Siemens Simovert Masterdrives Compendium page 643

02.2004
Homing_method 21
Siemens AG 6SE7087-6QX70 (Version AD)
SIMOVERT MASTERDRIVES
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) in a negative 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.
Index Pulse
Home Switch
Fig. 8.5-13 Homing_method 21
21
Axis is positioned to the right 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) towards the Bero. 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.
21
Axis is positioned on the BERO installed as a homing switch. The
homing operation is started by bit 4 in the control word.
Compendium Motion Control
Communication / CBC CANopen Communication Board
21
21
[MD6] and changes its direction of
R
A
8.5-85