Installation manual

Application note Getting started with e100 AN00187-002
ABB Motion control products 25
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Click on ‘Parameters’ in Mint Workbench’s toolbar and select Homing from the parameter family tree on the left hand side. The
right hand pane will now display a list of all the homing parameters for the axis as shown below:
This section allows all drive parameters associated with homing to be set locally on the drive. The homing type selected here is 0
which corresponds to “Home negative switch” (see the Mint help file for the enumeration of homing types). You could select the
drive to home in a negative direction to the index pulse if there is no switch at hand (Hometype of 4). It doesn’t really matter what
you enter in the parameters for Hometype though as this is modified at runtime when the HOME command is issued. If you have a
switch it is better for testing as you can choose when to toggle the switch which makes it easier to see what is happening. Once
entered these parameters are stored in the drive’s parameter table. The home sequence can be tested by entering the required
command at the Workbench command window.
HOME(0) = 0
Or use the Mint constants….e.g. HOME(0) = _hmNEGATIVE_SWITCH
Note
NoteNote
Note All the scaled values (HOMESPEED, HOMEACCEL etc…) are based on the scalefactor on the MicroFlex e100. #
The drive uses its local scalefactor when homing. This may be different to the scalefactor on the NextMove e100
but it is typical to set the same scalefactor on both. Although we entered a home type on the drive, it is actually
the Nextmove e100 that commands which type of home sequence to perform….the drive is just responsible for
performing this process.
Go online to the NextMove e100
Go online to the NextMove e100Go online to the NextMove e100
Go online to the NextMove e100
On the command line for the NextMove e100 type Home( axis ) = 1 (replace axis with the axis number for the drive you’re testing) .
The number ‘1’ signifies _hmNEGATIVE_SWITCH_INDEX which is the homing type (refer to HOME in the Mint help file for a full list
of homing types available and their associated Mint constants). The MicroFlex e100 should perform a homing move back until the
home switch is detected on DIN0 (or whichever input you selected). It then moves forward again more slowly until it moves off the
switch.
Homing parameters can be set in the drive during the drive setup (as shown above or by directly editing the drive parameter table).
You might however want to set these parameters up from the program in the NextMove e100 to allow greater flexibility and/or to
provide more “visibility” on the setup of the drive. To do this you can use a program technique called “redirection” which allows you
to read and write parameters over EPL. Redirection is explained in more detail in the help file in the following path:
Contents->Mint basic Programming->Programming Guide->Mint Motion Library->Redirection
Use:
Dim DriveA As Controller= {_busETHERNET, 3}