ADLINK PCI-8258 - Manual (Page 132)

118 Motion Control Theory
4.4.2 EL Signal Homing - Home Mode 1
This is a home movement based on PEL or MEL mechanical signal.
After the homing command is received, the control axis searches PEL
or MEL signal position and stops at edge of the signal. You may set up
to align with EZ signal and to set up shift amount.
Figure 1 below illustrates how to set up Home mode 1 (EZ signal)
with postive direction homing and without EZ alignment. After
home movement is completed the control axis stops at the edge of
PEL signal.
• Relevant axis parameters setup
Figure 4-26: Home mode 1 (Case: EL)
Axis parameters
Axis parameter
values
Description to axis parameter value
PRA_HOME_MODE 1 Employing home mode 1 (homing by EL signal)
PRA_HOME_DIR 0 Employing positive direction forward homing
PRA_HOME_EZA 0 Further align with signal EZ, 0: No, 1: Yes
PRA_HOME_S 0 S-curve factor
PRA_HOME_ACC ACC
Acceleration and deceleration in unit of (distance unit
of measure/sec.
2 )
PRA_HOME_VS VS Initial speed in unit of (distance unit of measure/sec.)
PRA_HOME_VM VM
Speed of original position searching in unit of
(distance unit of measure/sec.)
PRA_HOME_VO VO
Homing speed in unit of (distance unit of
measure/sec.)
PRA_HOME_SHIFT 0
Shift amount of homing position (distance unit of
measure)
Condition B
Initial position
Home
position
Condition A
VM: Home searching speed VO: Home approaching speed