Referencing

An external reference switch

During an external reference run, the motor travels to a switch connected to the reference input.

Note: The input varies according to the mode, see description of the input and output signals of the respective modes in the section "Operating modes"

After the start of the external reference run, the motor accelerates with the set ramp from the minimum to the maximum speed. When the reference switch is reached, movement is stopped for a break of 100 ms and then, according to the setting "Positioning behavior at the limit switch", travel is recommenced away from the switch at the minimum speed (start/stop speed).
The reference switch can be an opener or a closer. This must be set with the software during programming.

Positioning behavior at the limit switch

The behavior of the SMCI47-S on recognizing the reference switch can be defined separately for normal operation (positioning and flag positioning modes) and for reference runs. There are four types of positioning behavior at the limit switch:

• "Free backwards" (reference run and normal operation)
• "Free forwards" (reference run and normal operation)
• "Stop" (only for normal operation)
• "Disable" (only for normal operation)

Two (or more) ext. reference switches

If several limit switches are required in the stepper motor positioning controls and Plug & Drive motors, this can be configured using NanoPro.

Internal reference run

During the internal reference run, the motor travels to an internal reference point at the set minimum speed. This reference point is on the motor shaft and is therefore reached with each full motor revolution.
As for the external reference run, the behavior of the controller on recognizing the reference point in normal operation (positioning and flag positioning mode) can be defined.