EN
User manual DRCS - CanOpen
18
To configure the execution movement of the homing procedure, the following objects must be configured:
-
6099h
“Homing velocity”
parameter 1 “fast speed ” velocity for proximity search
parameter 2 “slow speed” proximity output velocity
-
6083h
“Profile acceleration” acceleration to be used in the movement startup
-
6984h
“Profile deceleration” deceleration to be used when stopping the movement
-
607Ch
“Home offset” offset to be applied to the physical zero position to move the motor zero
The drive includes three possible resetting methods, two based on the search direction of the zero proximity, and one
without the zero proximity:
-
Method 17
: Proximity search in a negative direction
-
Method 37
: Without zero proximity:
In this reset mode, the motor searches for
the zero proximity in the positive direction
of the movement, with the speed set to
“fast velocity”, as soon as the proximity is
detected, the motor stops and exits the
proximity in the opposite direction with the
speed set to “slow velocity “ .
If the proximity is not detected within the
maximum motor stroke or after a timeout,
the reset procedure is interrupted with the
indication of an error.
In this reset mode, the external proximity
to find the zero position is not required,
but the reset setting consists of adjusting
the current position (without moving the
motor) to zero position.
This mode is convenient when the drive
is used without a Camozzi linear actuator
(axis / cylinder), but is configured as “only
motor” via QSet and when only the velocity
profile is wanted, therefore, where the
absolute zero position is not required.
During the homing procedure the “statusword” bits are updated as foolows:
Bit 13
“Homing error”
Bit 12
“Homing atteined”
Bit 10
“Target reached”
Definition
0
0
0
Homing in progress
0
0
1
Homing stopped or not started
0
1
0
Homing stopped
0
1
1
Homing complited successfully
1
0
0
Homing in error
1
0
1
Homing terminated with error
1
1
x
Reserved
-
Method 18
: Proximity search in a positive direction:
In this reset mode, the motor searches for
the zero proximity in the negative direction
of the movement, with the velocity set to
“fast velocity”, as soon as the proximity is
detected, the motor stops and exits the
proximity in the opposite direction with the
velocity set to “slow velocity “ .
If the proximity is not detected within the
maximum motor stroke or after a timeout,
the reset procedure is interrupted with the
indication of an error.
motore
18
proximity
di zero
motore
37
proximity
di zero
17
motore
