Etel DSC Series User Manual

ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions
Operation & Software Manual
Direct Drives & Systems 117
Remark: If the hardware version of the controller is before DSC2Pxxx-xxxC-xxxA or DSCDP3xx-xxxE-xxxA
version, parameter K58 is forced to 0.
If K32 = 1, the choice of the limit switches is set by parameter K58.
Parameter K58 can be used for the homing as well as for precaution. However it is not possible
to manage two different limit switches (one for precaution, one for homing) at the same time.
Monitoring M44 shows the status of the home switch and limit switch signals coming from the encoder's
connector (these signals are present only from DSC2Pxxx-xxxC-xxxA and DSCDP3xx-xxxE-xxxA versions).
The homing parameters define the type of reference mark used (parameter K40) as well as the behavior of the
motor when, for instance, it reaches a mechanical end stop before a ref. mark (parameters K47 and K48).
Thanks to these parameters the required speed and acceleration for the search of a ref. mark (parameters K41
and K42) are set as the movement during a homing is a trapezoidal movement. Current and maximum position
error for an end stop detection are set via parameters K43 and K44.
By default (K100 = 0), after a homing, the speed (parameter K211), the acceleration (parameter K212) are
modified by the values stored in parameters K41 and K42 and the movement type is modified to 1. However,
if bit# 1 of K100 is set (K100=2) before sending the IND command, the speed, the acceleration and the
movement mode at the end of the homing will be identical to the ones before it (the speed and the acceleration
takes parameter K205 (CAM command) into account (refer to §13.3.7
for more information)).
12.9.1 K45 parameter
Once the homing procedure done (according to parameter K40) or the absolute position known (in case of
EnDat 2.1 encoder), the position of the '0 machine' is determined and modified by an offset given by parameter
K45 to place the origin position in the requested position.
M Name Value Bit # Comment
M44
Limit switch and home
switch status
1
2
0
1
Indicates the state of the EHO pin signal
Indicates the state of the ELS pin signal
K Name Comment Unit
K40 Homing mode Chooses the required homing mode (refer to §12.9.2
). -
K41 Homing speed Motor speed during a homing.
[usi]
[rusi]
K42
Homing
acceleration
Motor acceleration during a homing.
[uai]
[ruai]
K43
Max pos error for
end stop detection
Maximum position error for mechanical end stop detection (K43 < K30).
[dpi]
[rdpi]
K44
Max current for end
stop detection
Maximum current limit for mechanical end stop detection (K44 < K60). [ci]
K45
Offset for
absolute position
Offset added to the position after having found the index or the absolute position with EnDat 2.1.
[upi]
[rupi]
K46
Homing
movement stroke
The motor will cover the distance defined by parameter K46 for K40=20, 21, 24 to 27, 36 to 39.
[upi]
[rupi]
K47
Mvt. at init. on limit
switch or end stop
Movement after homing on mechanical end stop or limit switch.
[upi]
[rupi]
K48
Mvt to go out of an
index or home switch
Movement to leave an index or a home switch if the motor is positioned on the top of it at the start
or find it from the wrong way.
[upi]
[rupi]
K100
Speed, accel. and
MMD after homing
The speed, the acceleration and the movement mode (MMD) after the homing is identical to the
ones before it (for K100=2)
-
Available on DSC2P DSC2V DSCDP DSCDL DSCDM

Etel DSC Series Specifications

General

Brand	Etel
Model	DSC Series
Category	Controller
Language	English