Moog DS2100 User Manual download pdf (Page 311)

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual

C27750-001 PAGE 7-57

7.18 Homing Mode

The homing method is used to determine the home position (also called datum or zero position) of a system, using

various methods, and different digital inputs. Profile and interpolated position mode moves are relative to this zero

position. The DS2100 supports a numbers of the homing methods specified in DS402, and also implements 4

manufacturer specific modes.

Homing methods 1...4, consist of two phases. The first phase consists of an initial movement, at a “switch search

speed”, in a direction determined by the method selected and the state of certain digital inputs. The velocity profile

of this move is trapezoidal (i.e. ramp from standstill to steady velocity, using a linear ramp, at user defined

acceleration). On finding the switch, the drive quick-stops, and does an absolute move to the position of the switch

(determined using position registration). When at the switch, the drive starts a second phase, moving at a slower

speed, (i.e. “zero search speed”), to find the encoder index pulse. On finding the zero position, the drive quick stops,

and does an absolute move to this zero position (again determined using position registration), and sets the home

position. A sample of homing method 1 is shown in the diagram below.

Figure 7.28 Homing on the negative limit switch and index pulse.

Homing methods 17...20, consist of only one phase. This phase is similar to that of methods 1...4, (i.e. the faster

search for the switch). In the case of these methods, the drive will quick stop, and move to the switch, and does not

search for an index pulse.

Homing method 35 simply sets the current position to be the homing position.

Homing methods –1…-4, are similar to methods 1…4, except that they are used when no encoder is present, and

the resolver zero position is used instead. In this case, reading the resolver position when the first digital input is hit,

and performing an absolute move to the resolver zero position, determines the zero position. No index pulse is

required.

Three different digital inputs relate to the homing mode, although all three inputs are not used in any individual

method, rather a subset is used. These digital inputs are, positive limit switch, negative limit switch, and homing

switch, and need to be configured before using the relevant homing mode. The index pulse is determined internally

from the encoder signals.

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Moog DS2100 User Manual Page 311