Rockwell Automation MPAS Integrated Linear Stages - Manual (Page 92)

92 Rockwell Automation Publication MP-UM001D-EN-P - September 2013
Appendix E Home to Torque-level Example
About Home to Torque-level
Homing Home to torque-level homing is a process that references a known position by
monitoring torque while driving an axis into a mechanical hard-stop. Once the
actual torque level reaches or exceeds a specified torque level for a set time of
500 ms, a status flag is set in the controller.
Figure 26 - Axis Properties - Homing Tab
Table 16 - Torque-level Homing
When either the Torque Level or Torque Level - Marker homing option is
selected on the Homing tab, the Torque Level field is activated in the Active
Home Sequence Group. The units for this field are a percentage of the
continuous torque of the motor (% Continuous Torque) limited by the drive-
rated current/motor-rated current ratio. This number is interpreted in the drive
as an absolute value and the range is 0 through the TorqueLimitPositive value.
The options for the Direction field when Torque Level or Torque Level - Marker
homing sequence is selected are only Forward Bi-directional and Reverse Bi-
directional. Uni-directional homing is not possible, because the Home to Torque-
level sequence relies on a mechanical hard-stop.
IMPORTANT Because the process of home to torque-level requires axis motion,
the axis homing mode must be configured as Active.
Sequence Type Description
Torque Level Sets the Home Position after the output torque reaches the Torque Level value, reverses
direction, and moves until the Homing Torque Above Threshold bit is low and the status
bit sets.
Torque Level - Marker Sets the Home Position after the output torque reaches the Torque Level value, reverses
direction, and encounters an encoder marker.