Specifications

PSU - 6 Positioning Drive Setup Ver. 0002
PSU.5 HOME SEARCH
The "Position Drive" is capable of carrying out an automatic home searching process. This
feature is not required in the case of motors with an absolute encoder (ref A0).
PSU.5.1 INCREMENTAL FEEDBACK
This procedure may be activated with the servo system in any initial position. When detecting
the "Reference Point" ( ) it ends the procedure and sets the Machine Reference Zero ( ) as
the coordinate origin for the following movements in absolute coordinates.
Automatic home searching procedure.
Let us consider here that the parameters correspond to a feedback device mounted on
the motor. A later note mentions the parameters corresponding to a direct feedback.
0
It is a random point on machine power-up. Initially, the position feedback PV51 -S51-
(PositionFeedback1) takes that point as coordinate origin.
---- (bH) = before Homing = before executing HOME ----
---- (aH) = after Homing = after executing HOME ----
When executing the HOME instruction, the motor starts turning automatically in search of the
reference point with two possible behaviors:
1
With the home-switch released PV200 -S400- = 0. Solid line.
2
With the home-switch pressed PV200 -S400- = 1. dashed line.
Parameters PP41 -S41- (HomingVelocityFast) and PP1 -F1300- (HomingVelocitySlow) set
the homing feedrate in each phase of the process.
1
20
S51 (bH)
S51 (aH)
S175 S173
S52
S41F1300
S400
I0's
Speed
Position
S150