.
Homing is stopped with an index pulse/z-pulse or switch signal from an external
latch. The actual position is set as the home position (
the drive decelerates to zero speed using homing deceleration (
). Thereafter, the drive uses the position control mode to return to the exact
received latch position.
Homing is performed in an absolute way. Parameter
can be used to specify an absolute difference between the home position and the
end position after homing; this is useful if the home proximity switch cannot be
located at the physical home position.
Summary of Contents for ACSM1 Series
Page 1: ...ABB motion control drives Firmware manual ACSM1 motion control program ...
Page 4: ......
Page 34: ...Drive programming using PC tools 34 ...
Page 86: ...Drive control and features 86 ...
Page 265: ...Parameters and firmware blocks 265 1 100 us 100 µs 2 1 ms 1 ms 3 50 ms 50 ms ...
Page 302: ...Parameter data 302 ...
Page 422: ...Application program template 422 ...
Page 430: ...Appendix A Fieldbus control 430 ...
Page 500: ...Appendix D Application examples 500 ...
Page 508: ...Appendix E Control chain and drive logic diagrams 508 ...
Page 510: ...3AFE68848270 REV H EN 2015 06 26 Contact us www abb com drives www abb com drivespartners ...
