Keba ServoOne User Manual

Image 8.38: Selection of homing method
①
Selectionofhomingmethods(-12)to(35)
②
SpeedV1:Speedduringcamsearch
SpeedV2:Speedduringzeropointsearch
③
AccelerationforV1andV2
④
Thereferencepointusuallyhasanactualpositionvaluedefinedontheaxisside
referredtotheaxiszero.
Ideally,thepositionvalueofthedrive-sidedatumpointandofthereference
pointareidentical.Asthepositionofthedatumpointisdecisivelyinfluencedby
theencodermounting,however,thedatumandreferencepointsdiffer.
Toestablishapositionalreferencetotherealaxiszero,thedesiredaxis-related
actualpositionvalueofthereferencepointshouldbesetviathezerooffset.
⑤
Limitationofpositioningrangeforhoming.Onexitingthepositioningrange,the
axisisstoppedwiththeerrormessage"Overrun".
Legend for “‘Homing method’ screen” figure
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
253
8 Motion profile
NOTE
l
The reference mark signal can be optionally linked to one of the
ISD05 and ISD06 fast digital inputs.
8.5.1.1Homingtoalimitswitch:
The digital input must be set to the available selection parameter LCW(5) for a
positive limit switch or to LCCW(6) for a negative limit switch.
8.5.1.2Homingtoacam
Set digital input to HOMSW(10) (P 106 - MPRO_INPUT_FS_ISD06 to P 107-
MPRO_INPUT_FS_ISD07).
NOTE
l
The homing methods (-1) to (-12) are manufacturer-specific.
Homing methods (0) to (35) are defined according to CiA 402.
ID Index Name Unit Description
169 0 MPRO_REF_
HOMING_MaxDistance
mDegree Homing:Maximumtravel(homingtoblock:
blockdetection)
170 0 MPRO_REF_
HOMING_Ctrl
 HomingmethodControlword
171 0 MPRO_REF_
HOMING_BackupPos
mDegree Homing:backupposition
225 0 MPRO_REF_
HOMING_TMaxScale
% Scalingofmotortorquelimitduringhoming
2234 0 MPRO_402_
HomeOffset
mDegree 607CHDS402homeoffset
2261 0 MPRO_402_
HomingMethod
 6098HDS402homingmethod
Table 8.20: “Homing” parameters

Keba ServoOne Specifications

General

Brand	Keba
Model	ServoOne
Category	Controller
Language	English