ADLINK Technology AMP-204C, User Manual

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Motion Control Theory 84
AMP-204C / AMP-208C
Figure 4-9: Home mode 0 (Case: ORG)
When axis parameter PRA_HOME_EZA is set to 1 it means to
align with EZ, move forward to homing direction, until the first EZ
is detected and place control axis at the edge of EZ, then the
home movement is completed.
The motions are described below:
• Relevant axis parameters setup
Axis parameters
Axis
parameter
values
Description to axis parameter value
PRA_HOME_MODE 0 Home mode 0
PRA_HOME_DIR 0 Homing by moving forward in positive direction
PRA_HOME_EZA 1 Further align with signal EZ, 0: No, 1: Yes
PRA_HOME_S 0 S-curve factor
PRA_HOME_ACC ACC
Acceleration and deceleration in unit of (distance unit
of measure/sec.
2
)
PRA_HOME_VS VS Initial speed in unit of (distance unit of measure/sec.)
Condition B
Condition A
Condition C Initial position
Home
position
Home
Position
Initial position
VM:
Home searching speed
VO:
Home approaching speed