Danaher Motion
06/2005
Single-Axis Motion
<axis>.In1
Returns the state of the drive digital input 1 (ON or OFF).
<axis>.In1Mode
Specifies the functionality of the drive digital input 1. The value 16
(keyword capturing) selects the capture input.
<axis>.In2
Returns the state of the drive digital input 2 (ON or OFF).
<axis>.In2Mode
specifies the functionality of the drive digital input 2. The value 16
(keyword capturing) selects the capture input.
<axis>.In3
Returns the state of the drive digital input 3 (ON or OFF).
<axis>.In3Mode
Specifies the functionality of the drive digital input 3. The value 16
(keyword capturing) selects the capture input.
4.2.2. Homing
Most machine-axes need to establish a soft home reference position. This
user-specified homing program is generally run with the power-up cycle of
the machine or with a manual-mode. The soft home reference position
(0000….) is established by a homing program for the hard-home plus any
marker-pulse (for the integrity between the controller and axis-mechanics)
with
HOMEOFFSET
(the distance from the hard home).
The hard-home position on a direct drive axis is usually assigned by the
once-per-revolution marker pulse of the encoder (incremental, sine encoder
or ENDAT encoder) or the zero-crossing position of a resolver (see
HOMETYPES
). However, for the machine-axis with a gear-ratio (geared,
belted, or ball screw, etc.), a more complicated procedure is required for the
relationship (integrity) between the controller and axis-mechanics of the
homing program. In these cases, it is common to place a micro-switch or
proximity-switch on the axis for the indication of the hard-home-reference
position.
NOTE
This home-position switch is placed on one end of the axis
(inside the mechanical end of the travel-limits of the axis) with
the switch tripping mechanism designed such that switch-
circuit is closed on one side of the hard home-position and
open on the other side of the hard home-position.
The switch-circuit (high/low) provides the controller-input information for the
direction of the home position.) Other machine axes may use absolute-
position-device designs, so the integrity between the controller and axis
mechanics is established automatically on the power-up of the machine
(
HOMETYPES
). The machine position-integrity is established similarly to an
axis that only rotates 360°.
The drive executes the
HOME
procedure. When you start the homing
procedure on an axis
,
the drive immediately starts executing the homing
procedure. The axis properties used to control the homing procedure are:
<axis>.HomeAcceleration
Specifies the acceleration and deceleration to be used
during the homing procedure (with the inclusion of
HOMEOFFSET
or
HOMEDISTANCE
).
<axis>.HomeDirection
Specifies the direction of the home search movement.
Application-dependant instruction for the model:
HOME
to a hard-stop requires a movement in one
direction. However, home to a switch-transition at one
end of the axis-travel requires the direction for a
closed-switch to be opposite that of an open-switch.
<axis>.HomeDistance
Sets the distance from the soft-home (position: 0000….
within the MC, see
HOMEOFFSET
) and the start
position for any given program as you define.
A1.HomeDistance=5000
commands the axis to go
to position 5000 from the soft home (position: 0000….)
and stay there.
M-SS-005-03 Rev
E
99
