ADLINK AMP-208C - Manual (Page 103)

Motion Control Theory 89
AMP-204C / AMP-208C
For EL signal homing mode with negative direction homing and
without EZ alignment, the control axis stops at MEL signal edge
after home movement is completed as shown in figure below.
Figure below illustrates how to set up Home mode 1 (EZ signal)
with positive direction homing and EZ alignment. After home
movement is completed the control axis stops at the edge of EZ
signal.
• Relevant axis parameters setup
Axis parameters
Axis
parameter
values
Description to axis parameter value
PRA_HOME_MODE 1 Employing home mode 1 (EZ signal) homing
PRA_HOME_DIR 0 Employing positive direction forward homing
PRA_HOME_EZA 1 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