Aerotech UNIDEX 600 Series, Руководство пользователя

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Parameters U600 User’s Guide
C-50
Aerotech, Inc.
Version 1.4
decel axis parameters will not be used in the direction reversal from the home limit, if that
occurs, it is instantaneous.
The home cycle feedrate may be increased if the HOMEVELMULT axis parameter is
used.
For all home types, other than type 4, the axis will perform the homing motion even if it is
currently on the home position.
If the axis encounters an EOT limit while homing and the FAULTMASK axis parameter
is set so the EOT limits do not generate faults (this is the default), then it will not generate
faults, but reverse direction and continue the homing cycle. However, if other faultmask
bits are set (such as ABORTMASK) that stop motion on an EOT, then the motion stops
instead of reversing.
The five types of homing cycles are:
HomeType 0 – To Home Limit AND Reference Pulse
HomeType 1 – To Home Limit & then Reverse to Reference pulse, (Aerotech Std.)
HomeType 2 – To Marker
HomeType 3 – To Home Limit Switch
HomeType 4 – Home Position at current Position
C.3.18.1. TYPE 0 - Home to Limit AND Reference Pulse
The home position is found at the home limit switch when the reference pulse is true.
There must be an absolute position where both occur simultaneously. The HomeDirection
is the direction to begin traveling towards the home limit. If the axis encounters the home
switch while traveling in the opposite direction specified by the HomeDirection (this
happens if the axis hits an EOT before the home switch and reverses direction), then it
will pass up the home switch and reverse direction in order to strike the home switch from
the proper direction.
Figure C-8. Home to Limit Illustration
C.3.18.2. TYPE 1 - Home into Limit & Reverse to Reference
Pulse, (Aerotech Std.)
The axis will begin moving in the direction specified by the HomeDirection task
parameter. Once the home limit switch is found, it reverses direction. The home position
is found at the first reference pulse that occurs after the home limit switch is false
following the direction reversal. However, the axis will pass over the reference pulse
(after the direction reversal), reverse direction again (now heading in the original
H o m e
D ir e c tio n
H o m e L im it
M a rk e r