Control Techniques Epsilon EP-P, Reference Manual

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Epsilon EP-P Drive Reference Manual
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Revision A4 www.controltechniques.com
Name
Allows the user to assign a descriptive name to the home sequence up to 10 characters in length.
Home Reference
This parameter determines the signal used as the reference. The parameter can have one of three different values: 'Sensor',
'Marker', or 'Marker then Sensor'. When the home reference is 'Sensor' the rising edge of the 'Home.#.SensorTrigger'
destination is used to establish the home position. When the home reference is 'Marker' the rising edge of the motor encoder's
marker channel is used to establish the home position. When the home reference is 'Sensor then Marker' the home position is
established using the first marker rising edge after the Home.#.SensorTrigger destination activates.
Time Base
Selects the Time Base for the home move velocity and acceleration/deceleration. Real-time and sync are the allowed
selections.
Velocity
Sets the target velocity for the home. The polarity determines the home direction. Positive numbers cause motion in the
positive direction and negative numbers cause motion in the negative direction in search of the home reference.
Acceleration
Average Acceleration rate used during the home. Units are specified on the User Units View.
Deceleration
This is the average Deceleration rate used at the end of the Home move in user units.
If on sensor... Group
These radio buttons determine how the system reacts if the Home.#.SensorTrigger is already active when the home is
initiated.
’Back off before homing’ Radio Button
If this radio button is selected, the drive will back off the sensor before beginning the home. It does this by moving the direction
opposite to that specified by the sign of the home velocity. It continues moving in this direction at the target home velocity until
the sensor deactivates. The motor then decelerates to a stop and performs a standard home.
’Go forward to next sensor’ Radio Button
If this radio button is selected, then the system will ignore the sensor that is active when the home is initiated, and move in the
proper direction until the first low to high transition of the Home Reference signal.
Home Offset Group
The Home Offset group has two buttons, the calculated Offset Radio Button and the Specified Offset Radio Button.
Calculated Offset Radio Button
The calculated offset is defined as the distance traveled during deceleration ramp from the home velocity to a stop plus the
distance traveled at the home velocity for 1600µs. This extra distance is used to guarantee that the motor will not need to
backup after the deceleration ramp.
Specified Offset Radio Button
The specified offset allows the user to choose an exact offset from the Home Reference point. The commanded motion will
stop at exactly the offset distance away from the reference point as specified. If the specified offset is smaller than the
calculated offset, the motor will decelerate to a stop and then back up to its final offset position.
Limit Distance
LimitDistEnable
This check box enables the specified Home Limit Distance.
The Limit Distance parameter places an upper limit on the incremental distance traveled during a home. If no home reference
is found in this distance, the motor will decelerate to a stop at the limit distance and activate the Home.#.LimitDistHit source.
End of Home Position
This parameter defines the position at the completion of the home. This defaults to 0.0 such that at the end of a home, the
Feedback Position and the Commanded Position are set to 0.0. If you wish your Feedback Position to be something other
than 0.0 at the end of a home, then enter the exact desired position here.
Figure 106 is a diagram of a home using the "Back off before homing" radio box, a Home Reference of "Sensor", and using a