CANopen Programmer's Manual - Maccon.de

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6: Homing Mode Operation CANopen Programmer’s Manual Homing Overview Homing is the method by which a drive seeks the home position (also called the datum, reference point, or zero point). There are various methods of achieving this using: limit switches at the ends of travel, or a dedicated home switch. Most of the methods also use the index pulse input from an incremental encoder. The amplifier performs homing operations in Homing Mode (Mode Of Operation [index 0x6060, p. 64] =6). The Homing Function The homing function provides a set of trajectory parameters to the position loop, as shown below. The parameters are generated by the homing function and are not directly accessible through CANopen dictionary objects. They include the profile mode and velocity, acceleration, and deceleration data. Home Offset Homing Method Homing Speeds Home Velocity Fast / Slow Homing Acceleration Homing Function Trajectory Parameters Trajectory Generator Position Demand Position Loop Initiating and Verifying a Homing Sequence A homing move is started by setting bit 4 of the Control Word object (index 0x6040, p. 58). The results of a homing operation can be accessed in the Status Word (index 0x6041, p. 58). Home Offset The home offset is the difference between the zero position for the application and the machine home position (found during homing). During homing the home position is found and once the homing is completed the zero position is offset from the home position by adding the Home Offset to the home position. All subsequent absolute moves shall be taken relative to this new zero position. This is illustrated in the following diagram. Homing Speeds There are two homing speeds: fast and slow. The fast speed is used to find the home switch and the slow speed is used to find the index pulse. (See the Homing Speeds object [index 0x6099, p. 185]) Homing Acceleration Homing Acceleration (index 0x609A, p. 185) establishes the acceleration to be used for all accelerations and decelerations with the standard homing modes. Note that in homing, it is not possible to program a separate deceleration rate. 166 Copley Controls
CANopen Programmer’s Manual 6: Homing Mode Operation Homing Methods Overview There are several homing methods. Each method establishes the: Home reference (limit or home switch transition or encoder index pulse) Direction of motion and, where appropriate, the relationship of the index pulse to limit or home switches. Legend to Homing Method Descriptions As highlighted in the example below, each homing method diagram shows the starting position on a mechanical stage. The arrow line indicates direction of motion, and the circled H indicates the home position. Solid line stems on the index pulse line indicate index pulse locations. Longer dashed lines overlay these stems as a visual aid. Finally, the relevant limit switch is represented, showing the active and inactive zones and transition. Index pulse location Index Pulse Positive Limit Switch Starting position Home position Mechanical Stage Limits Copley Controls 167 H H Axis Starting position Sw itch inactive Sw itch active Sw itch transition Direction of motion Note that in the homing method descriptions, negative motion is leftward and positive motion is rightward.
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CANopen Programmer's Manual - Maccon.de

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