JVL MIS17 Series User Manual page 161

6.5
6.5.7 "Torque" Zero search
Torque Zero search is carried out according to the following illustration.
Zero search position is an optional offset.
This position is preset to the position-
counter after the zero point is found.
Zero search
used during Zero search. The sign of the
specified velocity defines the zero search
direction.
Zero search timeout defines the maxi-
mum allowed time to find the zero point.
If not found within this time an error bit
is set. The bit is called Zero search timeout.
Zero search
level when the zero position is reached
Home
Torque
The Zero search method using a torque as a reference is a cheap, simple way to find the
mechanical zero position, but please be aware of following critical points.
•
Make sure that the Zero search torque is set to a proper value higher than the me-
chanical friction in the system in order to avoid a faulty zero point being found. It is a
good idea to let the motor run in velocity mode with the same velocity and observe
what the actual motor torque is. This value can be observed in the status area in the
right side of the main window. Set the Zero search torque to a value 10-20% higher
than the actual torque observed during this procedure.
•
To improve the repeatability precision of the zero point make sure that the mechan-
ical "collision" point is as stiff and well-defined as possible.
JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
Zero search modes
velocity defines the velocity
torque is used as the trip
Acceleration
is specified by
the general accel-
eration parameter
Velocity
under "Profile data"
in MAC-Talk
Zero search
Torque
started
Zero search
active
When the torque rises higher than the value
specified in the field Zero search Torque
drop to zero. And the actual position is set to the value
specified in Zero search position.
The speed and acceleration
is set to the general setting
in MacTalk under "Profile data"
Move to position 0
(only if "Zero search
position" was <>0)
Select the mechanical zero
search mode in this field.
the speed will
Time
Time
Zero search
fully done
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