ElmoMC SimplIQ Software Manual - Manual (Page 191)

SimplIQ Software Manual Sensors, I/O and Events
MAN-SIMSW (Ver. 1.4)
12-6
Example:
TS = 80
Torque controller sampling time, in microseconds
IF[1] = 2 Input filter width for digital input #1, in milliseconds
VX = 20,000 Motor main speed, in counts/second
When homing on digital input #1, the expected misses are calculated as:
( ) ( )
count
IF TS VX
miss 46
1000
2 80 004 . 0 20000
1000
] 1 [ 004 . 0
=
+ ⋅ ⋅
=
+ ⋅ ⋅
=
An event to be captured must first be defined by a proper IL[N] setting. For
example, if no digital input is associated with the FLS function, a homing process
on FLS will never terminate. Moreover, the FLS function can be undefined during a
home search on FLS. The home search will not proceed until FLS is redefined.
12.5.1 Homing Programming
The HM[N] parameters control the main encoder homing process:
ƒ
HM[3] defines the trigger event: immediate, motor index signal or the change of a
digital input.
ƒ HM[4] indicates what should happen after the event, in addition to position
registration. The command can indicate that the drive should stop immediately or
that a digital input should be flagged.
ƒ HM[5] defines whether and how to update the main encoder counter: do nothing, set
a new value or shift by a specified amount.
ƒ HM[1] = 1 arms the homing process (sets the trap for the homing event).
Refer to the HM[N] command section in the SimplIQ Command Reference Manual.
12.5.2 Homing the Auxiliary Encoder
The HY homing function provides additional homing and capture functionality. HY is
very similar to HM except that HY refers to the auxiliary Home switch and Index signals
rather than the main Home switch and Index. Also, HY can update the value of PY, not
PX.
12.5.3 On-the-fly Position Counter Updates
The updating of a position sensor during the homing process has no effect on motion in
UM=1, 2 and 3 because these modes do not use position feedback. The effects of a
position sensor update (PY in UM=4 and PX in UM=5) by the homing process depend on
the mode:
ƒ
In PTP motions, the remaining motion to target becomes longer or shorter (refer to
the following example). If the home correction is made in a constant speed range of
the PTP motion, the redesign of the motion path may be hardly visible. This
mechanism enables registration and final motion corrections on-the-fly.