SMI21
111
c) 1 end then 1 switch:
with the zero defined by the mechanical switch
Figure
170
This homing phase is used to search initially for the system mechanical stop, then for the system "switch"
type stop as follows:
- First configure the switch polarity: «
High state active
" or "
Low state active
".
- Depending on the "END1" stop position (on the right or left), the user selects the appropriate "
Direction of
rotation
»
and sets a "
Homing Speed
".
- When the application torque increases to more than the "
Homing Torque
", the "END1" mechanical stop is
detected, the motor is in the "
mechanical zero
" position.
- To avoid the motor coming into contact with the "END1" mechanical 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 stop "Switch 2".
- When the switch changes state, the 2nd stop "Switch 2" is detected, the motor is in the "
mechanical end
"
position.
- To avoid the motor coming into contact with the "Switch 2" 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 (Switch 2 – 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"
"total travel"
"mechanical end"
