Siemens Simovert Masterdrives Compendium page 634

Communication / CBC CANopen Communication Board
Homing_method 3
8.5-76
3
3
Index Pulse
Home Switch
Fig. 8.5-6 Homing_method 3
The axis is positioned on the Bero installed as a homing switch. The
homing operation is started by bit 4 in the control word.
The axis traverses under speed control at homing creep velocity v
[MD6] in a negative direction. When it exits the Bero in the negative
direction, it searches for the next zero pulse of the position encoder.
When the zero pulse is found, the axis is braked to a 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.
The axis is positioned to the left of the Bero. The homing operation is
started by bit 4 in the control word.
The axis traverses under speed control at homing approach velocity v
[MD7] towards the Bero. When the Bero responds, the axis decelerates
down to homing creep velocity v
rotation. When it exits the Bero in the negative direction, it searches for
the next zero pulse of the position encoder. When the zero pulse is
found, the axis is braked to a 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.
[MD6] and reverses its direction of
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6SE7087-6QX70 (Version AD)
Compendium Motion Control
02.2004
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Siemens AG
SIMOVERT MASTERDRIVES
A