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HOME.SET

When HOME.SET when executed it will set the commanded and current position equal ( PL.CMD an PL.FB respectively )  to the HOME.P value. HOME.P can be set by the Workbench Terminal, on the home screen in the “Position” field ( see below ) or over fieldbus if desired.

The nuance with HOME.SET is it will work whether the drive is enabled or not.

Also note the description from Workbench Help for the HOME.SET:

Motor DH102M stands vertical and has a round scale attached, marked with 0..360. Real "Vertical" (0 of my scale) does not correspond to motor's encoder's "Vertical", difference is about 20 degrees. So, when I perform Homing, motor stops slightly not really vertical. I thought it's not a big deal, so I opened DriveGUI and estimated ROFFS parameter of my S346 to a value of actual vertical position (3370, as my scale really is from 0 to 3600). 

This application note covers Homing Mode 17 in the AKD drive, how it works, and how to use it.

It is intended for use with AKD-P Motion Tasking drives and not with consideration for methods within KAS and the PCMM/PDMM platforms. Homing methods in the AKD-P require Service Position mode. If you are using a fieldbus master then homing methods will be mode and application dependent.

Note about Firmware Revisions relative to this application note:

Valid for S400, S600

Problem

On a machine the homing procedure NREF 5 (move to the next zero-mark of the feedback unit) is started cyclic. 

The n161 error is a warning that the Home procedure failed.  Typically, with Home Type 1, 2 or 3, this is related to how the end of travel limits are configured.  This short video clip will explain how to recover from an n161 warning on the AKD servo drive.

This application note applies to the AKD Motion Tasking drive in the case where the motor to load is direct drive and the position of the load is always between 0 to 360 degrees. This is typical in rotary dials/indexing tables. Sometimes the objective is to have the zero position to be set in a position different from the zero angle of the motor/feedback. This application describes the steps taken to define a new "zero" position.

'-------------- Device Params -----------------------
Params
End Params

'-------------- Define (dim) Global Variables --------
Dim homefound as integer
Dim targetposition as integer
Dim speed as integer 'speed of initial move to sprayposition
Dim accel as integer 'acceleration for all moves
Dim decel as integer 'deceleration for all moves

MBInfo
End
'-------------- Main Program -------------------------
Main
DRV.SWENABLE = 0
homefound = 0







For KAS applications:

-   using the  PLCopen Motion engine

-   with a total travel range  of 1 revolution

-   that use  a SFD single turn absolute position feedback device.

this note outlines how to teach a desired position to a specific physical position then have the offset applied on each project startup

Homing in the AKD Basic must be written into the program.  You can program the homing sequence to do whatever you want it to do.  In this example, it is homing to a mechanical hard stop.  It lowers the current limits to prevent mechanical damage and reads the position error to find home.

 

'-------------- Device Params -----------------------
Params 
End Params

The AKD Basic drive does not have a homing procedure like the other AKD drive models.  The homing procedure must be written into the Basic program.  Here is one example of using the Position Capture feature to find the home position.  In this example, the homing is only done once after the program is started.  The program configures the position capture parameters and uses the captured position to calculate the home position.  The Basic program allows flexibility to define the homing procedure however you want it to behave.

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