Control Techniques Epsilon EP-P, Reference Manual

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Epsilon EP-P Drive Reference Manual
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2.5.1 Home Sequence
1. Back off the sensor, if on the sensor. (This step is optional).
2. Move to the external home sensor to establish a home reference point.
3. Next it will move to the Offset position.
4. Then the command and feedback positions are set to the value entered into the End of Home Position.
Homing to the motor’s encoder marker will establish the most accurate and repeatable home position. This method will
position the motor relative to the location of the rising edge of the encoder marker pulse. Most applications will use a sensor
and marker to find an accurate home position in the vicinity of the home sensor.
Several parameters affect how the Home function operates. Each of these parameters are explained in detail on the following
pages.
NOTE
The Home function will NOT be initiated when any other motion command is in progress.
2.5.2 Establishing a Home Reference Position
The first step in setting up a home is to select the desired home reference type. The Home Reference type selected
determines how the Home Reference Position is established. PowerTools Pro allows selection of one of three different Home
Reference types: Sensor, Marker, or Sensor then Marker.
Sensor
Selecting Sensor means the rising edge of the Home Sensor input function is used to establish the home reference position.
Figure 7: Sensor Home Reference Position
Marker
Selecting Marker means the rising edge of the motor’s encoder marker channel is used to establish the reference position.
Figure 8: Marker Home Reference Position
Sensor then Marker
Selecting Sensor then Marker means the reference position is established using the first marker rising edge after the drive
sees the rising edge of the Home Sensor input function.