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User Manual Chapter 6

GFK-1742F Jan 2020

Non-Programmed Motion 167

Find Home Routine for Move + or Move –

When the find home command (an OFF to ON transition of the Find Home %Q bit) is

initiated, the following sequence of events occurs:

The axis is accelerated at the Jog Acceleration rate and moved at the configured Final

Home Velocity (positive direction for MOVE+, negative direction for MOVE–) until a

marker pulse is sensed. This marker pulse establishes the home reference position.

The axis is stopped (at a position past the marker pulse) using the configured Jog

Acceleration rate and with the configured Jog Acceleration Mode.

The axis is moved, at the configured Jog Velocity and with the configured Jog

Acceleration rate and Jog Acceleration Mode, the number of user units specified by

the Home Offset value from the home reference position. If Home Offset = 0, the

axis moves back to the position of the marker pulse.

The axis is stopped at the configured Jog Acceleration rate and with the configured

Jog Acceleration Mode.

The DSM314 sets the Commanded Position and Actual Position %AI status words to

the configured Home Position value; the DSM314 sets the Position Valid %I bit to

indicate the home cycle is complete.

6.2 Jogging with the DSM314

The Jog Velocity, Jog Acceleration, and Jog Acceleration Mode are configuration parameters

in the DSM314. These values are used whenever a Jog Plus or Jog Minus %Q bit is turned ON.

Note that if both bits are ON simultaneously, no motion is generated. The Jog Acceleration

and Jog Acceleration Mode are also used during Find Home, Move at Velocity, Abort All

Moves and Normal Stop. Programmed motions use the Jog Velocity and Jog Acceleration as

defaults.

A Jog Plus/Minus %Q command can be performed when no other motion is commanded, or

while programmed motion is temporarily halted due to a Feed Hold %Q command. The

Enable Drive %Q bit does not need to be ON to jog, but it can be ON. Turning on a Jog

Plus/Minus %Q bit will automatically close the Enable Relay and turn on the Drive Enabled %I

bit. When an overtravel limit switch is OFF, Jog Plus/Minus and Clear Error %Q bits may be

turned on simultaneously to move away from the open limit switch. Thus, a Jog Plus %Q

command will not work while the positive end of travel switch is open and Jog Minus will not

work while the negative end of travel switch is open. Turning a Jog %Q bit OFF causes the

axis to decelerate and stop. If a Jog %Q bit is momentarily turned off, even for one CPU

sweep, the axis will decelerate to a stop then accelerate and continue jogging.

Emerson DSM314 User Manual

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