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CHAPTER 7 – Programmation
SMT-BD2/m
4.1
-
HOMING
SEQUENCE
A homing sequence is defined by:
- the motion speed,
- the acceleration time,
- the deceleration time,
The parameters acceleration and deceleration times define the time with regard to the maximum speed
parameter value. When the motion speed is lower than the maximum speed, the trajectory acceleration
and deceleration times are proportionally reduced in order to maintain the same acceleration and
deceleration values.
- a time out,
- a position reset value,
- the control (5 bits):
Dir
Searching direction: 0 for the positive direction and 1 for the negative direction.
Switch
Homing with switch detection.
Zero
Homing with marker pulse detection.
0rigin
This parameter allows to come back to the home position (motion reversal);
otherwise the motor will be stopped after the braking.
Reset
Load the position reset value in the position counter at the home position.
Homing procedure diagram:
If Switch=1 and Zero=1 or Origin=1, the speed can be reversed by the switch detection or by a limit switch.
Homing procedure diagram with switch only:
When the sequence 0 contains a homing procedure, at power on, no other sequence can be executed before
sequence 0.
Positioning on the origin
(marker pulse)
Switch search (programmed speed)
Switch detection
First marker pulse
out of the switch
Withdrawal from the switch (speed/4)
Start
Switch search (programmed speed)
Switch detection
(home position)
Return to home
position (speed/4)
Start
Loads the position counter
with the Position reset value
Maximum speed
Acceleration time
Deceleration time
Motion speed
