Integrated Synchronous Servo Drives
HFI 22xx / HFI 26xx / HFI 32xx / HFI 37xx
Positioning mode - Homing
Operating Manual Rev. 1.3
www.engelantriebe.de
Page 51
pos./neg. mechanical stop: The drive travels with Speed during search for zero and with the set Current
limit in the specified direction against a mechanical stop that should be designed as firm as possible. The spon-
taneous current increase in conjunction with the speed decrease down to zero is used as a criterion that the
home position has been reached. The adjustable current limit is also used to limit the torque acting on the me-
chanical stop. A value smaller than the motor rated current should be selected here, because higher currents
could be temporarily prevented by the I²t limitation, which in turn would lead to a very delayed detection of
the mechanical stop. Regardless of the polarity parameter (see
chapter 8.2.3.2 General positioning parame-
) a reference run on a positive or negative mechanical stop is carried out in cw and ccw direction of rota-
tion, respectively. After detection of the mechanical stop the motor current is switched off.
Control I/F
Menu, Object, Telegram
I/O mode
positive:
On positive mechanical stop
negative:
On negative mechanical stop
CANopen
positive:
Homing Method [6098
h
] = -18
negative:
Homing Method [6098
h
] = -17
EtherCAT
positive:
Homing Method [6098
h
] = -18
negative:
Homing Method [6098
h
] = -17
EtherNet/IP
positive:
Homing Method [6098
h
] = -18
negative:
Homing Method [6098
h
] = -17
PROFINET
positive:
Standard Telegram 9: SATZANW = 1xxx xxxx 1110 1110
negative:
Standard Telegram 9: SATZANW = 1xxx xxxx 1110 1111
(not available via ENGEL telegram 100)
Current limit: Specifies the current limit for homing on pos./neg. mechanical stop.
Control I/F
Menu, Object, Telegram
I/O mode
Value in [A
spk
] (sine peak value)
CANopen
Current Threshold Homing [2009
h
]
EtherCAT
Current Threshold Homing [2009
h
]
EtherNet/IP
Current Threshold Homing [2009
h
]
PROFINET
Current Threshold Homing [2009
h
]
(not available via telegrams, must be directly addressed)
Attention!
When referencing against a mechanical stop …
… specify the lowest possible speed to keep dynamic forces acting on the me-
chanical stop to a minimum!
… high output forces may occur!
Calculate or estimate the force arising from the specified current limit and
take its effect on the system into account.
Figure 8-25: Selection of pos./neg. mechanical stop
