Siemens SIMOVERT MASTERDRIVES Manual page 603

Communication / CBC CANopen Communication Board
8.5-88
Behavior of MASTERDRIVES MC with F01
The axis traverses under speed control at homing creep velocity v
[MD6] in a negative direction. When the Bero falling edge appears, the
axis is decelerated down to standstill under speed control. It retraces
the deceleration path traveled as a result of the braking operation by
executing a position-controlled return motion (positioning) towards the
zero pulse. The axis then activates "Homing Attained" in the status
word via bit ARFD.
Behavior of MASTERDRIVES without F01
The axis moves under position control in a negative direction at the
values stored in U006 (homing acceleration) and U873.01 (homing
speed). When the Bero falling edge appears, the axis is decelerated to
a standstill with the value from U006. It does not retrace the braking
path traveled during the braking operation. It activates "Homing
Attained" in the status word via bit ARFD.
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Axis is positioned to the right of the Bero. The homing operation is
started by bit 4 in the control word.
Behavior of MASTERDRIVES MC with F01
The axis traverses under speed control at homing approach velocity v
[MD7] towards the positive limit switch (reversal cam). When the cam
responds, the axis changes its direction of rotation and travels towards
the Bero. When the Bero responds, the axis decelerates down to
homing creep velocity v
the axis is decelerated down to standstill under speed control. It
retraces the deceleration path traveled as a result of the braking
operation by executing a position-controlled return motion (positioning)
towards the zero pulse. The axis then activates "Homing Attained" in
the status word via bit ARFD.
Behavior of MASTERDRIVES without F01
The axis moves under position control towards the positive limit switch
(reversal cam) at the values stored in U006 (homing acceleration) and
U873.01 (homing speed). When the reversal cam responds, the axis
changes its direction of rotation and moves towards the Bero.
When the Bero responds, the axis maintains its velocity. When the Bero
falling edge appears, the axis is decelerated to a standstill with the
value from U006. It does not retrace the braking path traveled during
the braking operation. It activates "Homing Attained" in the status word
via bit ARFD.
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Axis is positioned to the left of the Bero. The homing operation is
started by bit 4 in the control word.
[MD6]. When the Bero falling edge appears,
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6SE7087-6QX70 (Version AD)
Compendium Motion Control
02.2004
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Siemens AG
SIMOVERT MASTERDRIVES
A