Akd™ Motion Task; Homing; Home Mode Types; Home Type 0 - Kollmorgen AKD-P01206-NBEC-0000 Training Manual

AKD™ Motion Task

Homing

Before a position move can be executed, the home position must be established.
Workbench provides fifteen different methods to home a system and the type selected
will depend on the application and mechanics to which the motor is connected. Each
home mode provides flexibility when working with the application.
To select the proper home mode, HOME.MODE, will require an understanding of the
application. If the application does not require a known starting point, such as the case
for a conveyor that must index a set distance on a trigger, then a simple home type can
be used. Home mode 0, "Home using current position", can be used. This will basically
allow the current position to be the starting point.
Mode Description
0 Home using current position
1 Find limit input
2 Find limit input then find zero angle
3 Find limit then find index
4 Find home input, including hardware limit switches
5 Find home input then find zero angle, including hardware limit switches
6 Find home input then find index, including hardware limit switches
7 Find zero angle
8 Move until position error exceeded
9 Move until position error exceeded, then find zero angle
10 Move until position error exceeded, then find index
11 Find index signal, without any precondition
12 Homing to a home-switch, including mechanical stop detection
13 Home using the feedback position
14 Find home input – Only in given direction

Home Mode Types

The home mode types can be broken into: use current position, find the limit switch, find
the home input, move until position error exceeded, and find zero angle or index. Each
of these can be modified to provide an offset from the home position.

Home Type 0

Mode Type 0, use current position, will make the current position the home point.
Although a very basic home type, it can be modified using Offset and Position. This
means the current position doesn't have to be defined as zero, but can be given any
desired position, and the load can be moved from this position.
Mode Type 0 is very useful when you have a device that is not concerned with the actual
starting point such as a conveyor that will index a defined distance once an input has
been triggered. In other words, where it is beginning is not as important as where it is
going.
19