8.5.5.2 Method (-9): Leftward direction of travel
With P 0169 MPRO_REF_HOMING_MaxDistance the tracking error is specified in
the positioning range in which the block is detected.
When the block is detected, the system disengages by half the value in parameter
P 0169 MPRO_REF_HOMING_MaxDistance) and the zero point is defined.
An offset can be programmed in the screen.
Image 8.44: Approach block, direction left
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
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8 Motion profile
8.5.6 Method (-7) to (0)
8.5.6.1 Homing method for increment-coded encoders
l
Method (-6): Movement in negative direction
l
Method (-7): Movement in positive direction
See also Section "Increment-coded reference marks" on page 105.
8.5.6.2 Method (-5): Absolute encoder
These homing methods are suitable for absolute encoders (e.g. SSI multi-turn
encoders). Referencing is performed immediately after a mains power up. The
reference position is calculated on the basis of the encoder absolute position plus
zero offset. In the case of a SSI multi-turn encoder, homing with zero point offset = 0
gives the absolute position of the SSI encoder. Referencing again without changing
the setting for the zero point offset does not cause a change of the position. To set
the machine reference point homing method (-12) should be used.
8.5.6.3 Method (-4) and method (-3): Not defined
8.5.6.4 Method (-2): No homing
No homing will be performed. The zero point offset is added to the current position.
When the power stage is first switched on, “Homing completed” is set as the status.
This method is suitable for absolute encoders, provided that no offset compensation
is required. For an offset compensation, please select method (-5).
8.5.6.5 Method (-1): Actual position = 0
The actual position corresponds to the zero point; it is set to 0, meaning the
controller performs an actual position reset. The zero offset is added.
