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58 www.emersonct.com SM-EZMotion Module User Guide
home reference.
Acceleration
Average Acceleration rate used during the home. Units are
specified on the User Units View.
Deceleration
This is the average Deceleration rate used at the end of the
Home move in user units.
If on sensor... Group
These radio buttons determine how the system reacts if the
Home.#.SensorTrigger is already active when the home is
initiated.
'Back off before homing' Radio Button
If this radio button is set, the drive will back off the sensor
before beginning the home. It does this by moving the
direction opposite to that specified by the sign of the home
velocity. It continues moving in this direction at the target
home velocity until the sensor deactivates. The motor then
decelerates to a stop and performs a standard home.
'Go forward to next sensor' Radio Button
If this radio button is set, then the system will ignore the
sensor that is active when the home is initiated, and move
in the proper direction until the first low to high transition of
the Home Reference signal.
Home Offset Group
The Home Offset group has two buttons, the calculated
Offset Radio Button and the Specified Offset Radio Button.
Calculated Offset Radio Button
The calculated offset is defined as the distance traveled
during deceleration ramp from the home velocity to a stop
plus the distance traveled at the home velocity for 1600µs.
This extra distance is used to guarantee that the motor will
not need to backup after the deceleration ramp.
Specified Offset Radio Button
The specified offset allows the user to choose an exact
offset from the Home Reference point.
The commanded motion will stop at exactly the offset
distance away from the reference point as specified. If the
specified offset is smaller than the calculated offset, the
motor will decelerate to a stop and then back up to its final
offset position.
Limit Distance
LimitDistEnable
This checkbox enables the specified Home Limit Distance.
The Limit Distance parameter places an upper limit on the
incremental distance traveled during a home. If no home
reference is found in this distance, the motor will decelerate
to a stop at the limit distance and activate the
Home.#.LimitDistHit source.
End of Home Position
This parameter defines the position at the completion of
the home. This defaults to 0.0 such that at the end of a
home, the Feedback Position and the Commanded
Position are set to 0.0.
If you wish your Feedback Position to be something other
than 0.0 at the end of a home, then enter the exact desired
position here.
Below is a diagram of a home using the "Back off before
homing" radio box, a Home Reference of "Sensor", and
using a "Calculated Offset".
Home Sources and Destinations
Sources
Home.AbsolutePosnValid - This source is activated when
a Home is successfully completed. It indicates that the
device has been homed properly. It is will be deactivated
by the Home.#.Initiate destination, an encoder fault, a
reboot, or when the device is powered down, unless using
Auxiliary Logic Supply (ALP).
Home.AnyCommandComplete - This source is activated
when any home motion command is completed. If a drive
stop destination is activated before the home has
completed, this source will not activate. It will be
deactivated when another home is initiated.
Home.#.Accelerating - This source is active while a home
is accelerating to its target velocity. Once the home
reaches the target velocity, the Home.#.Accelerating
source will deactivate. This source will also activate during
the "back off sensor" motion before the actual home.
Home.#.AtVel - This source activates when the home
reaches its target velocity. It deactivates when a home
deceleration ramp begins. Home.#.AtVel will not be
activated during the "back off sensor" portion of the home.
Home.#.CommandComplete - The
Home.#.CommandComplete source will activate when the
specific home completes its deceleration ramp. It will
remain active until the specific home is initiated again. If the
drive stop destination is used during a home, then the
Home.#.CommandComplete will not activate.
Home.#.CommandInProgress - Activated when the Home
is initiated and remains active until all motion related to the
Home has completed.
Home.#.Decelerating - This source is active while a home
is decelerating from its target velocity. Once the home
reaches zero velocity (or its' new target velocity), the
Home.#.Decelerating source will deactivate. This source
will also activate during the "back off sensor" motion before
the actual home.
Home.#.LimitDistHit - This source is activated when the
home reference is not found before the Home Limit
Distance is traveled. It will remain active until the home is
initiated again.