Siemens Simovert Masterdrives Compendium page 642

Communication / CBC CANopen Communication Board
Homing_method 19
8.5-84
Index Pulse
Home Switch
Fig. 8.5-12 Homing_method 19
19
Axis is positioned to the left of the BERO installed as a homing
switch. 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 Bero. When the Bero responds, the axis decelerates
down to homing creep velocity v
rotation. 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 traverses under position control towards the Bero at the
values stored in U006 (homing acceleration) and U873.01 (homing
speed). When the Bero responds, the axis changes its direction of
rotation and travels at the same speed in the opposite direction. 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.
19
The axis is positioned on the Bero installed as a homing switch. 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 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.
19
19
[MD6] and changes its direction of
R
6SE7087-6QX70 (Version AD)
Compendium Motion Control
02.2004
R
Siemens AG
SIMOVERT MASTERDRIVES
A