Mode: RFC‑S
Homing system
Parameter | 40.001 AMC Home Direction | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
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.
Parameter | 40.002 AMC Home Mode | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 8 |
Default | 0 | Units | |
Type | 8 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
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
Reset Phase
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.
* 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).
Parameter | 40.003 AMC Home Maximum Speed | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0.00 | Maximum | 21474836.47 |
Default | 10.92 | Units | UU/ms |
Type | 32 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 2 |
Coding | RW |
*10rpm for a 16 bits per revolution device (user units ratio = 1)
Parameter | 40.004 AMC Home Position | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | -2147483648 | Maximum | 2147483647 |
Default | 0 | Units | UU |
Type | 32 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
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).
Parameter | 40.005 AMC Home Complete | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | Units | ||
Type | 1 Bit Volatile | Update Rate | 4ms write |
Display Format | None | Decimal Places | 0 |
Coding | RO, ND, NC, PT |
Parameter | 40.006 AMC Home Reset Maximum Speed | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0.00 | Maximum | 21474836.47 |
Default | 10.92 | Units | UU/ms |
Type | 32 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 2 |
Coding | RW |
*Speed is 10rpm for a 16 bits per revolution device (user units ratio = 1)
Parameter | 40.007 AMC Home Reset Position | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | -2147483648 | Maximum | 2147483647 |
Default | 0 | Units | UU |
Type | 32 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
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).
Parameter | 40.008 AMC Home Reset Complete | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | Units | ||
Type | 1 Bit Volatile | Update Rate | 4ms write |
Display Format | None | Decimal Places | 0 |
Coding | RO, ND, NC, PT |
Parameter | 40.009 AMC Home Maximum Allowed Move | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 2147483647 |
Default | 0 | Units | UU |
Type | 32 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
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.
Parameter | 40.010 Home Complete Window | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 2147483647 |
Default | 0 | Units | |
Type | 32 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
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).
Parameter | 40.011 Home On Freeze | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit User Save | Update Rate | Read when homing is enabled |
Display Format | None | Decimal Places | 0 |
Coding | RW |
Parameter | 40.012 Home Switch State | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit Volatile | Update Rate | 4ms read |
Display Format | None | Decimal Places | 0 |
Coding | RW, NC |
Parameter | 40.013 Positive Limit State | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit Volatile | Update Rate | 4ms read |
Display Format | None | Decimal Places | 0 |
Coding | RW, NC |
Parameter | 40.014 Negative Limit State | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit Volatile | Update Rate | 4ms read |
Display Format | None | Decimal Places | 0 |
Coding | RW, NC |
Parameter | 40.015 Positive Limit Selector | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
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.
Parameter | 40.016 Negative Limit Selector | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
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.
Parameter | 40.017 Torque Limit Active | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | Units | ||
Type | 1 Bit Volatile | Update Rate | 4ms write |
Display Format | None | Decimal Places | 0 |
Coding | RO, 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.
Parameter | 40.018 Hard Stop Torque Threshold | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0.0 | Maximum | 1000.0 |
Default | 0.0 | Units | |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW |
See Torque Limit Active (40.017).
Parameter | 40.019 Hard Stop Delay Time | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0.000 | Maximum | 60.000 |
Default | 0.000 | Units | |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 3 |
Coding | RW, BU |
See Torque Limit Active (40.017).