Homing; Index Homing And Motor Resolver - Servotronix CDHD2S User Manual

Application Setup
d. In the Configuration tab: Define the gantry type as Rigid or Flexible.
8. Execute gantry system homing. Please refer to the Gantry System Homing section. If using a
flexible system, you must set the GANTRYOFFSET value.
9. Perform gantry main controller and differential controller tuning. Please refer to the Gantry
Tuning section.

6.19 Homing

CDHD2S provides several methods for homing the motor.
The parameter HOMETYPE defines the time to reverse the direction of motion, the homing
trigger (e.g. switch, index) and other conditions during homing.
Homing types 1-14, 17-30 and 33-35 are standard homing methods and are defined in CiA402.
Define additional homing types according to customer requirements.
Use the ServoStudio2 "Homing" screen to define and execute the homing procedure.
The following parameters are used to define and execute the homing procedure.
VarCom
AUTOHOME
HOMEACC
HOMECMD
HOMECMD0
HOMEOFFSET
HOMESPEED1
HOMESPEED2
HOMESTATE
HOMETYPE

6.19.1 Index homing and motor resolver

Index pulse homing can be used with resolver motor feedback.
Homing methods: HOMETYPE1–14, 33, 34, -8, -12, -33, -34, -40, -44, -65, -66, -97, -98. The
resolver index pulse position refers to the point where the motor mechanical angle (MECHANGLE)
is zero.
In order to achieve better accuracy in the homing procedure (i.e. minimum position feedback
(PFB) count starting from MECHANGLE0), reduce the value of HOMESPEED2.
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Table 6-27
Define whether to perform automatic homing when powered on.
Acceleration and deceleration values in the homing process.
Set the "zero" position offset (count).
Search the initial velocity used by the homing process in the process of limit
switch, zero switch and hard stop.
Search the velocity used by the homing process in the process of homing
triggers (which may be index pulses, limit switch transitions, zero switch
transitions or other sources (defined by HOMETYPE)).
Display the current status of the system homing process.
Define the type of homing process that will be executed.
Description
Start the homing process.
Stop the homing process.