JVL MAC050 User Manual page 224

5.6 Expansion Mod. MAC00-FC2/FC4/FC41
5.6.50 Velocity mode
In this mode the motor runs at a selected velocity. A new velocity can be selected and
the motor will then accelerate/decelerate to this velocity.
The maximum slippage error is not supported in this mode.
Please note:
- The torque limit can be set via object 6072h.
5.6.51 Homing mode
In this mode different homing sequences can be initiated. The standard homing modes
from section 2.6.2
The home sensor must be connected to the AIN input on the module.
If the end limit inputs must be active during the homing sequence, they must be enabled
via object 2011h subindex 7.
The sensors should be connected to the appropriate inputs NL and PL.
The torque limit used during homing is selected via object 2100h. The unit of this is ob-
ject is the same as other torque objects, e.g. Object 6072h.
There are also 4 manufacturer specific methods. These are listed in the table below.
Method
-1
-2
-3
-4
Please note that you should always use a home offset (object 607Ch) when using torque
homing. This is to ensure that the motor moves away from the end limit. The sign of the
home offset should be the opposite of the homing direction. For example, when using a
negative homing direction, the home offset could be 5000.
220
are supported.
Uses
index Description
Torque homing in negative direction and afterwards homing on the
Yes
index pulse.
Yes Torque homing in positive direction and afterwards homing on the index pulse.
No Torque homing in negative direction.
No Torque homing in positive direction.
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500