Baldor MIN1853 manual GH Start Home

Page 68

GH Start Home

syntax – GH± r

Value:

N/A

 

Units:

set in EDIT > SETUP > MECH > ACCEL > VEL

 

Range:

Unit scaling dependent

 

Initiates a homing routine (seeks the home switch) to establish a home reference position. When it reaches home, the position counter is set to zero or to the Home Offset (HO) value selected in the EDIT > SETUP > HOME menu. The motor will move at the GH velocity (n) and direction (± ) specified until it either finds a home limit switch or determines that it can not find one between the two end–of–travel limit switches. The Go Home move uses the last acceleration and deceleration specified.

The exact homing routine used, and the ultimate end position of your system’s home reference, depends on the values of your EDIT > SETUP > HOME parameters (edge, level, final approach direction, and offset) and if you have specified open or closed loop moves in the EDIT > SETUP > ENCODER menu. The control will reverse direction when the first End of Travel limit switch is encountered while searching for a Home switch. If the second End of Travel switch is encountered, the unit will abort the Go Home move and generate a fault. Assuming the presence of an operational home switch, the control will seek a home position according to the parameters you specified (edge, level, final approach direction, and offset).

Closed loop systems will normally home with more accuracy than open loop systems because encoders have a Z marker pulse. In a typical Go Home routine, the control will first sense the edge of the switch defined in the Go Home SETUP menu. It will then decelerate the motor to a stop at the last defined deceleration rate. The final homing motion is determined by the Go Home options selected in the SETUP menu. The final homing direction dictates the direction from which the final approach to the switch is made. The edge selected will determine which side of the home switch this final approach will be based from.

In a “closed loop” mode Go Home routine, the control will additionally slow to a creep speed and stop when it sees the encoder’s “Z” Marker Pulse after seeing the reference edge of the switch. If a marker pulse is not seen within one motor revolution after the reference edge of the switch is seen, the final homing routine will be aborted. Note: Homing Mode directly affects or reconfigures the function of the GH command.

Examples:

AC.5

DE.5

GH–20

Go Home in the negative direction at a speed of 20

AC.5

DE.5

GH20

Axis one Go Home in the positive direction at a speed of 20.

MN1853

Keypad Programming 6-9

Image 68
Contents LinStep+ Single-Axis Microstepping Indexer/Driver Table of Contents Prog To PAD From ProgPOS Troubleshooting Iv Table of Contents MN1853 CE Compliance Limited WarrantySection General Information Could result in damage to property Product Notice Intended useCould result in injury or death Do not touch any circuit board, power device or electrical Connection before you first ensure that power has beenDo not apply AC power before you ensure that grounds are Voltages that are conducted to its power input terminals.Extend more than 0.2 5 into keypad assembly Instead, we recommend using a four wire WyePower is removed from the drive Driver should have specifications compatible to the driveMotors Section Product OverviewOverview Product Overview MN1853 Section Receiving and Installation Power DissipationMechanical Installation Receiving & InspectionRecommended System Grounding 1 phase for CE Recommended System Grounding for ULInput Power Conditioning System Grounding Ungrounded Distribution SystemWire Size and Protection Devices Delay aEurope BaldorConnection Locations 115VAC, 1 Axis Keypad Nullmodem Connections Tools Required9 & 25 Pin RS-232 Cable Connections for UL Installations RS-232 PC ConnectionsDaisy Chain Connections Rules for Daisy Chain OperationWhat is a termination resistor? Where are these resistors placed?RS485 PC Connections How many resistors should my system have?13 RS485 4 Wire Multi-Drop for UL Installations ET± Discrete I/O ConnectionsLimits Connections +5VDC Encoder Signal PVS100 Danaher 9-Pin DEncoder Color Code Motor Connector AY0165A00 Leadwire Connection 9 pin to flying leadsInterlock Intlk Ground GND21 Opto Racks PNP DB25 Pin to Screw Terminal ConverterPNP Converter Start-Up Procedure Power Off ChecksPower On Checks Action Display CommentsF1, F2, F3 Section Keypad OperationOverview Menu Key Main MenuJOG F2 MenusAlpha Decimal PointComma Edit Menu New ProgramSave the program Edit an existing programNaming a program Example of Naming a ProgramEntering Characters with the Alpha Key In edit mode Use the =O keys for additional alpha charactersEdit, Setup Submenu Submenu Setup Parameter Description of Setup ParameterPress EDIT, POS F3 Press YES F1 or no F3 Pressing Help in the Main Menu Pressing Help in Menus and Sub-MenusPressing Help In the Program Edit function Sequentially Eeprom message disappearsCOPY, to PAD Submenu Keypad Operation MN1853 Section Setup Procedure Format DefinitionAR unloaded + 12.987 x log + log 155 Tm * Jr Value RangeValue OFF Fine-Tuning OffsetsValue High Application Notes Range N/AValue Configuring Encoder Resolution ERi Configure Your Application Mechanics Value inch Configure the I/O Char Keypad Display Input Character DescriptionNo additional interrupts will be seen By one-half AMP Fault FaultBrake Over CurrentConfigure the Optional Lxopto 44/88 Configure the Output StatesConfigure End of Travel Switch Polarity Configure JOG ParametersConfigure Home Parameters Configuring Home Edge HEi Configure Power-up Program Configure Serial Communications Value Enabled Range Enabled, DisabledConfigure Miscellaneous Setup Parameters Data Type Description of Display Data TypePOS1 VEL1General Password Rules Password Type Description Gives access to these menusSetup MN1853 Keypad Program Command List Section Keypad ProgrammingValue Units ExamplesAC2 DE.5 VE12 DA3 GO DA3 GO DA3 GO Value Units RangeExample DC Distance to Change Example Distance to Change Examples of DC move profiles, AC = seconds, VE=ipsAC.1 VE60 DI2 GO DI1 GO DI-4 GO IF2,1 EN EB DI2 GO Value Units Range N/ALP2 DI3 GO EB =12 =13 =17 =18 =22 =23 =26 =27 =28RUN Edit Copy DELExample 3-Screen Menu Program GH Start Home Value N/A Units N/A Range N/A Value N/A Units N/A Range i=1-16 Units Range N/A=1-400, name = any legal program name IF10 Gtpart a EBUnits Range IFPARTS=25 GS20 EBDilength IV12,LENGTHLppieces Value Units N/A Range N/A Syntax MC+ MC Move Continuous Move Continuous MS27,COUNT Powerup ONL,GTON EOT GthomeMain VE5 DA20 GO= starting output number Syntax RGr RG Registration SQRESULT=0 SQ27.96,SQRESULT Value N/A Units N/AST1 AC1 DE1 VE25 DA6 GO VE50 DA0 GO EN Value N/A Units secondsSyntax VEr VE Velocity Programming Overview Summary of Expressions, Operators and FunctionsHelpful Hints Programming your application Example of Hosted Mode VariablesProgram Variable NamesBuilt-in Variables Variable Name Description of Built-in Variable TypeUsing Built-in Variable Arowrel Lpnumber Non-Volatile VariablesParts Boolean Operators AO15=VOLTAGE + ErrorArithmetic Operands and Equations Logical Operators Increment/Decrement VariablesExpressions Other Programming Samples WTAI12MAX TempSetting an Output=On on-the-fly Create a Message and Read an Input VariableRead a 4 Digit BCD number, 2 Digits at a time Reading an Analog Input ValueGET 4 Bcds Digit BCD=4 Digit BCD+2TWAdditional Information General Section Troubleshooting1Operating Mode Indications, 1 Axis Additional Information Serial Communications Problems Troubleshooting MN1853 LinStep+ LX 1 P 1 A- 0xF9 Section Specifications & Product DataIdentification General Specifications Protection & Indicators DescriptionVAC VDCDimensions Specifications & Product Data MN1853 Wiring of Shielded Screened Cables Section CE GuidelinesCE Declaration of Conformity EMC Conformity and CE MarkingEMC Wiring Technique Grounding EarthEMC Installation Instructions Cable Screens GroundingEncoder Cable Grounding Input Signal Cable GroundingSimulated Encoder Output Cable Grounding Appendix a Programming TemplateAppendix MN1853 MN1853 Appendix A-3 Remote Keypad Mounting Template Baldor Electric Company Baldor Electric Company MN1853 01 C&JLinStep+ Single-Axis Microstepping Indexer/Driver