Rockwell-automation 57C422B 2 Axis Servo Module Manual do Utilizador descarregar pdf (Página 57)

PROGRAMMING

4-29

is saved and used for the "stop motion" command if the "stop

action" bit is set in register 65.

1. No home limit switch and no encoder marker pulse.

When the "home axis" command is issued, the value in

registers 17, 18 is assigned to the current axis position.

The axis does not move.

2. Encoder marker pulse only. When the "home axis"

command is issued, the axis moves in the specified

direction at the slow home speed (registers 15, 16) until

the marker pulse is detected. The value in registers 17,

18 is then assigned to the axis position.

3. Home limit switch only. When the "home axis" command

is issued, the axis moves in the specified direction at the

fast home speed (registers 19, 20) until the home limit

switch is detected. The axis then stops and moves in the

opposite direction at the slow home speed (registers 15,

16) until the limit switch is cleared. The value in registers

17, 18 is then assigned to the axis position.

4. Both the home limit switch and encoder marker pulse.

When the "home axis" command is issued, the axis

moves in the specified direction at the fast home speed

(registers 19, 20) until the home limit switch is detected.

The axis then stops and moves in the opposite direction

at the slow home speed (registers 15, 16) until the limit

switch is cleared. After clearing the home limit switch, the

axis continues in the same direction at slow speed until

the marker pulse occurs. The value in registers 17, 18 is

then assigned to the axis position.

Tune gains, tune dynamics

, and tune feedforward gain are

auto-tuning commands that work differently from other

commands. While the auto-tuning process is underway, the

module will not respond to any commands other than the

"abort self-tuning" command (register 65). For this reason,

you should not attempt to issue self-tuning commands for

one axis while issuing any commands to the other axis.

Normal operation of both axes should be halted while

self-tuning is being done. Only one axis at a time may be

tuned.

Note that the application software disk includes an

auto-tuning procedure. See also section 5.2 for more

information about tuning.

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