JVL MAC050 User Manual page 36

2.6
2.6.6 Index Homing
The internal optical encoder in the MAC motor also contains a so called index pulse
which is a very short (4 counts) distance which is only present (active) one time per mo-
tor revolution. For applications where the working range is always less or equal one rev-
olution this pulse can be used as the mechanical zero avoiding having any external sensors
involved which simplify the mechanics and the cabling.
This Homing mode has four possible settings Standard Forward, Standard Reverse, Quick
Forward or Quick Reverse. Standard mode is slower but also with a much better precision
since the index pulse is sampled with a tolerance of +/- 100μS but will need a few sec-
onds to do depending on the Homing speed and overall acceleration used.
When the Index Homing is carried out the motor will be moving exactly 1.5 revolution in
total. Then a pause of 1.3 seconds is used to stabilize the motor position and do various
calculations.
Homing position is an optional
offset. See description in
other chapter.
Homing velocity
velocity used during
The direction of
determined by sign of
Homing velocity
2.6.7 Homing configuration via motor registers.
When the configuration is done by channels other than MacTalk such as Ethernet, Profi-
bus, CANopen etc. or just a simple interface connection to the basic motor the following
description must be followed.
Start the Index Homing Standard:
Write the decimal value 25 into the MODE_REG (register 2). This will immediately start
the Homing. The value is expressed in 32 bits unsigned.
Start the Index Homing Quick:
Write the decimal value 26 into the MODE_REG (register 2). This will immediately start
the Homing. The value is expressed in 32 bits unsigned.
32
Mechanical Homing
defines the
Homing .
Homing is
and Advanced settings.
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Select
The index position is sampled in the exact
position where it was detected (+/- 100μS)
during the movement of 1.5 revolution.
Velocity
Homing started
Index status
The index is detected
somewhere in this range
Only MAC400 to 3000
Index as Homing method.
The position where the index pulse
was found + the distance moved since
is applied to the Actual position counter.
The Homing is finished and
the selected startup mode is used.
1.3 Sec.
TT1187-01GB