AMCI SD4840EK, User Manual

Page: 50 / 104

H
OMING THE
SD4840EK
SD4840EK User Manual
ADVANCED MICRO CONTROLS INC.
50
Homing Configurations
The SD4840EK axis must be correctly configured before one of the homing commands will be accepted. One
of the following must be part of the module configuration before you can run the homing commands.
1) Configure one of the DC inputs as a Home Input
2) Configure the SD4840EK to use an encoder and home to the encoder Z-pulse
1) You do not have to configure and use CW or CCW Limits. If you choose to configure the
module this way, then the SD4840EK has no way to automatically prevent overtravel dur-
ing a homing operation. You must prevent overtravel by some external means, or ensure
that the homing command is issued in the direction that will result in reaching the homing
input directly.
2) When using one of the DC inputs as a Home Input, you can use a bit in the network data as
a home proximity input. Using this bit is completely optional.
3) When using an encoder’s Z-pulse as the homing sensor, any DC input you configure as a
Home Input will function as a hardware home proximity sensor. Using this feature is com-
pletely optional.
Homing Profiles
The CW Find Home command is used in all of these examples. The CCW Find Home com-
mand will generate the same profiles in the opposite direction.
Home Input Only Profile
Figure R4.1 below shows the move profile generated by a CW Find Home command when you use the Home
Input without the Backplane_Home_Proximity bit.
Figure R4.1 Home Input Profile
1) Acceleration from the configured Starting Speed to the Programmed Speed
2) Run at the Programmed Speed until the Home Input activates
3) Deceleration to the Starting Speed and stop, followed by a two second delay.
4) Acceleration to the Programmed Speed opposite to the requested direction.
5) Run opposite the requested direction until the Home Input transitions from Active to Inactive
6) Deceleration to the Starting Speed and stop, followed by a two second delay.
7) Return to the Home Input at the configured Starting Speed. Stop when the Home Input transitions from
inactive to active.
If the Home Input is active when the command is issued, the move profile begins at step 5
above.
(CW)
(CCW)
S
P
E
E
D
POSITION
Home Limit
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