Communication / CBC CANopen Communication Board
02.2004
6SE7087-6QX70 (Version AD) Siemens AG
8.5-90
Compendium Motion Control SIMOVERT MASTERDRIVES
Behavior of MASTERDRIVES MC with F01
The axis traverses under speed control at homing approach velocity v
A
[MD7] towards the positive limit switch (reversal cam). When the cam
responds, the axis changes its direction of rotation and travels towards
the Bero. When the Bero responds, the axis decelerates down to
homing creep velocity v
R
[MD6] and changes its direction of rotation.
When the Bero falling edge appears, the axis is decelerated down to
standstill under speed control. It retraces the deceleration path traveled
as a result of the braking operation by executing a position-controlled
return motion (positioning) towards the zero pulse. The axis then
activates "Homing Attained" in the status word via bit ARFD.
Behavior of MASTERDRIVES without F01
The axis traverses under position control towards the positive limit
switch (reversal cam) at the values stored in U006 (homing
acceleration) and U873.01 (homing speed). When the reversal cam
responds, the axis changes its direction of rotation and moves towards
the Bero.
When the Bero responds, the axis changes its direction of rotation and
continues moving at the same velocity in the opposite direction. When
the Bero falling edge appears, the axis is decelerated to a standstill with
the value from U006. It does not retrace the braking path traveled
during the braking operation. It activates "Homing Attained" in the
status word via bit ARFD.
