Digitax HD M753 Control User Guide
117
Issue Number: 3
Method 7 to 14: Homing on home switch and index pulse
These methods use a home switch, which is active over only a portion of
the travel; in effect the switch has a 'momentary' action as the axis's
position sweeps past the switch. Using the methods 7 to 10, the initial
direction of movement shall be to the right, and using methods 11 to 14
the initial direction of movement shall be to the left except if the
home switch is active at the start of the motion. In this case the initial
direction of motion shall be dependent on the edge being sought.
The home position shall be at the index pulse on either side of the rising
or falling edges of the home switch, as shown in Figure 9-12
home switch and index pulse - positive initial motion
Homing on home switch and index pulse - negative initial
on page 117. If the initial direction of movement leads away from
the home switch, the drive shall reverse on encountering the relevant
limit switch.
Figure 9-12 Homing on home switch and index pulse -
positive initial motion
Figure 9-13 Homing on home switch and index pulse -
negative initial motion
Method 15 and 16: Reserved
These methods are reserved.
Method 17 to 30: Homing without index pulse
These methods are similar to methods 3 to 14 except that the home
position is not dependent on the index pulse but only dependent on the
relevant home transitions. For example methods 19 and 20 are similar to
methods 3 and 4 as shown in Figure 9-14
Figure 9-14 Homing on positive home switch
Method 31 and 32: Reserved
These methods are reserved.
Method 33 and 34: Homing on index pulse
Using these methods, the direction of homing is negative or positive
respectively. The home position shall be at the index pulse found in the
selected direction as shown in Figure 9-15
Figure 9-15 Homing on index pulse
Method 35: Homing on the current position
In this method, the current position shall be taken to be the home
position. This method does not require the drive device to be in
operational enabled state.
Use of controlword and statusword
The homing mode uses some bits of the controlword and the statusword
for mode-specific purposes. Table 9-89
Definition of bits 4 and 8 of the
on page 117 defines the values for bits 4 and 8 of the
controlword.
Table 9-89 Definition of bits 4 and 8 of the controlword
Table 9-90 Definition of bits 10 and 12 of the statusword
Bit
Value
Definition
4
0
Do not start homing procedure.
1
Start or continue homing procedure.
8
0
Enable bit 4.
1
Stop Axis according to the configured Slow
down or Quick stop ramp
Bit 12
Bit 10
Definition
0
0
Homing procedure is in progress.
0
1
Homing procedure is interrupted or not started.
1
0
Homing is attained, but target is not reached.
1
1
Homing procedure was completed
successfully.
0
0
Homing error occurred, velocity is not 0.
0
1
Homing error occurred, velocity is 0.
1
X
Reserved.
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