SMI21
110
b) 1 switch then 1 end:
with the zero defined by the switch
Figure
169
This homing phase is used to search initially for the system "switch" type stop, then for the system
mechanical stop as follows:
- First configure the switch polarity: «
High state active
" or "
Low state active
".
- Depending on the switch position (on the right or left), the user selects the appropriate "
Direction of
rotation
"
and sets a "
Homing Speed
".
- When the switch changes state, the first stop "Switch 1" is detected. The motor is in the "
mechanical zero
"
position.
- To avoid the motor coming into contact with the "Switch 1 " stop each time it returns to the reference
position, "
Offset 1
"
can be set (in encoder pulses) which gives us the difference in position between the
"
mechanical zero
" and the "
software zero
".
- The motor then travels in the opposite direction to find the 2nd mechanical stop "END2".
- When the application torque increases to more than the "
Homing Torque
", the "END2" mechanical stop is
detected, the motor is in the "
mechanical zero
" position.
- To avoid the motor coming into contact with the "END2" mechanical stop each time it returns to the
reference position, "
Offset 2
"
can be set (in encoder pulses) which gives us the difference in position
between the "
mechanical end
" and the "
total stroke
".
- After detecting both stops, the motor positions itself at (END2 – offset 2): the homing phase is complete.
- As a safety measure, if the homing phase is not complete after the "
Max Homing Time
", the motor detects
a "Homing" type error and stops.
Selection of homing
t
Accessible parameters
"mechanical zero"
"software zero"
"mechanical end"
"total travel"
