Rockwell Automation Allen-Bradley Micro850, Оригинальное руководство пользователя

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116 Rockwell Automation Publication 2080-UM002L-EN-E - November 2021
Chapter 7 Motion Control
2. Once Home Abs switch On
→
Off is detected, start to detect first Ref Pulse
signal;
3. Once the first Ref Pulse signal comes, record the position as mechanical
home position, and decelerate to stop;
4. Move to the configured home position. The mechanical home position
recorded during moving right sequence, plus the home offset configured
for the axis in the Connected Components Workbench software.
Scenario 4: Moving part at left (negative) side of Lower Limit switch before homing starts
In this case, the homing motion fails and moves continuously to the left until
drive or moving part fails to move. User needs to make sure the moving part is
at the proper location before homing starts.
MC_HOME_REF_PULSE
For Homing against Lower Limit switch, one positive home offset can be
configured; for Homing against Upper Limit switch, one negative home offset
can be configured.
MC_HOME_REF_PULSE (3) homing procedure performs a homing operation
against Limit switch, plus fine Ref Pulse signal. The actual motion sequence is
dependent on the limit switch configuration, and the actual status for the
switches before homing starts—that is, when the MC_Home function block is
issued.
Scenario 1: Moving part at right (positive) side of Lower Limit switch before homing starts
The homing motion sequence for this scenario is as follows:
1. Moving part moves to its left side (in negative direction);
2. When Lower Limit switch is detected, the moving part decelerates to
stop, or stops immediately, according to Limit Switch Hard Stop
configuration;
3. Moving part moves back (in positive direction) in creep velocity to detect
Lower Limit switch On
→
Off edge;
4. Once Lower Limit switch On
→
Off edge is detected, start to detect first
Ref Pulse signal;
5. Once the first Ref Pulse signal comes, record the position as the
mechanical home position, and decelerate to stop;
6. Move to the configured home position. The mechanical home position
recorded during moving back sequence, plus the home offset configured
for the axis through the Connected Components Workbench software.
Scenario 2: Moving part on Lower Limit switch before homing starts
The homing motion sequence for this scenario is as follows:
1. Moving part moves to its right side (in Positive direction) in creep
velocity to detect Lower Limit switch On
→
Off edge;
IMPORTANT
If Lower Limit switch or Ref Pulse is not configured as Enabled,
MC_HOME_REF_PULSE (3) homing fails (ErrorID: MC_FB_ERR_PARAM).