Lenze E94P PositionServo with MVOB - Manual (Page 64)

62 L PM94H201B_13xxxxxx_EN
Programming
2.15.9.1 Homing Method 1: Homing on the Negative Limit Switch & Index Pulse
Using this method, the initial direction of movement is negative if the negative limit switch is inactive (here shown as
low). The home position is at the first index pulse to the positive side of the position where the negative limit switch
becomes active.
Axis will accelerate to
fast homing velocity in the negative direction and continue until Negative Limit Switch (A1) is
activated (rising edge) shown at position A. Axis then decelerates to zero velocity. If the negative limit switch is already
active when the homing routine commences then this initial move is not executed. Axis will then accelerate to
slow
homing velocity in the positive direction. Motion will continue until first the falling edge of the negative limit switch is
detected (position B) and then the rising edge of the first index pulse (position 1) is detected.
A
B
1
Index Pulse
(via Input C3)
Negative Limit Switch
(Input A1)
Figure 25: Homing Method 1
2.15.9.2 Homing Method 2: Homing on the Positive Limit Switch & Index Pulse
Using this method the initial direction of movement is positive if the positive limit switch is inactive (here shown as
low). The position of home is at the first index pulse to the negative side of the position where the positive limit switch
becomes active.
Axis will accelerate to
fast homing velocity in the positive direction and continue until Positive Limit Switch (A2) is
activated (rising edge) shown at position A. Axis then decelerates to zero velocity. If the positive limit switch is already
active when the homing routine commences then this initial move is not executed. Axis will then accelerate to
slow
homing velocity in the negative direction. Motion will continue until first the falling edge of the positive limit switch is
detected (position B) and then the rising edge of the first index pulse (position 2) is detected.
A
B
2
Index Pulse
(via Input C3)
Positive Limit Switch
(Input A2)
Figure 26: Homing Method 2