32 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
2.6 Mechanical Homing
2.6.6 Index Homing
The internal optical encoder in the MAC motor also contains a so called index pulse
which is a very short (4 counts) distance which is only present (active) one time per mo
-
tor revolution. For applications where the working range is always less or equal one rev-
olution this pulse can be used as the mechanical zero avoiding having any external sensors
involved which simplify the mechanics and the cabling.
This Homing mode has four possible settings Standard Forward, Standard Reverse, Quick
Forward or Quick Reverse. Standard mode is slower but also with a much better precision
since the index pulse is sampled with a tolerance of +/- 100μS but will need a few sec
-
onds to do depending on the Homing speed and overall acceleration used.
When the Index Homing is carried out the motor will be moving exactly 1.5 revolution in
total. Then a pause of 1.3 seconds is used to stabilize the motor position and do various
calculations.
2.6.7 Homing configuration via motor registers.
When the configuration is done by channels other than MacTalk such as Ethernet, Profi-
bus, CANopen etc. or just a simple interface connection to the basic motor the following
description must be followed.
Start the Index Homing Standard:
Write the decimal value 25 into the MODE_REG (register 2). This will immediately start
the Homing. The value is expressed in 32 bits unsigned.
Start the Index Homing Quick:
Write the decimal value 26 into the MODE_REG (register 2). This will immediately start
the Homing. The value is expressed in 32 bits unsigned.
The index position is sampled in the exact
position where it was detected (+/- 100μS)
during the movement of 1.5 revolution.
The position where the index pulse
was found + the distance moved since
is applied to the Actual position counter.
The Homing is finished and
the selected startup mode is used.
Homing started
1.3 Sec.
Homing position
is an optional
offset. See description in
other chapter.
defines the
Homing velocity
velocity used during .
Homing
The direction of is
Homing
determined by sign of
and
Homing velocity Advanced settings.
Index status
Velocity
The index is detected
somewhere in this range
Select as Homing method.
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