8-22
Drive Functions
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
2. Check whether distance home switch edge-reference mark is within
allowed distance range. To do this, you can proceed as follows:
•
If not yet done, first enter encoder-specific value in
P-0-0153,
Optimum distance home switch-reference mark
.
Note:
The value in P-0-0153 refers to the encoder to be homed as
determined in S-0-0147. If a second encoder has to be homed
that requires different values in P-0-0153, this parameter has
to be adjusted to the respective encoder to be homed before
the C0600 command is started!
•
Carry out homing command C0600 with
S-0-0299, Home switch
offset
= 0 with setting "stop after homing" in S-0-0147
•
If distance outside range 0.25...0.75 * (2 * P-0-0153), error
message
C0602 Distance home switch - reference mark
erroneous
is generated. In this case enter value from
S-0-0298,
Reference cam shift
in
S-0-0299, Home switch offset
!
•
Check: When homing is repeated value "0" should be displayed in
S-0-0298.
CAUTION
Property damage at the installation caused by
exceeding the allowed travel range!
⇒
The "activated" range of the home switch has to
reach beyond the next end of travel range because
otherwise axis end position detection is impossible!
Notes on Commissioning for Relative Encoders (Reference
Marks not Distance-Coded)
To establish the position data reference of an encoder (of groups 1, 2, 3)
to the axis, the distance between the dedicated point identified on the
drive side and the reference point of the axis, as well as the position of
the reference point compared to the axis zero point have to be entered.
To do this the following steps have to be carried out:
1. First set parameters below to value "0":
•
S-0-0052, Reference distance 1/S-0-0054, Reference distance 2
•
S-0-0150, Reference offset 1/S-0-0151, Reference offset 2
2. If encoder reference marks are not to be evaluated, make
corresponding settings in
S-0-0147, Homing parameter
(default
setting: encoder reference marks are evaluated!)
3. For initial commissioning set parameters for homing procedure to low
values:
•
S-0-0041, Homing velocity
(e.g. 10 rpm)
•
S-0-0042, Homing acceleration
(e.g. 10 rad/s²)
4. Execution of command
S-0-0148, C0600 Drive-controlled homing
procedure command
Distance Correction
Home Switch Edge-
Reference Mark
Settings for Axis-Side Position
Data Reference of Actual
Position Values
Courtesy
of
CMA/Flodyne/Hydradyne
▪
Motion
Control
▪
Hydraulic
▪
Pneumatic
▪
Electrical
▪
Mechanical
▪
(800)
426-5480
▪
www.cmafh.com
