Menu 40 − AMC Homing System

Mode: RFC‑A

Homing system


Parameter40.001  AMC Home Direction
Short description 
ModeRFC‑A
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places0
CodingRW

The AMC Home Direction (40.001) is used to select the direction of movement to the freeze input associated with the slave position source, where 0 is forwards and 1 is backwards.

 


Parameter40.002  AMC Home Mode
Short description 
ModeRFC‑A
Minimum0Maximum8
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places0
CodingRW

The homing sequence always runs at a sample rate of 4ms and cannot be changed using AMC Rate Select (31.012). Homing begins when the AMC Reference Select (34.007) is set to 5 and the motion controller is enabled. The following sequence then occurs.

Homing Phase

  1. AMC Home Complete (40.005) and AMC Home Reset Complete (40.008) are reset to 0
  2. A speed reference with a magnitude defined by AMC Home Maximum Speed (40.003) is applied to the profile generator until the home position is detected. During the homing phase the direction of movement is controlled by AMC Home Mode (40.002) and AMC Home Direction (40.001).
  3. If Home On Freeze (40.011) = 1 the home position is set to the AMC Slave Freeze Position (33.006) or when Home On Freeze (40.011) = 0 the home position is set to the AMC Slave Position (33.004) in the sample after the home event.
  4. The difference between the AMC Home Position (40.004) and the home position above is added to the AMC Slave Offset (33.003). This has the effect of making the AMC Slave Position (33.004) equal to the AMC Home Position (40.004) at the physical home position. The profile output position is automatically adjusted to prevent any position transients.
  5. AMC Home Complete (40.005) is set to 1.

Reset Phase

  1. The homing reference becomes a position reference instead of a speed reference and is set to AMC Home Position (40.004) + AMC Home Reset Position (40.007). The system will move towards the position reference, which is the position relative to the home position, with the maximum speed limited to the AMC Home Reset Maximum Speed (40.006).
  2. AMC Home Reset Complete (40.008) is set to 1 and AMC Reference Select (34.007) is set to 0 when |(AMC Home Position (40.004) + AMC Home Reset Position (40.007)) - AMC Slave Position (33.004)|Home Complete Window (40.010).

The table below shows a summary of the actions performed by the Home Switch State (40.012), Positive Limit State (40.013) and Negative Limit State (40.014) in each AMC Home Mode (40.002). If the positive or negative limits are not required to complete the homing sequence and a limit is reached (state = 1) before the home position has been detected or while moving to the AMC Home Reset Position (40.007) the AMC Reference Select (34.007) is set to 0 to force the system to stop.

AMC Home Mode (40.002) Slave Freeze Flag Home Switch State (40.012) Positive Limit State (40.013) Negative Limit State (40.014)
0 Not used Home position = AMC Slave Position (33.004) Home backwards Home forwards
1 Home position = AMC Slave Position (33.004) Not used Force stop* Force stop*
2 Home position = AMC Slave Position (33.004) when Home On Freeze = 1 Not used Home position = AMC Slave Position (33.004) when Home On Freeze = 0 Force stop*
3 Home position = AMC Slave Position (33.004) when Home On Freeze = 1 Not used Force stop* Force stop*
4 Home position = AMC Slave Position (33.004) when Home On Freeze = 1 Home position = AMC Slave Position (33.004) when Home On Freeze = 0 Force stop* Force stop*
5 Home position = AMC Slave Position (33.004) when Home On Freeze = 1 Home position = AMC Slave Position (33.004) when Home On Freeze = 0 Home backwards Force stop*
6 Home position = AMC Slave Position (33.004) when Home On Freeze = 1 Home position = AMC Slave Position (33.004) when Home On Freeze = 0 Home backwards Force stop*
7 Home position = AMC Slave Position (33.004) when Home On Freeze = 1 Home position = AMC Slave Position (33.004) when Home On Freeze = 0 Force stop* Home forwards
8 Home position = AMC Slave Position (33.004) when Home On Freeze = 1 Home position = AMC Slave Position (33.004) when Home On Freeze = 0 Force stop* Home forwards

* When the limit state = 1 the AMC Reference Select (34.007) is set to 0 and the slave will stop under the constraints defined by AMC Stop Mode (34.001).

If the freeze flag for the slave source is used as the home event the home position is set to the AMC Slave Freeze Position (33.006) and the AMC Home Maximum Speed (40.003) will not have any influence on the accuracy of the home position. However, if the Home Switch State (40.012) is used as the home event the home position is set to the AMC Slave Position (33.004) in the sample after the home event occurs. The time between when the home event occurs and the home position is set to AMC Slave Position (33.004) will be no more than one complete sample (4ms) and the home position will be within 4ms x AMC Home Maximum Speed (40.003) of the physical home position.


Homing Modes

The AMC Home Mode (40.002) and AMC Home Direction (40.001) control the direction of movement during the homing sequence. The homing sequence for each mode is described in more detail below. In each example it is assumed that the slave feedback device is connected to the drives P1 interface and uses the F1 Freeze Flag (03.104) as the freeze source. The actual freeze flag used during the homing sequence is defined by the AMC Slave Source Select (33.001) and the AMC Slave Freeze Select (33.007).  

Mode 0 - Manual

In manual mode the direction of movement is controlled by Positive Limit State (40.013) and Negative Limit State (40.014). When Negative Limit State (40.014) is set to 1 a positive homing reference is applied to the profile generator and when Positive Limit State (40.013) is set to 1 a negative reference is applied. If both limits are set the homing reference is set to 0. The home position is set to the AMC Slave Position (33.004) when the Home Switch State (40.012) changes from 0 to 1 (low to high transition).

Mode 1 - Home on freeze flag

Before the homing sequence begins the F1 Freeze Flag (03.104) is reset. The slave will move in the direction defined by AMC Home Direction (40.001) until the F1 Freeze Flag (03.104) changes from 0 to 1. The home position is then set to the AMC Slave Position (33.004).

Mode 2 - Home on positive limit

The slave will move forwards until Positive Limit State (40.013) = 1. If Home On Freeze (40.011) = 0 the home position is set to the AMC Slave Position (33.004) otherwise when Home On Freeze (40.011) = 1 the freeze flag is reset and the slave will move in the direction defined by AMC Home Direction (40.001) until the F1 Freeze Flag (03.104) changes from 0 to 1 and the home position is then set to AMC Slave Freeze Position (33.006).

Mode 3 - Home on negative limit

The slave will move backwards until Negative Limit State (40.014) = 1. If  Home On Freeze (40.011) = 0 the home position is set to the AMC Slave Position (33.004). Otherwise, when Home On Freeze (40.011) = 1 the freeze flag is reset the slave will move in the direction defined by AMC Home Direction (40.001) until the F1 Freeze Flag (03.104) changes from 0 to 1 and the home position is then set to AMC Slave Freeze Position (33.006).

Mode 4 - Home on home switch

When the Home Switch State (40.012) = 0 the slave will move forwards until it is 1 otherwise when Home Switch State (40.012) = 1 the slave will move backwards until it is 0. If Home On Freeze (40.011) = 0 the home position is set to the AMC Slave Position (33.004). Otherwise, when Home On Freeze (40.011) = 1 the freeze flag is reset and the slave will move in the direction defined by AMC Home Direction (40.001) until the F1 Freeze Flag (03.104) changes from 0 to 1 and the home position is set to the AMC Slave Freeze Position (33.006).

Mode 5 and 6 - Home on home switch with positive limit

Homing modes 5 and 6 use the same general sequence but home to different sides of the active home region. When AMC Home Mode (40.002) = 5 the slave will home to the negative side of the home region and when AMC Home Mode (40.002) = 6 the slave will home to the positive side. The homing sequence for mode 5 is as follows.

When the Home Switch State (40.012)  = 0 the slave will move forwards until it changes to 1 otherwise when Home Switch State (40.012) = 1 the slave will move backwards until it is 0. If the slave is initially on the positive side of the active home region Positive Limit State (40.013)  will be set to 1 before the home position is detected. If this happens the slave will move backwards until the Home Switch State (40.012) changes from 1 to 0. If Home On Freeze (40.011) = 0 the home position is set to the AMC Slave Position (33.004). Otherwise, when Home On Freeze (40.011) = 1 the freeze flag is reset the slave will move in the direction defined by AMC Home Direction (40.001) until the F1 Freeze Flag (03.104) changes from 0 to 1 and the home position is set to the AMC Slave Freeze Position (33.006).

Mode 7 and 8 - Home on home switch with negative limit

Homing modes 7 and 8 use the same general sequence but home to different sides of an active home region. When AMC Home Mode (40.002) = 7 the slave will home to the negative side of the home region and when AMC Home Mode (40.002) = 8 the slave will home to the positive side. The homing  sequence for mode 8 is as follows.

When the Home Switch State (40.012) = 0 the slave will move backwards until it changes to 1 otherwise when Home Switch State (40.012) = 1 the slave will move forwards until it is 0. If the slave is initially on the negative side of the active home region Negative Limit State (40.014) will be set to 1 before the home position is detected. If this happens the slave will move forwards until the Home Switch State (40.012) changes from 1 to 0. If Home On Freeze (40.011) = 0 the home position is set to the AMC Slave Position (33.004). Otherwise, when Home On Freeze (40.011) = 1 the freeze flag is reset the slave will move in the direction defined by AMC Home Direction (40.001) until the F1 Freeze Flag (03.104) changes from 0 to 1 and the home position is set to the AMC Slave Freeze Position (33.006).


Parameter40.003  AMC Home Maximum Speed
Short description 
ModeRFC‑A
Minimum0.00Maximum21474836.47
Default10.92UnitsUU/ms
Type32 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places2
CodingRW

*10rpm for a 16 bits per revolution device (user units ratio = 1)

See AMC Home Mode (40.002).


Parameter40.004  AMC Home Position
Short description 
ModeRFC‑A
Minimum-2147483648Maximum2147483647
Default0UnitsUU
Type32 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places0
CodingRW

The AMC Home Position (40.004) is the required AMC Slave Position (33.004) at the point where the homing sequence is complete (AMC Home Complete (40.005) = 1).


Parameter40.005  AMC Home Complete
Short description 
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatNoneDecimal Places0
CodingRO, ND, NC, PT

See AMC Home Mode (40.002).


Parameter40.006  AMC Home Reset Maximum Speed
Short description 
ModeRFC‑A
Minimum0.00Maximum21474836.47
Default10.92UnitsUU/ms
Type32 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places2
CodingRW

*Speed is 10rpm for a 16 bits per revolution device (user units ratio = 1)

See AMC Home Mode (40.002).


Parameter40.007  AMC Home Reset Position
Short description 
ModeRFC‑A
Minimum-2147483648Maximum2147483647
Default0UnitsUU
Type32 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places0
CodingRW

AMC Home Reset Position (40.007) is the position that the system should move to at the end of the homing sequence (AMC Home Complete (40.005) = 1) relative to the new home position. If AMC Home Reset Position (40.007) = 0 the slave will stop at AMC Home Position (40.004).


Parameter40.008  AMC Home Reset Complete
Short description 
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatNoneDecimal Places0
CodingRO, ND, NC, PT

See AMC Home Mode (40.002).


Parameter40.009  AMC Home Maximum Allowed Move
Short description 
ModeRFC‑A
Minimum0Maximum2147483647
Default0UnitsUU
Type32 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places0
CodingRW

If the modulus of the change in AMC Slave Position (33.004) exceeds AMC Home Maximum Allowed Move (40.009) before the event required to indicate the home position occurs and AMC Home Maximum Allowed Move (40.009) > 0, the system is forced to stop by setting AMC Reference Select (34.007)  to 0.


Parameter40.010  Home Complete Window
Short description 
ModeRFC‑A
Minimum0Maximum2147483647
Default0Units 
Type32 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places0
CodingRW

When the home position has been detected the AMC Profile Input Position (38.006) is set to the AMC Home Reset Position (40.007). The homing sequence is complete (AMC Home Reset Complete (40.008) = 1) when |AMC Profile Input Position (38.006) - AMC Slave Position (33.004)| ≤ Home Complete Window (40.010).


Parameter40.011  Home On Freeze
Short description 
ModeRFC‑A
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateRead when homing is enabled
Display FormatNoneDecimal Places0
CodingRW

See AMC Home Mode (40.002).


Parameter40.012  Home Switch State
Short description 
ModeRFC‑A
Minimum0Maximum1
Default0Units 
Type1 Bit VolatileUpdate Rate4ms read
Display FormatNoneDecimal Places0
CodingRW, NC

See AMC Home Mode (40.002).


Parameter40.013  Positive Limit State
Short description 
ModeRFC‑A
Minimum0Maximum1
Default0Units 
Type1 Bit VolatileUpdate Rate4ms read
Display FormatNoneDecimal Places0
CodingRW, NC

See AMC Home Mode (40.002).


Parameter40.014  Negative Limit State
Short description 
ModeRFC‑A
Minimum0Maximum1
Default0Units 
Type1 Bit VolatileUpdate Rate4ms read
Display FormatNoneDecimal Places0
CodingRW, NC

See AMC Home Mode (40.002).


Parameter40.015  Positive Limit Selector
Short description 
ModeRFC‑A
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places0
CodingRW

If Positive Limit Selector (40.015) is set to 0, Positive Limit State (40.013) is used to indicate that the positive limit has been reached. If Positive Limit Selector (40.015) is set to 1 the hard stop detector is used to determine when the positive limit has been reached.


Parameter40.016  Negative Limit Selector
Short description 
ModeRFC‑A
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places0
CodingRW

If Negative Limit Selector (40.016) is set to 0, Negative Limit State (40.014) is used to indicate that the negative limit has been reached. If Negative Limit Selector (40.016) is set to 1 the hard stop detector is used to determine when the negative limit has been reached.


Parameter40.017  Torque Limit Active
Short description 
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatNoneDecimal Places0
CodingRO, ND, NC, PT

Torque Limit Active (40.017) is set to 1 when Final Torque Reference (04.003) ≥ Hard Stop Torque Threshold (40.018). A hard stop is detected when Torque Limit Active (40.017) has been continuously active for the Hard Stop Delay Time (40.019). To allow the hard stop detector to perform the correct action in each AMC Home Mode (40.002) the home reference is used to differentiate between a positive and negative limit.


Parameter40.018  Hard Stop Torque Threshold
Short description 
ModeRFC‑A
Minimum0.0Maximum1000.0
Default0.0Units 
Type16 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places1
CodingRW

See Torque Limit Active (40.017).


Parameter40.019  Hard Stop Delay Time
Short description 
ModeRFC‑A
Minimum0.000Maximum60.000
Default0.000Units 
Type16 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places3
CodingRW, BU

See Torque Limit Active (40.017).