Infranor XtrapulsGem User Manual

129
X
trapulsPac - User Guide
Chapter 3 – Reference
For simplifying diagrams, the trajectory of the switch side search is not explicitly drawn. However, an arrow
indicates the direction used to search a switch side. Hence, trajectory 1 of homing method 8 is explained in the
following diagram:
The following explanation describes only trajectory 1 of homing method 8 taken above as an example.
Using homing method 8, the initial direction of the movement is positive, except if the home switch is active at the
motion start. So, the negative side of the home switch is first searched in the positive direction with the Home
Switch Speed. When the activation of the home switch is detected, the drive reverses to look for the home switch
deactivation. As the home switch has been found, the speed is the slowest home speed, namely the Index Pulse
Speed. Once the deactivation of the home switch has been found, the drive reverses to position to look for the
Index Pulse. At this stage, depending on the position sensor, the home position will directly be reached, for
example a resolver. For sensors like incremental encoders, a search of Index Pulse is achieved in the positive
direction and then the drive reverses to position on the captured Index Pulse position.
HSS
Index Pulse
Home Switch
IPS
Positive Limit Switch
Trajectory 1
Positive Limit Switch
HSS IPS
IPS
IPS
Starting Position
IPS
HSS
HSS
IPS
Home Position
Axis
Switch Side
Search Direction
Motion Speed :
Index Pulse Speed
Trajectory 1
Interior
Index Pulses
Exterior
Index Pulses
Exterior
Index Pulse
Negative Side
Home Switch
Positive Side
Home Switch
Index Pulse
Home Switch
Motion Speed:
Home Switch Speed
Trajectory 2
Trajectory 3
Positive Direction
Negative Direction

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English