Rexroth Indramat CLM1.4, Manual, Page: 113 / 274

7-16
Functions CLM01.4-LAP-01VRS
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
3.): If the carriage is positioned on the cam when the homing routine
is initialized, it is moved off the cam at 1/4 the velocity designated
in the parameter. Then, the same process as described in 2.) is
followed.
Placement of the Home Switch
As described above, the zero position of the AC servo drive is determined
by contact with the home switch cam. The zero position can also be set in
increments of one motor revolution each through the activation position of
the switch.
The CLM diagnostics ensure that the home switch and the marker pulse
cannot be too close together, by monitoring their switching points. This
eliminates instability in the evaluation of the motor revolution because of
switching tolerances.
If the switching point of the home switch is closer than 1/16 motor
revolution to the marker pulse, the control does not complete the homing
routine but enters fault mode with the error message ’Marker Pulse.’
The home switch must be moved by 1/3 of the feed constant.
Activation of the Home Switch
Activating the home switch must occur so that the switch is completely
closed by reverse motion (movement away from the workpiece).
The cam for activating the home switch must be long enough to ensure
that the activation will not be cancelled while completing the reverse
motion to the travel limit switch of the unit. This is necessary to indicate to
the control the direction the carriage must travel to approach the zero
position.
Because the relationship between the turning direction of the servo motor
and the movement from and to the workpiece is dependent upon machine
construction, the homing direction must be set in a parameter. If no
marker pulse is detected from the encoder within one encoder revolution,
the CLM enters fault mode with the error message ’No Marker Pulse.’
Termination of the Homing Routine
If a stop, interrupt, feed monitoring or mode change command is received
in Manual Mode, the cycle is terminated and must be reinvoked.
In Automatic Mode, the homing routine restarts immediately after the
interrupt or stop is cleared and the start button is pressed.
Following an error or a change in operating mode during the homing
routine, the homing routine must be reinvoked.