Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6
www.engelantriebe.de
page 19
Speed
Travel speed (rotational speed) to the target position.
Unit: [RPM]
The speed ramps can be adjusted under
OPTIMISATION / SPEED CONTROLLER
;
they
are valid for all positioning targets.
Turntable movement /
Turntable direction
see chapter 4.3.4 Turntable positioning mode
4.3.2 Homing
Homing serves for the detection of a defined machine position. It is normally mandatory with the use of angle sensors
with "single turn" characteristics.
In I/O mode the homing starts automatically with the first or each new enable of the drive (selectable).
In CANopen
mode the homing takes place through selection with
modes of operation
and starts through the
controlword
.
The drives support various homing methods:
Referencing to limit switches / reference switches
(
homing method
:
17, 18)
The drive initially approaches the active edge of the switch at "Speed during search for switch", reverses and then
travels from the switch with a slower "Speed during search for zero". The position at which the inactive edge of the
switch appears is evaluated as the reference position.
Referencing to limit switches / reference switches in consideration of the index pulse (
homing method
:
1, 2)
This method eliminates tolerances of the switching point of the limit switch. The drive initially approaches the active
edge of the switch at "Speed during search for switch", reverses and then travels from the switch with a slower "Speed
during search for zero" and remains there. After the recognition of the inactive edge, the next zero pulse, i.e. the next
zero crossing of the rotor angle detection, is interpreted as the reference position.
The switching point of the limit switch should be adjusted as close as possible to the centre of two zero crossings.
The display of the rotor angle under DSerV
MONITOR / ROTOR ANGLE
can be used as an aid for this purpose.
Referencing to a mechanical stop (
homing method:
-17, -18)
The drive moves with "Speed during search for zero" and with the adjusted current limit in the specified direction
against a (hard, insofar as possible) mechanical stop. The spontaneous rise in current as well as the abrupt halt is used
as a criterion for reaching the reference position.
Attention !
When referencing against mechanical stops...
...
specify the lowest possible speeds to keep dynamic forces to a minimum on
reaching the stop!
...
high output forces can arise!
Calculate or estimate the force arising from the specified current limit and test its
effect on the system.
Referencing to current position (
homing method:
35)
This method adopts the current position as the reference position. No movement of the drive takes place.
