8-18
Drive Functions
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
0117
0
S
0165
0
S
360degr
s
:
encoder
external
0116
0
S
0165
0
S
360degr
s
:
encoder
motor
RefMarks
RefMarks
−
−
−
−
=
−
−
−
−
=
*
*
S-0-0165: value of S-0-0165, Distance-coded reference offset A
S-0-0116: value of S-0-0116, Feedback 1 Resolution
S-0-0117: value of S-0-0117, Feedback 2 Resolution
s
RefMarks
:
distance of neighboring reference marks
Fig. 8-17:
Distance of neighboring reference marks of rotary encoders with
distance-coded reference marks
The actual motion range of homing the axis corresponds either
•
to the distance of neighboring reference marks including the distance
until detection of the first reference mark and the braking distance at
the end of the homing procedure, when "stop" was selected in
S-0-0147:
α
ω
*
*
2
s
s
s
:
scaling
rotary
a
2
v
s
s
s
:
scaling
linear
2
RefMarks
Ref_1
Refmax
2
RefMarks
Ref_1
Refmax
+
+
=
+
+
=
v,
ω
:
value in S-0-0041, Homing velocity
a,
α
:
value in S-0-0042, Homing acceleration
s
Ref_1
:
distance to the first reference mark
s
RefMarks
:
distance of neighboring reference marks
s
Refmax
:
maximum motion range
Fig. 8-18:
Maximum motion range for homing encoders with distance-coded
reference marks in case of "stop" (S-0-0147)
Note:
The motion range in the case of "stop" depends on the initial
position of the axis at the start of C0600 and is between the
single and double reference mark distance plus the braking
distance!
- or -
•
to the double reference mark distance plus the braking distance at the
end of the homing procedure, when "run path" was selected in
S-0-0147:
α
ω
*
2
*
2
2
s
s
:
scaling
rotary
a
2
v
s
s
:
scaling
linear
2
RefMarks
Refmax
2
RefMarks
Refmax
+
∗
=
+
∗
=
v,
ω
:
value in S-0-0041, Homing velocity
a,
α
:
value in S-0-0042, Homing acceleration
s
RefMarks
:
distance of neighboring reference marks
s
Refmax
:
maximum motion range
Fig. 8-19:
Maximum motion range for homing encoders with distance-coded
reference marks in case of "run path" (S-0-0147)
Note:
The motion range of the axis in the case of "run path" is
always the same! This is advantageous for homing Gantry
axes!
Reference Mark Distance of
Rotary Encoders
Motion Range for Homing
Courtesy
of
CMA/Flodyne/Hydradyne
▪
Motion
Control
▪
Hydraulic
▪
Pneumatic
▪
Electrical
▪
Mechanical
▪
(800)
426-5480
▪
www.cmafh.com
