Homing Mode 7: Find Zero Angle
The sequence of this homing mode is as follows:
1. The home value is immediately found by the drive and the actual and the command position of the drive
will immediately be set to the Position (HOME.P) value plus the distance to the mechanical zero angle
of the feedback device according to the current direction.
2. The motor moves to the home Position (HOME.P) value, which is located at the mechanical zero-angle
of the feedback.
Homing Mode 7 Example
Move in the positive direction towards the zero angle location.
1. Select Mode 7 from the drop down box.
2. Set the direction to Positive.
3. When Start is selected, the motor will move to the zero angle location.
Homing mode 8: Move Until Position Error Exceeded
This method is also referred to as move to hard or mechanical stop. The AKD has several options related to this
method as well. For this basic method, the motor will move until it encounters a hard stop, causing the position
error to exceed a specific threshold you set. Once the threshold is exceeded, the motion stops and home ref-
erence is established. You can use the Distance or Position as described initially in this section. One caution;
make sure you choose the direction appropriately to move off of the stop if you use the distance offset.
The sequence in this homing mode is as follows:
1. As this home move is initiated, the moptor will move according to the Direction (HOME.DIR) value until
the positon error exceeds the Position Lag (HOME.PERRTHRESH) value.
2. The motor is now at home position (HOME.P) value.
Homing Mode 8 Example
Move in the positive direction towards a hard stop and limit the current to 1 amp. Allow 30 degrees of error before
considered at the hard stop.
1. Select Mode 8 from the drop down box.
2. Set the Direction to Positive, Position Lag to 30 degrees and Peak Current to 1.
3. When Start is selected, the motor will move to the hard stop with a peak current of 1 amp.
4. As the position error exceeds the 30 degrees, the home Position (HOME.P) is set.
Homing Mode 9: Move Until Position Error Exceeded then Find Zero Angle
The sequence in this homing mode is as follows:
1. As this home move is initiated, the motor will move according to the Direction (HOME.DIR) value until
the positon error exceeds the Position Lag (HOME.PERRTHRESH) value.
2. The home value is immeadiately found by the drive and the actual and the command position of the drive
will be set to the Position (HOME.P) value plus the distance to the mechanical zero angle of the feed-
back device according to the current direction.
3. The motor moves to the home Position (HOME.P) plus the distance move offset is applied (if present)
value, which is located at the mechanical zero-angle of the feedback.
Homing Mode 9 Example
AKD User Guide | 12 Creating Motion
Kollmorgen | December 2010 127
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