Rockwell-automation MPAS Integrated Linear Stages User Manual download pdf (Page 92)

92 Rockwell Automation Publication MP-UM001D-EN-P - September 2013

Appendix E Home to Torque-level Example

About Home to Torque-level

Homing

Home to torque-level homing is a process that references a known position by

monitoring torque while driving an axis into a mechanical hard-stop. Once the

actual torque level reaches or exceeds a specified torque level for a set time of

500 ms, a status flag is set in the controller.

Figure 26 - Axis Properties - Homing Tab

Table 16 - Torque-level Homing

When either the Torque Level or Torque Level - Marker homing option is

selected on the Homing tab, the Torque Level field is activated in the Active

Home Sequence Group. The units for this field are a percentage of the

continuous torque of the motor (% Continuous Torque) limited by the drive-

rated current/motor-rated current ratio. This number is interpreted in the drive

as an absolute value and the range is 0 through the TorqueLimitPositive value.

The options for the Direction field when Torque Level or Torque Level - Marker

homing sequence is selected are only Forward Bi-directional and Reverse Bi-

directional. Uni-directional homing is not possible, because the Home to Torque-

level sequence relies on a mechanical hard-stop.

IMPORTANT

Because the process of home to torque-level requires axis motion,

the axis homing mode must be configured as Active.

Sequence Type Description

Torque Level Sets the Home Position after the output torque reaches the Torque Level value, reverses

direction, and moves until the Homing Torque Above Threshold bit is low and the status

bit sets.

Torque Level - Marker Sets the Home Position after the output torque reaches the Torque Level value, reverses

direction, and encounters an encoder marker.

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Rockwell-automation MPAS Integrated Linear Stages User Manual Page 92