30 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
2.6 Mechanical Homing
2.6.4 Mechanical Endstop
Mechanical Endstop is carried out according to the following illustration.
The Homing method using a Mechanical Endstop as a reference is a cheap, simple way to
find the mechanical zero position, but please be aware of following critical points.
- Make sure that the Homing torque is set to a proper value higher than the mechanical
friction in the system in order to avoid a faulty zero point being found. It is a good idea
to let the motor run in velocity mode with the same velocity and observe what the actual
motor torque is. This value can be observed in the status area in the right side of the main
window. Set the Homing torque to a value 10-20% higher than the actual torque ob
-
served during this procedure.
- To improve the repeatability precision of the zero point make sure that the mechanical
“collision” point is as stiff and well-defined as possible.
Select the in this field.
Mechanical Endstop
TT0921-01GB
When the torque rises
higher than the value
specified in the field
the speed will
Homing torque
drop to zero. And the actual
position is set to the value
specified in
Homing posi tion.
Homing started
Homing position
is an optional
offset. This position is preset to the position-
counter after the zero point is found.
defines the velocity
Homing velocity
used during Homing. The sign of the
specified velocity defines the direction.
Homing
is used as the
Homing torque
trigger level when the zero position is reached
To r q u e
Veloc ity
Time
Time
Acceleration
is specified by
the general accel-
eration parameter
under “Profile data”
in MacTalk
Homing
To r q u e
The speed and acceleration
is set to the general setting
in MacTalk under “Profile data”
(only if is <>0)
Homing position
Move away from
collision point
The move is done
in 500mS with the
Homing velocity
Homing active
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