AZ
2
USER MANUAL
ST.TEC.003.EN Rev. 2.1
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current detect homing: the home position is achieved when the current of both motors
exceeds the limit set by the parameters; the motor whose current overcomes the threshold
is stopped disconnecting its terminals from the power stage (no voltage applied) for
S115
=
500 ms; every pressure of the limit switches is ignored.
Stop command homing: the home position is achieved when the stop command is pressed
and both motors are stopped reducing the voltage until 0 V, in
S106
ms; if any motor current
exceeds the limit, the drive stops both motors and pass in block state;
The following parameters configure the homing function:
Label
Function
Range
Default
value
SG01
Enables automatic homing at start-up
ON / OFF
OFF
SG02
Enables current detect homing
ON / OFF
ON
S104
Homing voltage
-48 – 48 [V]
-12
S108
High threshold of nominal current control during
homing for motor 1
1 – 11 [A]
5
S208
High threshold of nominal current control during
homing for motor 2
1 – 11 [A]
5
Table 20: homing parameters
SG01
: if enabled, the drive executes a homing procedure at every start without needing any
command;
SG02
: if this bit is set the homing will stop when the current exceeds the homing current
limit otherwise the drive stops the motor when the limit switch is pressed;
S108-S208
: the drive uses two threshold one for start and one for the normal run, in the
same way as described in 4.3.
It is always recommended to execute a homing procedure after the power reset. The drive stores the
encoders count when power turns off but this does not happen if the motors are running in the
moment of the blackout. Enable
SG01
or use limit switches to avoid overtravel and consequent
damages to things or people.
6.3.1.
A
DVANCED PARAMETERS
!
Read carefully the safety precautions reported in 1.6 before modifying any of the
advanced parameters!
In the advanced mode, the user can access to the detailed configuration of the homing overcurrent
functions in the same way as described in 4.3.1 and set different homing current limits for the two
motors, if necessary. See 8.4 for the complete list.
The advanced mode allows to the user to set different parameters for motor 1 and motor 2 for the
homing ramp as described in 4.2. See 8.4 for the complete list.
