Homing; Homing Runs Performed By The Drive; Homing Run Speed; Homing Run Acceleration - Moog MSD User Manual

6

Homing

6.1

Homing runs performed by the drive

Since relative sensor systems are used, the drive must be homed, triggered by bit 11 in
control word 1. As soon as this bit is set by the master, the drive performs a position-
controlled homing run using an internal profile generator and determined by homing
run speed, homing run acceleration and employing the strategy saved in the homing run
method.
6.2

Homing run speed

The homing run speed is specified by parameter P 2262 MPRO_402_HomingSpeeds in
the parameter editor [Parameter listMotion ProfileHoming]. The user has the facility
here to specify two different homing run speeds.
1. SpeedSwitch = Speed when moving to the limit switch
2. SpeedZero = Speed when moving to the zero point
6.3

Homing run acceleration

The homing run acceleration is specified by parameter P 2263 MPRO_402_HomingAcc in
the parameter editor [Parameter listMotion ProfileHoming].
6.4

Zeroing offset

Absolute encoders (such as SSI multiturn encoders) present a special case for the homing
run, since they directly generate the absolute position reference. For homing using these
encoders it follows that no movement is required and in some circumstances even no
power to the drive. Furthermore, the zeroing offset must be determined. The type 5
moog
is particularly suitable for this. A zeroing offset can be set using the parameter P0525
ENC_HomingOff [Parameter listMotion ProfileHoming].
6.5

Homing cams, limit switches

The signal for the homing cams can optionally be linked to one of the digital inputs, for
which the inputs ISD00 to ISD06 are available.
When homing to the limit switches, the digital input must be selected as a positive limit
switch using selection parameter LCW(5) or a negative limit switch using selection para-
meter LCW(6). When homing to cams, the parameter HOMSW(10) must be selected.
(see parameter P 0101–P 0107).
Parameter identifier/
P. no. Identifier at MDA 5
Setting
MPRO_402_Homing-
P 2261
Method
move pos. direction, for
(-7) -
distance coded encoder
move pos. direction, for
(-6) -
distance coded encoder
Act. position + homing
(-5) -
offset (multiturn-encoder)
Homing mode type 22
(-4) HOMSW
with continuous reference
Homing mode type 20
(-3) HOMSW
with continuous reference
No homing mode (act.
(-2) -
position + homing offset)
Reference position =
(-1) - homing offset (parameter
HOOFF)
(0) - Not defined
MSD Servo Drive User Manual Profibus
[ Chapter 6 ]
Function
Digital inputs
Homing run type for distance-coded
encoder for positive direction
Homing run type for distance-coded
encoder for negative direction
Homing (absolute encoder)
Homing in progress, negative flank of
the homing cam
Homing in progress, positive flank of
the homing cam
No homing run; positioning is only
by offset
Current position=Zero
No homing run
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