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HARSFEN0602
Absolute position control in the single-feedback position-control mode.
Relative work in the single-feedback position-control mode. For example, an axis in a machine
may be homed by a sensor of the edge of the product the machine works on. The position
referencing of the axis becomes relative to the product.
Homing of the main position counter (PY) typically serves for:
Absolute position control in the dual-feedback position-control mode.
Relative work in the dual-feedback position-control mode.
In the single-feedback position-control mode: Fixing the origin for the external position
command-see Section
12.2.1.
In the homing process, a trap is set for the event of reaching a desired position. The motor
travels until an expected event occurs. The event marks that the motor is now in a known
absolute position. This known position, if set to the position counter at the time of the event,
makes the position reading of the Amplifier absolute.
The looked-for event may be one of the limit switches (RLS or FLS), the home switch, the
encoder index or the digital inputs. The capture accuracy depends, however, much in the
homing event selection. If a HOME or an INDEX signal is selected as the captured event,
then the captured position will not miss. If another digital input is selected, the sensing delay
for the switch is d=(0.004*TS+IF[N]) msec, and VX*d/1000 counts may be missed.
Example
Suppose:
Parameter Symbol Value
Torque controller sampling time,
usec
TS 50
Input filter width for digital input
#1, msec
IF[1] 2
Motor main speed, count/sec VX 20000
When homing on Digital Input #1, we expect to miss
()()
count44
1
00
0
250004.020000
1
00
0
]1[IFTS004.0VX
miss
=
+⋅⋅
=
+⋅⋅
=
To capture an event, the event must be first defined by a proper IL[N] setting. For
example, if no digital input is associated to the FLS function, a homing process on the
FLS will never terminate. Moreover, it is legal to un-define the FLS function while a
home search on the FLS is on. The home search will not succeed until FLS is re-
defined.
13.5.2 Homing Programming
The HM[] parameters control The main encoder homing process.
HM[3] defines the trigger event – immediately, or the change of some digital input.
HM[4] is what to do after the event, in addition to position registration. You can
command the amplifier to stop immediately, or to flag a digital output.
HM[5] defines if and how to update the main encoder counter – do nothing, set a
new value, or shift by a known amount.
HM[1]=1 arms the homing process (sets the trap for the homing event).
Refer the HM[] command in the Command Reference Manual for details.
13.5.3 Homing the auxiliary encoder
The HY homing function gives an additional homing and capturing function.
HY is very similar to HM, except that HY refers the auxiliary Home switch and
Index signals instead of the main Home switch and Index, and that HY can update the value