Baldor mn1854 manual GH Start Home, Set in Edit Setup Mech Accel VEL

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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.

MN1854

Keypad Programming 6-9

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Contents LinStep+ Dual-Axis Microstepping Indexer/Driver Table of Contents Arithmetic Operands and Equations Other Programming Samples Ii Table of Contents MN1854Increment/Decrement Variables Troubleshooting Serial Communications Problems Iv Table of Contents MN1854 Section General Information Limited WarrantyCE Compliance Product Notice Intended use Could result in injury or deathCould result in damage to property On next 2General Information MN1854Do 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 driveOverview Section Product OverviewMotors Product Overview MN1854 Section Receiving and Installation Power DissipationMechanical Installation Receiving & Inspection2Receiving & Installation MN1854 GNDInput Power Conditioning System Grounding Ungrounded Distribution SystemPower Connections Power connections are shown in Figure Wire Size and Protection Devices4Receiving & Installation MN1854 MN1854 Receiving & Installation Connection Locations 115VAC, 2 Axis6Receiving & Installation MN1854 Tools Required9 & 25 Pin RS-232 Cable Connections for UL Installations RS-232 PC Connections8Receiving & Installation MN1854 Daisy Chain ConnectionsRules for Daisy Chain Operation PC / Host DeviceProgrammable I/O Connections Optional Opto I/O ConnectionsThese input connections are made at terminals 6-40 Figure Typical connection each input10Receiving & Installation MN1854 Encoder Signal PVS100 Danaher 9-Pin DEncoder Color Code +5VDCMotor Connector LD9068A00 Leadwire Connection 9 pin to flying leadsInterlock Intlk Ground GNDStart-Up Procedure Power Off ChecksSwitch and Potentiometer Settings Section General InformationPower On Checks Action Display CommentsMotor should now be producing torque HighReceiving & Installation MN1854 Section Keypad Operation OverviewKeypad layout with the LCD display is shown in Figure F1, F2, F3Copies one program to another within the LinStep+ Comma Decimal PointAlpha Test Thus eliminating the need for a PC terminal connectionTrace Output Move Shutdn RS232 EncoderEdit Menu Pressing the Edit key displays a set of sub-menusSave the program Edit an existing program6Keypad Operation MN1854 Save Program? YesNoNaming a program Example of Naming a ProgramPress ESC. You will be prompted as shown in Figure Mine AC.3 VE2 DI1 GOUse the =O keys for additional alpha characters Entering Characters with the Alpha Key In edit mode8Keypad Operation MN1854 Edit, Setup Submenu Submenu Setup Parameter Description of Setup ParameterPress EDIT, POS F3 Press YES F1 or no F3 Press EDIT, ↓ , List toDisplay the number Programs stored Press ↓ to display the totalPressing 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 Enter the program number. Or, ifYou wish, you can scroll the list Program namesSection Setup Procedure Format DefinitionSetup MN1854 Axis One Motor Type SteperAxis One Drive Res Axis One Motor DirAxis One ENC Mode Open LoopApplication Notes Axis One Encoder RES ↑5000 cnts/in ↓IN-RANGE Setup Window ValueIN-RANGE Window PM GainConfigure Your Application Mechanics Mech SetupDist Vmax Accel AmaxAxis One Vel Units In/s EditAxis One MAX Vel 500.0 in/s ↓→Iuuuuuuu ←↑↓→ Configure the I/OChar Keypad Display Input Character Description Inputs will work. See the RG command for more details Service routine programTo summarize, when INT98CTRL=1 Reset to 1. This allows for input debounce and controllingWarm Boot Power-up program, if defined, will startJog Speed InputsOUT1 Programmable Pppppppp ←↑↓→ Configure the Output States OPTO9 InputIiiiiiii OFFConfigure End of Travel Switch Polarity Configure JOG ParametersEnable Accel LO-VEL HI-VELMode Edge Switch Configure Home ParametersOffset DIR Negative Configure Power-up Program ↑SETUP↓Power Up Program PROGRAM0 Axis One Final Dir PositiveConfigure Serial Communications RS232C Setup↑ Enabled ↓ Echo UNIT#Configure Miscellaneous Setup Parameters Data Type Description of Display Data TypeGeneral Password Rules Password SetupOpratr Admin Clear Password Type Description Gives access to these menusKeypad Program Command List Section Keypad ProgrammingAcceleration Start Home Outputs On/Off Function Key Message to DisplayKeypad Programming MN1854 Value Units RangeExample AC2 DE.5 VE12 DA3 GO DA3 GO DA3 GODC Distance to Change Example Distance to Change DCn * DCn*1 * Vn*1 2* Vnt wExamples of DC move profiles, AC = seconds, VE=ips DC n + 10 +DE Deceleration AC.1 VE60 DI2 GO DI1 GO DI-4 GOLP2 DI3 GO EB Value Units Range N/AIF2,1 EN EB DI2 GO =12 =13 =17 =18 =22 =23 =26 =27 =28RUN Edit Copy DELExample 3-Screen Menu Program Set in Edit Setup Mech Accel VEL GH Start HomeGo Immediate Syntax GI or GIi Value N/A Units N/A Range N/AGO Go Start a Move Syntax GO or GOi Value N/A Units N/A Range i=1-16AC.05 DE.05 VE50 DI5 GO VE2 AC.1 DA4,2 GPGosub Syntax GSi and GSname =1-400, name = any legal program nameIF10 Gtpart a EB If input 1 is on and input 2 is off, jump to program Part aUnits Range IFPARTS=25 GS20 EBLppieces IV12,LENGTHDilength Syntax LPi LP Loop Value Units N/A Range N/ASyntax MC+ MC Move Continuous Move Continuous MS27,COUNT 27 7th character, 2nd rowPowerup ONL,GTON EOT GthomeMain VE5 DA20 GO= starting output number =0 input high. X=1 input low grounded=anything else ignore input changes OT4,1 Turn on Output OT2,0D1Syntax 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 secondsWTexpression Syntax VEr VE Velocity= starting input number Helpful Hints Programming your application Summary of Expressions, Operators and FunctionsProgramming Overview Program Example of Hosted ModeVariable Names Built-in Variables Examples of how to use Built-in VariablesVariable Name Description of Built-in Variable Type Using Built-in Variable Arowrel Parts Non-Volatile VariablesLpnumber AO15=VOLTAGE + Error Arithmetic Operands and EquationsExamples of incorrect use Instead, you should useLogical Operators Increment/Decrement VariablesExpressions Other Programming SamplesCreate a Message and Read an Input Variable Setting an Output=On on-the-flyCreate a Menu menu display on keypad display for operator Read a 4 Digit BCD number, 2 Digits at a time Reading an Analog Input ValueGET 4 Bcds Digit BCD=4 Digit BCD+2TWSection Troubleshooting 1Operation Indicators2Axis 1 and 2 Indicators Additional Information GeneralTroubleshooting MN1854 Additional InformationSerial Communications Problems Troubleshooting MN1854 Section Specifications & Product Data MN1854 Specifications & Product DataIdentification LinStep+ LX 2 P 1 aGeneral Specifications Protection & Indicators DescriptionVAC VDCOptional Keypad 10.08 256.0 Axis Driver 148.3 Dimensions94.7 230.1 Specifications & Product Data MN1854 Wiring of Shielded Screened Cables Section CE GuidelinesCE Declaration of Conformity EMC Conformity and CE MarkingEMC Wiring Technique CE Guidelines MN1854Cit Grounding EarthEMC Installation Instructions Cable Screens GroundingInput Signal Cable Grounding Simulated Encoder Output Cable GroundingEncoder Cable Grounding To ControllerProgramming Template Appendix aMN1854 Appendix A-1 Appendix MN1854 MN1854 Appendix A-3 Remote Keypad Mounting Template 122.88838 111.25Baldor Electric Company Baldor Electric Company MN1854 01 C&JLinStep+ Dual-Axis Microstepping Indexer/Driver