AKD User Guide | 12 Creating Motion
Controls:
l Found: When the home reference is found, then this indicator is green.
l Done: When the home move ic complete, this indicator is green.
l Active: This indicator will be green while the Home move is taking place.
l Error:This indicator will be red if something in the homing sequence failed.
l Position Feedback: This window reports the current value for PL.PFB.
l Start/Stop: Click this button to start or stop the selected homing method.
12.1.2.2 Selecting and Using Homing Modes
Homing Mode 0: Home Using Current Position
Using the current position is the most basic homing method. This method simply uses the current position of the
motor as the home point reference. Two values allow you to further define homing with this method:
l Distance: A value other then zero will cause a movement of the motor the distance entered in counts (or
other units based on your units settings). You can use this to establish a home point at some prescribed
distance from the initial starting position of the motor. This home will be at the offset distance entered
from zero.
l Position: You can use this parameter to set the value of the home position other then zero. This allows
you to offset your home reference away from zero. PL.FB will be set to the value you enter when the
motor reaches the home reference point (based on the method selected).
The distance and position offsets are available and behave similarly on all of the homing types. Either the motor
will move an additional distance (distance value) after it finishes the homing method, or will set the position to the
amount entered in the position value.
Homing Mode 0 Example
Use the current position as home and have the motor end motion 180 degrees from home:
1. Select Mode 0 from the drop down box.
2. Enter 180 into the Distance box.
3. Click Start,
4. The motor will move 180 degrees from the start position. The Position Feedback box (PL.FB)will show
180 (the motor is now sitting 180 degrees from home).
Homing Mode 1: Find Limit Input
The find limit input mode moves to a limit input. This method can be used if you have a positive or negative limit
switch available that you want to establish as a home reference point. NOTE: Limit Switches should be set to
Active Low (when switch power is lost, no current is flowing, thus drive homes at the point of the loss
in power of the limit switch).
The sequence of this homing mode is as follows:
1. The motor starts to move in the positive or negative direction, depending on the value you set in the-
Settings, Direction (HOME.DIR) on the Home Setup screen.
2. The motor stops as soon as the hardware limit switch has been detected and then reverses direction.
3. The home position is set when the limit switch is no longer active. The actual and command position of
the drive is immediately set to the home position value (HOME.P) and the motor ramps down to zero
velocity. The axis is then moved to the position (HOME.P) + distance offset (HOME.DIST).
The values for distance and position can be used as described in homing mode 0.
122 Kollmorgen | December 2010
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