Pilz PMCprimo Drive2.01/21/5/230-480V - Manual (Page 34)

9 Project window
9.2.1.1 Homing [NREF]
You can choose which type of reference traverse should be performed.
No Function Reference point is...
0 Set Home Reference
immediately the setpoint position
1 Home Switch and Zero
Pulse the first feedback zero-mark outside the home
switch
2 Limit Switch and Zero
Pulse the first feedback zero-mark outside the limit
switch
3 Home Switch without Zero
Pulse the edge of the home switch
4 Limit Switch without Zero
Pulse the edge of the limit switch
5 within one Revolution and
Zero Pulse the next feedback zero-mark
6 Set Ref.Point immediately
on Position Command the actual position
7 Move to Mechanical Stop
(Ref. Ipeak) and Zero Pulse the first feedback zero-mark outside the mechanical stop.
Peak current is limited to Homing Ipeak during
the movement. (see screen page "Current
Loop").
8 Move to an absolute SSI-
Position the read position from the SSI input at the
beginning of the homing
9 Move to Mechanical Stop
(Ref. Ipeak) without Zero
Pulse the actual position, when the drive is at the mechanical
stop and the following error reaches
50% of the max. allowable following error.
Peak current is limited to Homing Ipeak during
the movement. (see screen page "Current
Loop").
Direction of Motion [ DREF ]
Determines the direction of motion for homing. The setting "distance-dependent" is only
relevant for Homing 5 (within one turn). In this case, the direction is chosen to give the
shortest distance to the zero-mark. This parameter also defines the direction of motion
for a Modulo type of axis.
Homing Speed [ VREF ]
Speed for the homing operation. The sign is automatically fixed by the selected direction
of motion.
Reference Offset [ ROFFS ]
With the reference offset you can assign an absolute position value other than 0 to the
reference point. With an offset for the reference position, you are not actually making a
physical change, but the offset is used as a reference value within the position control of
the servo amplifier. Homing to the reference switch does not finish at zero, but at the
preset reference offset value.
The reference offset must be set before homing is started.
Acceleration Ramp [ ACCR ]
Acceleration ramp for homing operation. This ramp is also valid for jog mode.
Deceleration Ramp [ DECR ]
Deceleration ramp for the homing operation. This ramp is also valid for jog mode. This
deceleration ramp is only used if the operating mode allows it. For homing to a hardware
limit-switch, the emergency ramp is used.
Page 34 User Manual for Setup Software PDrive