Table of Contents
5.3 Selecting the setpoints 69
5.3.1 Specifying the setpoints (speed and torque values) 70
5.3.2 Settings concerning the analogue input AIN 71
5.3.3 Offset calibration and "Safe zero" 72
6 Applications 73
6.1 Homing process 73
6.1.1 Methods -17 and -18: Stop 74
6.1.2 Methods -1 and -2: stop with index pulse evaluation 74
6.1.3 Methods 17 and 18: positive and negative limit switch 75
6.1.4 Methods 1 and 2: positive and negative limit switch with index pulse evaluation 75
6.1.5 Methods 23 and 27: reference switch 76
6.1.6 Methods 7 and 11: reference switch and index pulse evaluation 77
6.1.7 Methods -23 and -27: homing run (positive/negative) to the reference switch 78
6.1.8 Methods 32 and 33: homing to the index pulse 78
6.1.9 Method 34: homing to the current position 79
6.1.10 Parameterisation of the homing method 79
6.1.11 Parameterisation of the homing run: settings 80
6.1.12 Parameterisation of the homing run: motion profile 82
6.1.13 Tab: Index pulse control 83
6.1.14 Tab: Torques 84
6.1.15 Tab: Special functions 85
6.2 Positioning process 86
6.2.1 Global positioning settings 86
6.2.2 Destination parameters: general buttons 87
6.2.3 Destination parameters: Settings tab 88
6.2.4 Destination parameters: Driving profile tab 90
6.2.5 Destination parameters: Experts tab 92
6.2.6 Moving to specific positions 95
6.2.6.1 Positioning via digital inputs 95
6.2.6.2 Positioning via the parameterisation interface (USB/Ethernet) 95
6.2.7 Motion program 97
Product manual BL 4000-C Page 6 of 298
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