Intelligent Motion Systems DSP-402 Method 2 Homing on the Positive Limit Switch and Index Pulse

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Method 2: Homing on the Positive Limit Switch and Index Pulse

Using this method the initial direction of movement is rightward if the positive limit switch is inactive (here shown as low). The position of home is at the first index pulse to the left of the position where the positive limit switch becomes inactive.

Axis Direction

2

Index Pulse

Positive Limit Switch

Figure 7.4: Homing on the Positive Limit and Index Pulse

Methods 3 and 4: Homing on the Positive Home Switch and Index Pulse

Using methods 3 or 4 the initial direction of movement is dependent on the state of the home switch. The home position is at the index pulse to either to the left or the right of the point where the home switch changes state. If the initial position is sited so that the direction of movement must reverse during homing, the point at which the reversal takes place is anywhere after a change of state of the home switch.

3

3

4

4

Index Pulse

Home Switch

Figure 7.5: Homing on the Positive Home Switch and Index Pulse

Methods 5 and 6: Homing on the Negative Home Switch and Index Pulse

Using methods 5 or 6 the initial direction of movement is dependent on the state of the home switch. The home position is at the index pulse to either to the left or the right of the point where the home switch changes state. If the initial position is sited so that the direction of movement must reverse during homing, the point at which the reversal takes place is anywhere after a change of state of the home switch.

44	MDrivePlus CANopen R020507

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Contents Forcetm CANopen DSP402 Application Revision R020507 Contents Device Control Profile Position Mode Optional Application FE General I/O List of Figures This Page Intentionally Left Blank Application Guide MDrivePlus CANopen R020507 Can Message Format IntroductionMDrivePlus Architecture Homing Mode Section Profile Position Mode SectionProfile Velocity Mode Section Device ControlObjects and the Object Dictionary Trajectory GeneratorXxxx h Index Name Yes/NoDefault PDO MappingCategory RangeIntentionally Left Blank Accessing The MDrivePlus CANopen Service Data Object SDOProcess Data Object PDO PDO AttributesDefault Mapping Example Consumer PDO PDO Mapping Procedure Consumer PDOPDO Mapping PDO Objects Consumer PDO1 RPDO1 1400h Object DescriptionConsumer PDO1 RPDO1 1400h Entry Description 1600h Object Description Mapping ParametersConsumer PDO2 RPDO2 1401h Object Description Consumer PDO2 RPDO2 1401h Entry Description1601h Object Description Mapping Parameters 1601h Entry Description Mapping ParametersConsumer PDO3 RPDO3 1402h Object Description Consumer PDO3 RPDO3 1402h Entry Description1602h Object Description Mapping Parameters 1602h Entry Description Mapping ParametersProducer PDO1 TPDO1 1800h Entry Description 1A00h Object Description Mapping Parameters1A00h Entry Description Mapping Parameters Producer PDO2 TPDO2 1801h Object Description1A01h Object Description Mapping Parameters 1A01h Entry Description Mapping ParametersProducer PDO3 TPDO3 1802h Object Description Producer PDO3 TPDO3 1802h Entry Description1A02h Entry Description Mapping Parameters Object 2000h I/O Discretes Config Accessibility CodesDiscretes UnsignedObject 2002h I/O Discretes Config 2002 h Config Input SwitchesObject 2004h Input Filter Mask Config 2006h Input Filter Time 2004hObject 2006h Input Filter Time ms 2010h Analog Input See Entry Desc2020h Software Limits as Unsigned Hardware2031 h Unit Options 2032 h Clock OptionsSee Table 2033 h Capture Input2204 h Run Current % 2205 h Hold Current %Object 2204h Run Current Percent Object 2205h Hold Current PercentOptions Setting 2211hInteger Point TargetFactory 5002hAscii Ser. No 5003hState Machine Control and Status wordsState Machine Transitions Internal Unsigned16 6040 hObject 6040h Controlword Statusword Object 6041h StatuswordBit 4 Voltage Enabled Bits 12-13 Operation Mode SpecificBit 5 Quick Stop Active Bit 7 Warning6060h Mode of Operation ±Integer8Modes of Operation Object 6060h Modes of OperationObject 6061h Modes of Operation Display 6061 h Mode of Operation DisplayObject 6502h Supported Drive Modes = Mode Supported = Mode Not Supported Intentionally Left Blank Profile Position Mode General InformationTrajectory Generator Input Data DescriptionFunctional Description Set-Point Transmission from Host ComputerControlword 6040h of Profile Position Mode Single Set-Point Mode Move After a Move 6040h Bit 5=0Possible Integer 607A h Target Position6081 h Profile Velocity 6083 h Profile Acceleration 6082 h End Velocity6084 h Profile Deceleration 6086 h Motion Profile Type Object 6086h Motion Profile TypeHoming Mode Input Data DescriptionOutput Data Description Internal States607C h Homing Offset Statusword 6041h of Homing ModeHoming Offset 607Ch 6098 h Homing Method ± IntegerPossible ± Integer Homing Method 6098hMethod 2 Homing on the Positive Limit Switch and Index Pulse Methods 7 to 14 Homing on the Home Switch and Index Pulse Homing on the Negative Home Switch and Index PulseMethods 17 to 30 Homing without an Index Pulse Methods 15 and 16 ReservedMethods 31 and 32 Reserved 6099 h Homing Speeds Methods 33 and 34 Homing on an Index PulseMethod 35 Homing on the Current Position Homing Speeds 6099hIntentionally Left Blank 6062 h 6063 h Position Actual Value6064 h Position Actual Value Position Control Function6065 h Following Error Window 6066 h Following Error Timeout6068 h Position Window Time Unsigned Mfg-SpecificProfile Velocity Mode Controlword 6040h of Profile Velocity ModeStatusword 6041h of Profile Velocity Mode 606C h Velocity Actual Value60FF h Target Velocity 60FF h Maximum SlippageInteger Mfg-Specific Object 60FFh Target VelocityOptional Application FE General I/O 60FD h Digital InputsObject 60FDh Digital Inputs 60FE h Digital Outputs Object 60FEh Digital OutputsWarranty Excellence in Motion