JVL MAC050 User Manual page 34

2.6
2.6.4 Mechanical Endstop
Mechanical Endstop is carried out according to the following illustration.
Velocity
Torque
Homing
T orque
The Homing method using a Mechanical Endstop as a reference is a cheap, simple way to
find the mechanical zero position, but please be aware of following critical points.
- Make sure that the Homing torque is set to a proper value higher than the mechanical
friction in the system in order to avoid a faulty zero point being found. It is a good idea
to let the motor run in velocity mode with the same velocity and observe what the actual
motor torque is. This value can be observed in the status area in the right side of the main
window. Set the Homing torque to a value 10-20% higher than the actual torque ob-
served during this procedure.
- To improve the repeatability precision of the zero point make sure that the mechanical
"collision" point is as stiff and well-defined as possible.
30
Mechanical Homing
Homing position is an optional
offset. This position is preset to the position-
counter after the zero point is found.
Homing velocity defines the velocity
used during Homing. The sign of the
specified velocity defines the Homing
Homing torque is used as the
trigger level when the zero position is reached
Acceleration When the torque rises
is specified by higher than the value
the general accel- specified in the field
eration parameter Homing torque
under "Profile data" drop to zero. And the actual
in MacTalk position is set to the value
specified in Homing position.
Homing started
Homing active Move away from
The move is done
in 500mS with the Homing velocity
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Select the
direction.
the speed will
The speed and acceleration
is set to the general setting
in MacTalk under "Profile data"
Move to position 0
collision point (only if Homing position
Mechanical Endstop in this field.
Time
Time
is <>0)
TT0921-01GB