Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS, Функциональное описание

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ECODRIVE03-FL*-04VRS Functions
8-13
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
The further steps are outlined below.
⇒
Verify the corresponding position encoder type parameter
(C002/C005) for the correct settings
⇒
Set parameter C011, Reference distance to 0.
⇒
Set parameter C009, Homing velocity and
C009, Homing acceleration to low values.
⇒
Execute the homing function
The command should have been completed without error. The machine
zero point is at the position of the first reference mark of the distance-
coded measuring system, since the reference distance was set to "0" in
parameter C011. The actual position value should now be absolute as
referenced to this preliminary machine zero point. To set the correct
machine zero point, the following steps can now be taken:
⇒
Move the axis to the desired machine zero point and enter the actual
position value indicated there in C011, Reference distance with the
inverse operational sign.
or:
⇒
Move the axis to position feedback value = 0 and measure the distance
between the current position and the desired machine zero point.
Enter this distance in C011, Reference distance.
After once again executing the homing command, the position feedback
value should be referenced to the desired machine zero point.
Parameters C009, Homing velocity and C009, Homing acceleration
can now be set to their final values.
Home Switch Evaluation with Distance-Coded Reference
Marks
Evaluating a home switch in conjunction with homing of a distance-coded
measuring system serves only one purpose: staying within the allowed
travel range.
If the home switch is not evaluated, the drive always traverses the
distance in the selected homing direction which is needed to detect 2
adjacent marker positions.
This distance is
a
v
s
f
×
+ ∗ =
2
) Resolution Feedback C013 (
2
max Re
C013: Value in parameter C013 Distance-coded reference distance 1
v: Value in C009 Homing velocity (in IU/s)
a: Value in C009 Homing acceleration (in IU/s
2
)
s
f Re max
maximum travel distance for homing with distance-coded
reference marks
C003:
encoder 1 resolution
C006: encoder 2 resolution
Fig. 8-11: Travel distance for homing with distance-coded reference marks
If the distance between the drive and the limit of the travel range in the
homing direction is smaller than the necessary travel distance S
Refmax
, the
drive can leave the allowed travel range and do mechanical damage to
the machine. To prevent such an occurrence, do the following
•
make sure that the distance of the axis from the travel limit at start of
the homing command is greater than the max. necessary travel
distance S
Refmax
, or
•
evaluate the home switch.
Result of the Homing Command
Increased Reliability with a
Home Switch