MPH-02, MPB-02, MPD-02
Drive Functions
8-19
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Functional Sequence "Drive-Controlled Homing Procedure"
After starting
C0600 Drive-controlled homing procedure command
(S-0-0148) the drive moves the axis according to the reference travel
direction set in
S-0-0147, Homing parameter
. The command value
profile generated by the controller depends on:
•
S-0-0041, Homing velocity
•
S-0-0108, Feedrate override
•
S-0-0042, Homing acceleration
The controller ignores command values of the control master during the
execution of command C0600!
Note:
If the respective encoder, at the start of command C0600,
should have already been homed, the reference is cleared
first!
See also Parameter Description "S-0-0403, Position feedback
value status"
At the start of C0600, two situations have to be distinguished with regard
to the initial position of a linear axis. The moving part of the axis is
•
within the travel range, the home switch has not been activated,
- or -
•
near the end of the travel range, the home switch has been activated.
When the home switch has not been activated, the drive accelerates the
axis in reference travel direction.
When the home switch has been activated, the drive accelerates the axis
against the reference travel direction. In the case of non-distance-coded
encoders, the drive reverses the direction of motion for searching the
dedicated point when the home switch is detected to be "not activated". In
the case of distance-coded encoders, the search of dedicated point is
carried out against the reference travel direction.
In the case of rotary axes, a home switch can be required when several
encoder reference marks occur over the travel range. The behavior
during the homing procedure, regarding the home switch status,
corresponds to that of linear axes!
To limit acceleration jumps it is possible to additionally activate a jerk limit.
This is done by entering the value parameter
S-0-0349, Jerk limit
bipolar
.
The process for searching the dedicated point requires axis motion. In the
case of relative encoders with distance-coded reference marks (of
group 4), the axis moves over two neighboring reference marks (see also
section "Motion Range for Homing Encoders with Distance-Coded
Reference Marks").
Note:
For distance-coded encoders it is possible to set "run path" in
parameter S-0-0147. During the homing procedure, it is then
always a distance of the same length that is traveled in the
case of linear axes. This supports the commissioning of
Gantry axes!
In the case of relative encoders without distance-coded reference marks
(of groups 1, 2, 3), the motion of the axis, depending on its initial position,
can reach over the entire travel range.
Command Value Profile for
Homing Procedure
Acceleration Process
Jerk Limitation
Motion Range for Homing
Courtesy
of
CMA/Flodyne/Hydradyne
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Motion
Control
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Hydraulic
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Pneumatic
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Mechanical
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