Pilz PMCprimo Drive2.01/21/5/230-480V - Manual (Page 33)

9 Project window
9.2 Positioning
9.2.1 Homing
Reference traversing (homing) is an absolute task that is used to zero the drive for
subsequent positioning operations. You can choose between various types of homing.
After homing, the drive reports "InPosition" and then enables the position controller in the
servo amplifier.
The limit switch functions: 2, PSTOP and 3, NSTOP must be activated for digital inputs 3
or 4 to achieve full homing functionality.
Be sure that the zero point of the machine (reference point) is in a position that allows
the subsequent positioning operations. The software limit-switches that were set as
parameters may be ineffective. The axis could move to the hardware limit-switch or even
the mechanical stop. There is a risk of damage.
If the reference point (zero point of the machine) is approached with excessive velocity,
(for instance, because of high moments of inertia), it may be overshot and, in the worst
case, move to the hardware limit-switch or even the mechanical stop. There is a risk of
damage.
The position controller cannot be operated without first making a reference traverse
(homing). A homing/reference traverse must be made after the 24 V supply voltage has
been switched on. The start signal must not be removed during homing. The start signal
must remain present until the "InPosition" message appears.
The SW-enable is set automatically when homing starts. Homing is only started in
OPMODE 8. However, the SW-enable is set in all OPMODEs. The drive can be accelerated
by an analog setpoint that is applied, if the START command is executed in OPMODE 1
or 3.
User Manual for Setup Software PDrive Page 33