Standard Home Sequence, Initiate Home

Operational Overview

Standard Home Sequence

Initiate Home

Absolute Position Valid = OFF

Home Sensor

=ON?

Home Sensor

=ON?

Yes

Reverse Motor Direction

(default)

No	Home Sensor
	Home Sensor
	= OFF?
		Yes
		Yes

Reverse Motor Direction

Home Sensor

Travel Spec or Calc Offset

=ON?

Yes

Travel Spec or Calc Offset

Absolute Position Valid = ON

Figure 37: Flow Chart of a Standard Home Routine

Homing to the motor’s encoder marker will establish the most accurate and repeatable home position. This method will position the motor relative to the location of the rising edge of the encoder marker pulse. Most applications will use a sensor and marker to find an accurate home position in the vicinity of the home sensor.

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Image 57

Emerson P/N 400518-02 manual Standard Home Sequence, Initiate Home

Contents

Reference Manual Page Page Page Customer Support Customer Service Sales 952 995-8000 or 800 Document ConventionsEpsilon Only Reference Materials Safety InstructionsGeneral Warning Qualified PersonPage Setup, Commissioning and Maintenance Safety ConsiderationsSafety of Machinery Enclosure General warning Identification of Safety Information Table of Contents Diagnostics and Troubleshooting 109 Tuning ProceduresOptions and Accessories Specifications 143 Introduction Epsilon Indexing DrivesFM-2 Indexing Module FM-2 Indexing Module Feature Location Setting Up Parameters Graph ViewData Capture Group Data Group Timing Group Setup View Configuration GroupIdentification Group Motor View Switching Frequency Group FM-2 onlyDrive Encoder Output Group Positive Direction Group Use Motor Data From .ddf File Check box Motor Type List Box Motor Parameters Column Values from Drive Column Apply to Config. Button Run Auto-Tune Button User Defined Motor Name Conflict Dialog Box Save .ddf Values Button Create new motor entry In .ddf File Existing Motor Names List BoxOverwrite existing .ddf file motor entry Retain existing Motor Parameters without saving to .ddf User Units View Distance GroupVelocity Group Time Scale Group Position ViewAcceleration Group Index In Position Group Rotary Group Following Error GroupOnline Tab Motor Position Group Following Error Encoder PositionPulse Input Posn Limits Group Velocity ViewTrigger Group Online Tab Velocity Group Ramps View Settings GroupTorque View Ramps Group Online Tab Torque Group Tuning View Tuning GroupLoad Group Low Pass Filter Group Position Error Integral Group Alternate Mode Selection Alternate Mode View Fault Enable Group Faults ViewLow DC Bus Fault Enable Encoder State Fault Enable Input Lines View SetupInput Function Window Active Off Check Box Input Line Window Debounce Text boxAttached Function Outputs View ConfigurationOutput Function Window Output Lines Window Active Off Check Box Analog Inputs ViewBandwidth Analog Full Scale Analog Outputs View Jog ViewAnalog Outputs Group Jog Fast Velocity Jog VelocityAcceleration Deceleration Home Type Home ViewHome Reference Chain to Index Index # View Index Number Index TypeDistance/Position/Limit Distance Registration Tab Index Count GroupCalculations Tab Chain Tab Index View Chain Tab Compound Indexes Status View Pulse Input Posn Position CommandStatus Online Tab Position Group Drive Status Group Time Group ID Group Data Capture Channel 1Trigger Graphical Plot Page User Interface Operational OverviewHow Motion Works How Jogging Works Jog Input Functions Jog and Jog Fast VelocityJog Acceleration and Deceleration Operational Overview How Home Works One Side Home Standard Home Initiate Home Standard Home Sequence Initiate Home One Side Home Sequence Accuracy and Repeatability Establishing a Home Reference PositionMarker Standard Home only Sensor and Marker Standard Home only Sensor and Marker Position Home Offset Specified Home Offset Home Offset Examples Example 1 Calculated OffsetExample 2 Specified Offset, Greater than Calculated Offset Specified Offset Screen Home Limit Distance End of Home PositionMoving Off Sensor Before Homing Example 3 Specified Offset, Back up Required Gear Reducer External Home Sensor Home Input and Output Functions Input FunctionsOutput Functions Home Limit Distance Hit Home ExamplesAbsolute Position Valid Example 1 Linear Application Example 2 Rotary Application Home Screen, Sensor and Marker Selected Gear Reducer Complete Motion Sequence How Indexes Work Absolute vs. Incremental Index TypeAbsolute Indexes Absolute Index Registration Indexes Incremental IndexesRotary Plus and Rotary Minus Indexes Incremental Index Indexes with Rotary Rollover Enabled Index ParametersDistance/Position Index Count Calculations Tab When this index is complete then How Chaining WorksChaining Parameters Index Input and Output Functions Global Chain CountInputs Registration Sensor OutputsRun Next Index Repeat Current Index End of Chaining Count ExamplesEnd of Index Motion Index In Position Example 1 Index1 is chained to Index2 with a Chain Count Alternate Mode Screen Pulse Mode How Alternate Mode Works Analog Torque Mode Alternate Mode SelectAnalog Velocity Mode Analog Input Group Torque Mode Velocity Limiting Group Analog Torque Settings Group Interpretation Mode Group Pulse ModePulse/Pulse Interpretation Pulse/Direction Interpretation Pulse/Quadrature Interpretation Pulse Signal Type Single ended input circuit specifications Differential input circuit specificationsDifferential Source Single Ended Source Pulse Mode Ratio Setup Group Pulse Mode Acceleration GroupPulse Mode Velocity Group Distance Recovery Group Alternate Mode Input and Output FunctionsVelocity Group Torque Group Encoder Output Scaling Drive ModifiersCurrent Foldback +/- Travel Limits Brake Operation Shunt OperationRMS Foldback Epsilon EP-I Brake Release Analog OutputsBrake Control Brake Digital Inputs and Outputs Default Analog Output SourceAnalog Output Offset units Analog Output Scale units Input Line Debounce Time Input Function Active StateOutput Line Active State Input Lines Forced On and Forced Off Brake Control Input FunctionsBrake Release Index Select 0 through Jog + ResetJog Jog Fast Output Functions Power Module System Ready MDS Only Over Temperature Current Limit Active MDS OnlyPower Stage Enabled + and In Motion Configuring Communication How Communications WorkUploading Change Path Connection Downloading Change Path Dialog Box Opening an Offline Configuration Window Offline SetupEntering General Drive Setup Information Quick Start Entering Configuration Parameters Entering Identification ParametersEntering Positive Direction Selections Assigning Outputs Assigning InputsTo assign an Input Function to an Input line To make an Input Function Active Off To assign an Output Function to an Output Line Setting Up JoggingTo unassign an Output Function from an Output Line To make an Output Function Active Off Jogging Parameter Set-up Setting Up the Home Routine Index View Setup Setting Up Indexes Establishing Communications with Drive Online Setup Opening an Online Configuration Window Downloading the Configuration File Printing the Configuration File Saving the Configuration FileDisconnecting Communications Operation VerificationPage Tuning Procedure Tuning ProceduresInitial Settings PID vs. State-Space General Tuning Hints Tuning steps 101 102 Inertia Ratio Tuning ParametersFriction Response High Performance Gains FeedforwardsLine Voltage Initial Test Settings Determining Tuning Parameter ValuesInertia Measurement Procedure Determining Inertia Ratio Conversion Formula Ramp Units Conversion 107 Page Diagnostic Display Diagnostics and Troubleshooting Display Fault Action to Reset Bridge Disabled Fault Codes Fault Descriptions EN E Series Only Diagnostic Analog Output Test Points Max Following ErrorAll On 114 Faults View Drive FaultsResetting Faults Viewing Active Drive Faults Watch Window Select Parameters Window Watch Window Select Defaults Restore Selections ButtonClear All Button Save Selections Button Problem/Message Cause Solution Error Messages Motor Wiring ProcedureUser Defined Motors Commutation Basics 120 Encoder Electrical Interfacing Motor Feedback Wiring Thermal Switch Interfacing Encoder Logical Interfacing Phase Plot of a and B Encoder Channels Determine Encoder Alignment Reading Encoder AlignmentCCW Reference Rotation EUA = 90 + ⎜ tu CW Reference Rotation Dynamic Alignment Method Establishing a Standard Alignment Static Alignment Method Determine Motor Parameters Motor Pole Count Editing the MOTOR.DDF File Motor Data Header Motor Poles Motor Parameter DescriptionsMotor Encoder Lines Per Revolution Motor Encoder Marker Angle Configuring the Drive Selecting a User Defined Motor Verification and Checkout CW Rotation of the Motor Rotation Test Torque Test Commutation Accuracy TestVelocity Test 135 Page Epsilon EP Drive Options Options and Accessories OIT-EN-232-XXX or OIT-EN-485-XXX FM-2 Indexing Module Options STI-24IO Interface Dimensions of the STI-24IO Board STI-EIO Interface Dimensions of STI-EIO Board Dimensions of ECI-44 ECI-44 External Connector Interface 142 Specifications FM-2 SpecificationsDrive overload protection Epsilon EP-I Drive Dimensions and Clearances FM-2 Module Dimensions FM-2 Dimensions and Clearances TPL = Power Dissipation Calculation Cable Diagrams CMDS-XXX CableCMMS-XXX Cable ESA-SP-485 Snce SNCDD-915 Sncfli Sncfloa Xtmds Motor Power Cables Xcmdbs Xcmds Xefts Motor Feedback Cables Xefcs Efcs Page Glossary LED EMC NVM ModbusNTC PID RMS RAMROM RPM Index 164