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3.1.1.1 Homing parameters
Homing parameters (class ID: 0x69) are specific to the VLC-2-EIP. Prior to the execution of
homing through the manipulation of cyclic objects (further description in the following
subsection of this manual), the following objects need to be configured for each axis:
• Homing method (value depends on the chosen method below)
o Current position (0): no motion is involved. This sets the position value =
“Home offset” object.
o Negative mechanical limit (1): retracts the shaft until actuator the rear bumper
is detected, and sets the position value = “Home offset” object.
o Positive mechanical limit (2): extends the shaft until the actuator front bumper
is detected, and sets the position value = “Home offset” object.
o Negative index (3): retracts the shaft until the index is detected.
o Positive index (4): extends the shaft until the index is detected.
o Negative mechanical limit and index (5): retracts the shaft until actuator the
rear bumper is detected, extends until the index is detected and sets the
position value = “Home offset” object
o Positive mechanical limit and index (6): extends the shaft until actuator the
rear bumper is detected, retracts until the index is detected and sets the
position value = “Home offset” object
• Homing speed: speed of retracting and extending shaft movements during homing.
• Homing acceleration: acceleration of the shaft movement during homing.
• Home offset: the value sets to the actuator’s actual position after homing is completed.
• Position error threshold: the position error value to conclude the existence of the
mechanical limit.
• Homing timeout: the time period allowed to complete the homing. If homing has not
been completed within the time period, homing is considered to be failed.
3.1.1.2 Commutation parameters
Except for the commutation voltage, the rest of commutation parameters are available in the
standard VLC-25-07. The relevance of these parameters for the actuator operation are as
follow:
• 1-phase (brushed/voice coil) motor: Commutation phase has to be set to 27307. See
the VLC manual for more information on this object.
• 3-phase (brushless) motor: Commutation voltage and electrical cycles have to be
configured to perform phasing. Additionally, the object Phase and Sense setting (Class:
0x6B; Instance: 2) have to be set to 1. See the program example in the VLC-25-07
manual for more information.
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