AMD2000 Series - Servo Drive - User Manual
118
DS619-0-00-0019 - Rev 0
ANCA Motion
Procedure command
set and enabled
Procedure command change
bit (Bit 5 status word)
Home switch (IDN 00400)
Latch reference marker pulse
Position feedback
marker pulse
Homing enable (IDN 00407)
Reference marker pulse
registered (IDN 00408)
Figure 10-14: CUCH case 2.2
The CUCH function is as follows;
1. Configure reference distance 1 and 2 (S-0-0052/52 and S-0-0054/54), and reference offset 1 and 2 (S-
0-0150/150 or S-0-0151/151).
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These parameters only need to be commissioned once, if the motor or
encoder setup has changed. If hardware changes have been made, the values in these parameters
may need to be varied.
Warning:
Care must be exercised so that all homing related IDN’s are suitably configured whenever
hardware (e.g. motor or encoder) changes are made, since unexpected behaviour may result.
2. Configure homing parameter (S-0-0147/147) and digital input as index pulse (P-0-0422/33190)
3. Execute CUCH procedure command (S-0-0146/146) by setting its value to 3.
4. The drive resets its actual position to account for calculated offset.
5. At the completion of homing Status Actual Position Value (S-0-0403/403) is set to flag the successful
completion of the DCH function and the DCH function (S-0-0146/146) must be reset to 0 by an external
entity before the drive will undertake other tasks.
The
calculate displacement procedure command
(S-0-0171/171) and
set reference point procedure command
(S-
0-0172/172) must be executed independently.
Drive Controlled Moves
The Drive Controlled Moves (DCM) block allows a set of pre-programmed moves to be stored on the drive. In
DCM mode, the drive will control the system based on the move profile defined by a selected DCM. A DCM is
defined by:
-
Target position
– in absolute or relative (set via P-0-268/33036)
-
Maximum velocity
-
Acceleration
-
Deceleration
-
End delay time
– DCM processing will pause for this period of time at the completion of the move
-
Next move
– identifies the index of the next move in the DCM sequence. If index value is between 1
and 8 (inclusive), the target position at this index will be executed next. This allows multiple DCMs to be
sequenced.
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This ‘reference offset’ does NOT currently get used by the AMD2000, it may do so in future releases.
