XtraDrive User Manual Chapter 5: Parameter Settings and Functions
5-97
5.9.3. Homing
For serial commands, the homing procedure is different. You will need
a host (PC) to perform the procedure.
To perform the homing procedure, proceed as follows:
1. Move the motor to its home position (see parameters below for this
command).
2. Run command from PC (SET ZERO POSITION) to write the value
of the encoder into the following parameters: Pn2C2 and Pn2C3.
It takes two parameters to save a 32-bit encoder’s value. After this
command, the motor position at home position will be zero. The
absolute encoder uses the value of the parameters as the offset to
home position. If you are using an incremental encoder, you do not
need to run this command from the PC because the encoder does not
remember its position and does not use these parameters.
Note: If after home (in absolute encoder), the command SET ZERO POSITION does not execute,
then no offset is added to encoder.
It is possible to find home in two ways: either by a limit switch or by an
obstacle (hard home). Hard home is found if two conditions are valid: if
motor speed dropped below a certain value (Pn2C5) and if torque raised
to a certain limit as specified in HARD_HOME command variable
(refer to the XtraWare User’s Manual P/N 8U0109)
Parameter Setting Signal
Pn2C5
Setting range 0-32000
Default setting: 2 [Speed units]
Define the zero speed when
searching hard home
Home flags – To use a limit switch, define the following:
• Input for this limit switch by Pn2C7.0
Pn2C7.0 Setting Results (Home Switch Input)
0 SI0 (CN1-40) (default)
1 SI1 (CN1-41)
2 SI2 (CN1-42)
3 SI3 (CN1-43)
4 SI4 (CN1-44)
5 SI5 (CN1-45)
6 SI6 (CN1-46)
7-F Home failure
Pn2C7 Setting Results (Limit Switch Polarity)
0 Home switch input (0-F)
1 Reserved
2 Reserved
3 Reserved
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