SHS EtherCAT HT7, Руководство пользователя

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HOMING:
- Connect switch or proximity sensor (NO or NC) to IN1
- Enable driver (ZSW BIT 3)
- Set maximum frequency - PNU 1 (in homing function it represents home search speed)
- Set minimum frequency - PNU 0 (in homing function it represents sensor disengage speed)
- Start homing (PNU 18) with a parameter 0x01 (HEX) for NC sensor or 0x11 (HEX) for NO sensor on IN1
Sensor not engaged:
When you write PNU 18 the motor starts immediately in CCW direction with maximum speed, then it stops on sensor and starts in CW
direction with minimum speed to disengage sensor then stops and set position register (PNU 10) to 0.
It’s very important that the motor stops with sensor engaged without get over it. To avoid this it is possible reduce maximum
frequency or reduce ramp (PNU 2)
Sensor engaged:
When you write PNU 18 the motor starts immediately in CW direction with minimum speed to disengage the sensor then it stops and
set position register (PNU 10) to 0.
NOTE: If motor starts in wrong direction during homing you must change motor phases connection (swap A1 with A2 clamps).
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