Danfoss MCO 305 Design Manual page 116

MCO 305 Design Guide
HOME
Summary
Syntax
Description
Command Group
Cross Index
Syntax Example
Program Sample
116
__ Software Reference __
Move to device zero point (reference switch) and set as the real zero point.
HOME
The HOME command is moving the drive to the machine reference switch, which
must be placed at the machine zero or reference position. Velocity and
acceleration/deceleration for HOME positioning is defined in the parameters 33-03
Velocity for Home Motion and 33-02 Ramp for Home Motion.
To achieve accurate positioning Velocity for Home Motion should not be higher than
10% of maximum velocity.
The sign of par. 33-03 Velocity for Home Motion determines the direction in which
the reference switch is searched.
When the HOME position is reached, this position will be defined as 0.
The reference switch can be approached in 4 different ways defined in par. 33-04
Behavior during Home Motion:
0 = Moves to reference switch, moves in opposite direction leaving the references
switch and stops at the next index pulse (encoder zero pulse or external
marker).
1 = Like 0 but without searching for the index pulse.
2 = Like 0 but leaving the switch without reversing the direction.
3 = Like 2 but without searching for the index pulse.
If HOME is aborted via an Interrupt, HOME will not be continued automatically at the
end of the interrupt routine function. Instead the program continues with the next
command. This makes it possible for HOME to also be aborted after an error.
NB!:
The system must be fitted with a reference switch, when possible with an encoder
with an index pulse.
NB!:
The HOME command will also be carried out to the end in the NOWAIT ON mode,
before other program processing will be begun.
Please note that ON PERIOD xx GOSUB xx must be disabled during homing.
E.g. ON PERIOD n GOSUB x and the resetting after homing is completed.
NB!:
The command HOME can not be used with absolute encoders (see par. 32-00
Incremental Signal Type).
INI
INDEX, NOWAIT
Parameters: 33-03 Velocity for Home Motion, 33-02 Ramp for Home Motion, 33-00
Force HOME
HOME /* move to reference switch and index */
HOME_01.M
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