Keba ServoOne Series, User Manual

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Functionality
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Functionality
9 Functionality
9.1 Homing
9.1.1 "Drive-controlled homing" command
To establish the dimensional reference on the usage of relative encoder systems, the
command S-0-0148 Drive-controlled homing is to be used. As soon as this command
has been set and enabled by the master, the drive moves under position control with an
internal torque profile generator, taking into account S-0-0041 Homing velocity 1 (move
and wait for homing cams) and P 3031 Homing velocity 2 (search for the zero point on
moving to zero point) as well as S-0-0042 Homing acceleration, based on the strategy
saved in P 2261 Homing method. The "Encoder system in homing" status in parameter
S-0-0403 Position feedback value status is deleted on starting the homing run (if set
previously) and set again after successful homing.
For further information on the topic of homing and on the methods available, please
refer to the Application Manual ServoOne.
9.1.2 SERCOS encoder 1 / encoder 2 setting
The ServoOne has a maximum of three independent encoder interfaces. The
assignment of these encoder interfaces to the logical SERCOS position encoder
interfaces 1 and 2 is via the parameter P 0530 Channel selection SERCOS encoder 1
and P 0531 Channel selection SERCOS encoder 2. The homing is undertaken using
the position encoder defined by the active operation mode (cf. also chapter 4.2).
9.1.3 Homing speed
The homing speed is specified via S-0-0041 (search for the homing cam) and P 3031
(search for the zero point). The unit as well as the number of decimal places correspond
to the velocity weighting in S-0-0044.
9.1.4 Homing acceleration
The homing acceleration is specified via S-0-0042. The unit as well as the number of
decimal places correspond to the acceleration weighting in S-0-0160.
9.1.5 Homing method
The type of homing run is selected via P 2261. The various methods are described in
the Application Manual ServoOne.
The SERCOS profile parameter S-0-0147 for the definition of the homing method is not
yet supported.
9.1.6 Reference distance 1 and 2
The reference distance 1 (2) (S-0-0052, S-0-0054) describes the distance between the
machine zero point and the homing point referred to the motor measuring system. After
the homing, the position actual value is calculated from the reference distance and the
reference distance offset. The weighting is specified corresponding to S-0-0076. The
two parameters relate to the SERCOS encoders 1 and 2.
9.1.7 Reference distance offset 1 and 2
The reference distance offset 1 and 2 (S-0-0150, S-0-0151) describe the distance
between the reference mark for the position encoder and the homing point. The two
parameters relate to the SERCOS encoders 1 and 2.
9.1.8 Homing cam, limit switches
The signal from the homing cam can be linked to one of the digital inputs, the inputs
ISD00…ISD06 are available. Depending on the method, the limit switches can also be
used for homing.