78
AXOR Industries
Service Manual
NanoMack
®
ver.1 rev.11/'19
4.9 Homing - Settings
3- Homing parameters settings:
T_acc_homing [ms] = 100 rpm * 500 ms =167 ms
3000 rpm
Homing Method
It defines the method of homing (a video will explain how the selected homing work ).
Torque Limit
It allows to limit the max torque in %, during the homing procedure.
Acceleration
This is the acceleration and deceleration time for the homing procedure. It is defined in millisec-
onds and allows values in ranges between 10 and 5000 ms. This time references the maximum
motor speed set by using the "Speed Limit" parameter in the "Speed Loop" window, so the
actual
acceleration
time can be found utilizing the following formula:
Where:
T_acc_homing
= real acceleration time during the homing search process;
Speed_homing
= speed set for the homing process ("Speed" parameter);
Speed_motor
= motor speed limit set on the interface ("Speed Limit" parameter);
T_acc_set
= value inserted in the "Acceleration" parameter.
For
example if you have a motor with the following parameters:
- "Speed Limit" (on the "Speed Loop" window) = 3000 rpm;
- "Acceleration" (on the "Homing" window) =500 ms;
- "Speed" (on the "Homing" window) = 1000 rpm.
The acceleration time set in the homing window is the time that the motor should employ to
accelerate from 0 rpm to the maximum speed (in this case 3000rpm).
The real acceleration time from 0 rpm to 1000 rpm is 167ms, in fact:
T_acc_homing [ms]= Speed_homing [rpm] * T_acc_sett[ms]
Speed_motor[rpm]
