12.1.2.2 Selecting and Using Homing Modes 122
Homing Mode 0: Home Using Current Position 122
Homing Mode 1: Find Limit Input 122
Homing Mode 2: Find Input Limit then Find Zero Angle 123
Homing Mode 3: Find Input Limit then Find Index 124
Homing Mode 4: Find Home Input 125
Homing Mode 5: Find Home Input then Find Zero Angle 125
Homing Mode 6: Find Home Input then Find Index 126
Homing Mode 7: Find Zero Angle 127
Homing mode 8: Move Until Position Error Exceeded 127
Homing Mode 9: Move Until Position Error Exceeded then Find Zero Angle 127
Homing Mode 11: Find Index 128
12.1.3 Using Homing: Advanced 128
12.1.3.1 Related Parameters and Commands 129
12.1.3.2 Related Topics 129
12.2 Motion Tasks 129
12.2.1 Overview 129
12.2.2 Motion Task Input Table 129
12.2.3 Using Motion Tasks 130
12.2.3.1 Motion Profiles 132
12.2.3.2 Motion Types 132
Absolute motion task 132
Motion task relative to current position command (PL.CMD) 132
Motion task relative to the target position of the previous motion task 133
12.2.4 Using Motion Tasks: Advanced 133
12.2.4.1 Joining multiple tasks 133
12.2.4.2 Start Conditions 133
12.2.4.3 Blending 133
12.3 Service Motion 134
12.4 Jog Move 135
13 Saving Your Drive Configuration 137
13.1 Save Options 138
13.2 Save On Exit 138
13.3 Save On Disconnect 139
13.4 Save On Firmware Download 140
14 Tuning Your System 141
14.1 Slider Tuning 142
14.1.0.1 Gentle, Medium, and Stiff 142
14.1.0.2 The Slider 142
14.1.0.3 Inertia Ratio 142
AKD User Guide | Table of Contents
9 Kollmorgen | December 2010
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