Baldor MN1851 Home, Index channel, Capture and Actual Position, Procedure to define home position

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Home

Starts a search for the machines absolute zero position. When home is found, the

 

control will hold the position at absolute zero. There are three Homing types:

 

Index channel, Capture and Actual Position.

Index Channel causes the motor shaft to rotate to a predefined

 

home position. The motor may rotate CW or CCW as specified

 

by the user. Home is located when a machine mounted switch is

 

activated, then the motor direction is reversed and continues until

 

the “0” position of the resolver is detected (or the “C” channel of

 

an encoder). The actual position of “Zero” relative to this point

 

can be set by the user by changing the offset value.

 

If home flag is active, clear absolute revolution counter at position

 

C. Set C (+ HOME.OFFSET) = Zero Position.

 

Brake with HOME.ACC to zero velocity. Move to Zero.

Capture

Capture is a more accurate way to define home position.

 

The home flag captures the closure of the machine mounted

 

switch. This captured position (+ HOME.OFFSET) = Zero

 

Position.

 

Brake with HOME.ACC to zero velocity. Move back to Zero.

 

Actual position sets the Zero position to the current position.

 

No movement required.

 

Procedure to define home position.

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65536

1.Be sure the machine mounted switch (Home position) is connected to X3 pin 14.

2.Select “Homing” from the Motion menu.

3.Choose the desired homing type.

4.Choose the desired capture edge (rising or falling).

5.Choose the desired home direction, CW or CCW.

6.Choose the desired home velocity, acceleration and offset parameters.

7.Click Download.

8.Click the Start button to begin the homing definition (Quit button to stop).

9.To start homing by hardware, buffer line 0 must be selected by MAI1–4.

10.To begin the home move, the external trigger must be present at input X3 pin 15.

Limit Switches After Homing is set, the limit switches can be activated and set as desired. If the inputs at X3–10 and X3–11 are used for machine inputs, software limits can be used to sense when a position limit has been reached.

1. From the Main menu select “Setup Limit Switches”.

2.Set “Hardware Limit Switches” as limits switches or as machine inputs.

3.Set the Software Limit Switches, “Active” to Yes or No. Yes activates a software switch when the position exceeds a predefined limit. No deactivates the software limit switch feature.

4.If software limit switches are set to Active = Yes, enter a position for the CW limit and a position for the CW limit.

If you want to take the current absolute position as CW limit or CCW limit, click on “Learn CW” or “Learn CCW”. The ”Learn” function only works after a successful homing sequence.

5.Click ”Download” to send the parameters to the control.

Note: The value for the CW limit must be greater than the CCW limit value.

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MN1851

Operation 5-11

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Contents Lin+Drive Servo Control Table of Contents Ii Table of Contents MN1851 Minimum system requirementsAppendix a 24VDC Logic Power InputAppendix B Iv Table of Contents MN1851 Section General Information Limited WarrantyCE Compliance Could result in damage to property Product Notice Intended useCould result in injury or death General Information MN1851Do not apply AC power before you ensure that grounds are Do not touch any circuit board, power device or electricalConnection before you first ensure that power has been Voltages that are conducted to its power input terminals.General Information MN1851 Section Product Overview Control Outputs Encoder OutputSection Receiving and Installation Mechanical InstallationControl Receiving & Installation MN1851GND Recommended System Grounding 1 phase for UL Recommended System Grounding 1 phase for CEInput Power Conditioning System Grounding Ungrounded Distribution SystemBreaker Wire Size for units without Power SupplyX1 Power Connections Mm2Baldor Components not provided with ControlBaldor Control Baldor Option S Option P Control Regen Resistor EarthBreaker Baldor Option P Control Important LPxAxxxx-xxx3 onlyTo use an M4 bolt 12mm in length Holes in the top and bottomEnclosure are for cable clamps. Be sure Longer bolts may short circuit11 Motor Connections for UL 12 Motor Connections for CE13 Optional M-Contactor Connections Single Ended Connection Differential Connection Control Input WiringX3 Control Inputs & Digital I/O Connections X3 Digital Inputs Opto Isolated Inputs uses CrefOpto Input Signal Conditions Signal Name Opto Input Signal DefinitionProcess Duration Time Required DurationX3 Digital Outputs Opto Output Signal ConditionsFault Relay MaO1Control TXD X6 RS232 / 485 ConnectionsNull Modem Cable Connections ComputerRS485 What is a termination resistor?Where are these resistors placed? How many resistors should my system have?TX+ RX+ Dgnd = Twisted PairTX+ Dgnd GND TX+ RX+ Dgnd GNDX7 Encoder Output Buffered Encoder Output at X7 ConnectorX7 Pin Signal Name ReservedX9 Encoder and Hall Feedback LPxAxxxx-Exxx Control Address Setting Section Switch Setting and Start-UpSwitch AS1 Settings Address Setting, AS1-1 to AS1-4 for Multi-Drop ApplicationsOffset Tuning Setting of switches AS1-5 to AS1-8Switch Function AS1-5 to AS1-8 DescriptionPower On Checks Start-Up ProcedurePower Off Checks ProcedureSwitch Setting & Start-Up MN1851 Host Communications Setup Installing Software on your PCSection Operation Windows Windows NTUsing The Setup Wizard Flowchart of the Setup Wizard Operation MN1851Page There are 7 parts to the setup procedure Motor Motor parameters. Click Download when finishedEncoder Feedback Encoder FeedbackEncoder Feedback Motor pitch mm 60.96 Lmcf All Micron Counts / meter Counts / mmOperating Mode Selection Screen Operating ModeCurrent Parameter MN1851 OperationSoftware Triggered MAI4 MAI3 MAI2 MAI1Home Procedure to define home positionIndex channel, Capture and Actual Position Set this value. Click Download when finished DriftFile SetupMain Menu Choice Descriptions EditFunctions TuningWatch MotionPLC Program Menu HelpLinear Motor Velocity Parameters RPM m/sMeters/second MN1851 Troubleshooting Section Troubleshooting1Operating Mode Indications OverviewLong as the error is less than ± 215 ± Section Specifications & Product Data Identification+0 to 40. Above 40 C, derate the continuous and peak SpecificationsTo 3300 feet 1000 meters. Derate the continuous Output current by 2.5% per C above 40 C. MaximumPeak output current by 1.1% for each 330 feet Description UnitSpecifications & Product Data MN1851 24VDC Logic Power Input Option LPxAxxxx-xxx3 only24VDC Logic Power Input Option LP4Axxxx-xxx3 only Velocity ControlEncoder Input Feedback RegenerationSize A, B and C DimensionsClearance Requirements all sizes 0.06″ 15mm top and bottom CE Declaration of Conformity Wiring of Shielded Screened CablesSection CE Guidelines EMC Conformity and CE MarkingCE Guidelines MN1851 EMC Wiring TechniqueGrounding Earth EMC Installation Instructions Cable Screens GroundingEncoder Input Cable Grounding Input Signal Cable GroundingSimulated Encoder Output Cable Grounding To ControllerMating Connector by connector number for spare parts Section Accessories and OptionsConnectors CablesDepth = F AC Filter DimensionsAccessories & Options MN1851 Fo rRegeneration Resistor PackageAccessories & Options MN1851 General Tuning Rules Appendix a Manual TuningTools are available to make tuning easier, such as Manual TuningManual Tuning MN1851 There are 7 parts to the setup procedureParameters. Click Download when finished Motor15240 000,000 10,000,000 Figure A-13 Current Parameter Screen Figure A-14 Velocity Parameter Screen Drift Figure A-15 Drift Parameter ScreenFigure A-16 Select Manual Tuning Figure A-17 Inertia and Load Response Examples Tracking factorFigure A-18 PI Compensation Menu Page Graphic Screen Plotting of MoveControl Window Jog BlockSyntax General structure of the Ascii command Appendix B Command SetLin Ascii Command Set General MN1851 Command Set B-1Parameters and Units Pulses/rev ResolutionEncoder Input Buffer Overflow command line exceeded 80 char Start-up with Terminal Communication and Command ExamplesExecution Error invalid command Control Design Failure invalid control designBasic System Parameters Motor Parameters MTR. prefixed General Settings System ConstantsCommand Set MN1851 Drive Parameters typical DRV. prefixedMN1851 Command Set B-5 Software Limit Switches ParametersVariables None Software Limit Switches Methods Command Description Units Range Default E2 / Par. setPLC.LINE PLC ParametersVariables None PLC Methods RelayDigital Interface Parameters MN1851 Command Set B-7OCI Interface Parameters Analog Interface ParametersX1 Possible Faults X1 Fault Display Description Queries / modifications of Fault Listing VariablesSystem Variables General Variables Methods Communication Settings ParameterMN1851 Command Set B-9 VariableData Record REC. prefixed Parameters Queries of System Variables, Status, Faults Single ValuesData Record REC. prefixed Variable Eeprom related Operation Mode Control Normal Modes ParametersMemory related methods Queries / modifications RAM related Normal Modes VariablesCurrent mode Methods Sys.mod Current mode ParametersCurrent mode Variables Query for actual current commandVelocity mode Methods Sys.mod 1 & Sys.mod Velocity mode ParametersVelocity mode Variables MN1851 Command Set B-13JOG.TYPE Jog ParametersJOG.TIME JOG.VELPosition Controller Position Controller Parameters MN1851 Command Set B-15Variables HW.PLC HW.GRFXHW.GRSH HW.RESBaldor Electric Company  Baldor Electric Company MN1851 10/00 C&JLin+Drive Servo Control MN1851