ADLINK AMP-208C - Manual (Page 102)

Motion Control Theory 88
AMP-204C / AMP-208C
4.3.2 EL Signal Homing - Home Mode 1
This is a home movement based on PEL or MEL mechaincal 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 4-13: Home mode 1 (Case: EL)
EL homing mode: Positive direction home movement with control
axis stops at edge of PEL signal
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 postion 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 onf
measure)
Condition B
Initial position
Home
position
Condition A
VM: Home searching speed VO: Home approaching speed