AMCI SD4840EK, User Manual

Page: 52 / 104

H
OMING THE
SD4840EK
SD4840EK User Manual
ADVANCED MICRO CONTROLS INC.
52
Homing Profiles (continued)
Profile with Overtravel Limit
Figure R4.3 below shows the move profile generated by a CW Find Home command when you use:

CW Overtravel Limit

Home Input without the Backplane_Home_Proximity bit
The profile is generated when you encounter an overtravel limit in the direction of travel. (In this example,
hitting the CW limit while traveling in the CW direction.) Hitting the overtravel limit associated with travel
in the opposite direction is an Immediate Stop condition. The axis will stop all motion and issue a
Home
Invalid
error to your host.
The SD4840EK will stop the axis with an error if both overtravel limits are activated while the unit is trying
to find the home position.
Figure R4.3 Profile with Overtravel Limit
1) Acceleration from the configured Starting Speed to the Programmed Speed
2) Run at the Programmed Speed
3) Hit CW Limit and immediately 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 overtravel limit is active when the Find Home Command is active, the profile will begin
at step 4.
(CW)
(CCW)
S
PE
E
D
POSITION
Home
Limit
Switch
CW
Overtravel
Limit