Delta RMC151 - Manual (Page 78)

RMC70/150 and RMCTools User Manual
If the axis is already retracted, the Home Input status will already be ON and the
axis needs only extend as described above. When the axis is shut down, it should
be retracted until the Home Input status bit is ON. This way the axis need only
extend a small amount to be homed on startup.
Disarm Home
To disarm the home manually, use the Disarm Home (51) command.
Explicit Homing
The following command set adjusts the axis position without needing a Home or Z input:
• Offset Position (47)
This command adds the requested Position Change to the Actual, Target, and
Command Positions.
• Set Target Position (48)
This command sets the Target Position to the requested Position, and adjusts the
Command Position, and Actual Position by the same amount as the Target Position
changed.
• Set Actual Position (49)
This command sets the Actual Position to the requested Position, and adjusts the
Command Position and Target Position by the same amount as the Actual Position
changed.
Why Bother?
Explicit homing is useful when the operator physically measures something on the
machine and needs to make an adjustment to the positions.
Explicit homing can de done on any axis type, not just those with incremental feedback.
Homing SSI and Resolver Axes
SSI and Resolver axes give absolute positions, and therefore, homing them is not
necessary. In certain applications, these axes types can be set up as incremental, and
can be homed.
SSI and Resolver Homing Trigger Types
The following trigger types are available on SSI and Resolver axes. The axis must be set
to incremental.
#
Trigger
Type Description
Valid for
RMC70 RMC150
0 H Rising Trigger a Home on the rising edge of the Home Input. SSI*
1 H Falling Trigger a Home on the falling edge of the Home Input. SSI*
2 Z Trigger a Home on the Index (Z) Input. SSI* SSI*, Resolver*
3 Z And H Trigger a Home on the Index (Z) Input if the Home Input
is high.
SSI*
4 Z And Not
H
Trigger a Home on the Index (Z) Input if the Home Input
is low.
SSI*
5 Absolute
Adjust
(H Rising)
On the rising edge of the Home Input, the zero Raw
Counts point of the SSI encoder is set to the requested
Home Position.
SSI*
6 Absolute
Adjust
(H Falling)
On the falling edge of the Home Input, the zero Raw
Counts point of the SSI encoder is set to the requested
Home Position.
SSI*
7 Absolute
Adjust
(Immed)
The zero count point of the SSI encoder is set to the
requested Home Position immediately when this
command is issued.
SSI* SSI*, Resolver*
58 Delta Computer Systems, Inc.