Rockwell Automation 2098-UWCPRG Ultraware Software User Manual - Manual (Page 245)

Rockwell Automation Publication 2098-UM001G-EN-P - February 2011 247
Configuring the Kinetix 3 Drive Chapter 5
• To Home sensor / Move / Back to Marker: If the distance is
very short between the home sensor and marker, it may fail to
detect the first marker. To prevent this, this method has one
additional parameter that defines a minimum distance in
which to detect a Marker. The minimum distance is defined
as a time in the 'moving distance after home sensor'. After it
detects the home sensor input, velocity is decelerated to the
creep velocity, and the creep velocity is maintained until the
marker is detected. After the marker is detected, the motor
moves back to the position.
• To Limit / Fwd to Marker: This procedure is the same as the
To Home sensor / Fwd to Marker, except that the physical
overtravel is used instead of home sensor input. The physical
overtravel fault is disabled while homing.
• Home to Current Value: When homing starts, the motor
moves in the homing direction at the homing velocity until it
detects a stopper. The motor stops when the motor current is
maintained higher than the home current for the home
current time after the home current.
• Home to Current Value / Back to Marker: This procedure is
similar to Home to Torque Value, but this method moves
backward until the marker is detected when the motor torque
is maintained higher than the home current for the home
current time after the home current. After the marker is
detected, the motor is decelerated and stops, and returns to
the position where the marker is detected.
• Home to Marker: This mode does not need extra sensors,
such as home sensor or physical overtravel. When the
homing starts, it moves in the homing direction at the creep
velocity. When it detects the marker, it stops with
deceleration, and then moves back to the position where the
marker is detected.
• Home to Present Position: The position when a Start Homing
signal is input as the new home. If the Auto Start Homing
function is enabled, the position when the drive is enabled
becomes the new home.
Auto Start Homing on Enable Causes the drive to begin the homing procedure automatically
when the drive is enabled. Selections are:
• Active: automatically starts homing every time the drive is
enabled, and
• Active After Reset Only: automatically starts homing when a
drive is enabled, if the drive has not already been homed.
• Inactive
Home Sensor Back-off Causes the drive to move in the direction opposite the direction
specified by the Homing Velocity setting, when the homing
procedure is started with the Sensor input active. Motion
continues in the reverse direction (moving at the Homing Accel,
Homing Decel, and Homing Velocity settings), until the Sensor
input is detected inactive, at which point the normal homing
procedure takes over.
• Active: automatically starts backoff when the input is
detected.
• Inactive: normal homing procedure occurs.
Note: This does not apply if Home to Marker is selected as the
Homing Type.
Homing Velocity The commanded velocity used during homing. The sign of the
this value (+/-) indicates the direction of motion during homing.
The range is -2,147,483,647…2,147,483,647 rpm (rotary) or
counts per second (linear).
Parameter Description