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
Figure 16: Home to Sensor and Marker, Example
When the drive sees the Home Initiate, it accelerates the motor to the Home Velocity.
The motor continues at that velocity until it first senses the Home Sensor input. It continues at the same velocity until the
motor’s encoder marker channel is sensed. The rising edge of the motor’s encoder marker channel is used to establish the
reference position. Once the home reference is detected, the motor decelerates to a stop and moves to the offset position.
Home Sequence
1. If on sensor then back off (if enabled)
2. Search for sensor
3. Search for marker
4. Go to offset (2.0 Revs)
5. Set feedback position equal to End of Home Position
Figure 17: Home Velocity Profile
NT
Motor
Gear Reducer
External
Home Sensor
Direct
ion
-
+
Velocity
Time
Sensor
Back off
Sensor
Marker
+ 100
- 100
+ 100