CL3-E CANopen/USB/ModbusRTU Online Manual

Homing

Overview

Description

The purpose of the homing method is to align the position zero point of the controller with an encoder index or position switch.

Activation

To activate the mode, the value "6" must be set in object 6060h (Modes Of Operation) (see "CiA 402 Power State Machine").

If home switches and/or limit switches are used, these special functions must first be activated in the I/O configuration (see "Digital inputs and outputs").

Controlword

The following bits in object 6040h (controlword) have a special function:

  • Bit 4: If the bit is set to "1", referencing is started. This is performed until either the reference position is reached or bit 4 is reset to "0".

Statusword

The following bits in object 6041h (statusword) have a special function:

Bit 13 Bit 12 Bit 10 Description
0 0 0 Homing is performed
0 0 1 Homing is interrupted or not started
0 1 0 Homing confirmed, but target not yet reached
0 1 1 Homing completed
1 0 0 Error during homing, motor still turning
1 0 1 Error during homing, motor at standstill
Note:
Bit 12 in Homing mode is set to 1 after the first fully completed homing operation since the restart. It is only reset to 0
  • during all subsequent homing operations
  • in the event of an error during a homing operation (permanently deleted until a new homing operation is fully completed).

Object entries

The following objects are necessary for controlling this mode:

  • 607Ch (Home Offset): Specifies the difference between the zero position of the controller and the reference point of the machine in user-defined units.

  • 6098h (Homing Method):

    Method to be used for referencing (see "Homing method")

  • 6099h:01h (Speed During Search For Switch):

    Speed for the search of the switch

  • 6099h:02h (Speed During Search For Zero):

    Speed for the search of the index

  • 609Ah (Homing Acceleration):

    Starting acceleration and braking deceleration for homing

  • 2056h (Limit Switch Tolerance Band):

    After reaching the positive or negative limit switch, the controller permits a tolerance range in which the motor can continue to run. If this tolerance range is exceeded, the motor stops and the controller switches to the "Fault" state. If limit switches can be actuated during homing, the tolerance range should be selected such that the motor does not exit the tolerance range during braking. Homing cannot otherwise be successfully performed. After homing is completed, the tolerance range can be reset to "0" if this is required by the application.

  • 203Ah:01h (Minimum Current For Block Detection):

    Minimum current threshold which, if exceeded, is to detect the blocking of the motor at a block.

  • 203Ah:02h (Period Of Blocking):

    Specifies the time in ms that the motor is to continue to run against the block after block detection.

Homing speeds

The figure shows the homing speeds using method 4 as an example:



Homing method

Description

The homing method is written as a number in object 6098h and decides whether, on a switch edge (rising/falling), a current threshold for block detection or an index pulse is referenced or in which direction homing starts. Methods that use the index pulse of the encoder lie in the number range 1 to 14, 33 and 34. Methods that do not use the index pulse of the encoder lie between 17 and 30, but are identical to methods 1 to 14 with respect to the travel profiles. These number are shown in circles in the following figures. Methods for which no limit switches are used and, instead, travel against a block is to be detected, a minus must be placed before the method number when making the call.

In the following graphics, the negative movement direction is to the left. The limit switch is located before the respective mechanical block; the home switch is located between the two limit switches. The index pulses come from the connected encoder.

For methods that use homing on block, the same figures apply as for the methods with limit switch. Because nothing is different aside from the missing limit switches, the same figures are used. For the figures here, the limit switches must be replaced with a mechanical block.

Homing on block

Homing on block currently only functions in closed loop mode.

"Homing on block" functions like every homing method with the difference that instead of a limit switch, a block (limit stop) is used for positioning. Two settings are to be made here:

  1. Current level: In object 203Ah:01, the current level is defined above which movement against the block is detected.
  2. Blocking duration: In object 203Ah:02, the duration during which the motor moves against the block is set.

Overview of methods

Methods 1 to 14 as well as 33 and 34 use the index pulse of the encoder.

Methods 17 to 32 are identical to methods 1 to 14 with the difference that only limit or home switches are used for referencing and not the index pulse.

  • Methods 1 to 14 use an index pulse.
  • Methods 17 to 30 do not use an index pulse.
  • Methods 33 and 34 reference only to the next index pulse.
  • Method 35 references to the current position.
The following methods can be used for homing on block:
  • Methods -1 to -2 and -7 to -14 contain an index pulse
  • Methods -17 to -18 and -23 to -30 have no index pulse

Methods 1 and 2

Reference to limit switches and index pulse.

Method 1 references to negative limit switch and index pulse:

Method 2 references to positive limit switch and index pulse:

Methods 3 to 6

Reference to the switching edge of the home switch and index pulse.

With methods 3 and 4, the left switching edge of the home switch is used as reference:

With methods 5 and 6, the right switching edge of the home switch is used as reference:

Methods 7 to 14

Reference to the home switch and index pulse (with limit switches).

With these methods, the current position relative to the home switch is not important. With method 10, for example, referencing is always performed to the index pulse to the right of the right edge of the home switch.

Methods 7 to 10 take the positive limit switch into account:

Methods 11 to 14 take the negative limit switch into account:

Methods 17 and 18

Reference to the limit switch without the index pulse.

Method 17 references to the negative limit switch:

Method 18 references to the positive limit switch:

Methods 19 to 22

Reference to the switching edge of the home switch without the index pulse.

With methods 19 and 20 (equivalent to methods 3 and 4), the left switching edge of the home switch is used as reference:

With methods 21 and 22 (equivalent to methods 5 and 6), the right switching edge of the home switch is used as reference:

Methods 23 to 30

Reference to the home switch without the index pulse (with limit switches).

With these methods, the current position relative to the home switch is not important. With method 26, for example, referencing is always performed to the index pulse to the right of the right edge of the home switch.

Methods 23 to 26 take the positive home switch into account:

Methods 27 to 30 take the negative home switch into account:

Methods 33 and 34

Reference to the next index pulse.

With these methods referencing is only performed to the respective subsequent index pulse:

Method 35

References to the current position.

Note: For homing mode 35, it is not necessary to switch the CiA 402 Power State Machine to the "Operation enabled" state. When energizing the motor windings in open loop mode, it is thereby possible to prevent the current position from not being exactly 0 after Homing Mode 35.
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