Motor Power Company DUET_FL 48/10, User Manual

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Setting of digital outputs
In the positioning mode, a superimposed control system can be informed through digital outputs of the
fact that a positioning run has been/is being completed.
The digital outputs can transfer the following information:
 Target reached.
 Remaining distance up to the end of a positioning run reached.
 Homing run performed.
The configuration of the digital outputs is described in chapter 5.5 Digital outputs DOUT0 to DOUT3 .
Homing
Most applications using the DUET_FL servo positioning controller in positioning mode require a zero
position to which the position controller can refer. This position is called
home position and has to be
re-determined whenever the controller is switched on. This is done during a so-called homing run .
Several methods are available for this.
Absolute value encoders (e.g. SinCos encoders with multiturn functionality) are an
exception. These encoders do not need to be homed.
Homing methodsThere are 4 possible targets for the homing run:
 Homing run to the negative or positive limit switch with or without the index pulse of the angle
encoder.
 Homing run (without additional signal) to the negative or positive stop.
 Homing run to the index pulse of the angle encoder.
 No movement.
The homing run is started by enabling the controller or through the field bus. When the homing run is
completed successfully, this is indicated by a set status bit in the device. This status can be evaluated
through a field bus or through a digital output.
The different homing methods are explained in the following sections. The numbers in little circles in
the pictures correspond to the home positions of the corresponding homing method. The number do
not correspond to the homing method numbers defined in CANopen DSP402.
Chapter Parameterizing the homing run describes how to active the homing methods and how to set
the required parameters.
Method 1: Negative limit switch with index pulse evaluation
User Manual DUET_FL „DUET_FL 48/10“ Version 1.1 Motor Power Company