User`s manual

Configuration
GFK-1742A Chapter 4 Configuration 4-19
4
more slowly than the linear mode at the beginning and end of acceleration intervals.
Motions using
S-Curve acceleration require twice the time and distance to change velocity compared to
motions using the same acceleration value with Linear acceleration.
In order to maintain equal
machine cycle times, an S-Curve motion profile requires an acceleration value (and peak motor
torque) twice as large as the equivalent Linear acceleration motion profile. Therefore a tradeoff
between motor cost and machine cycle time may be necessary. Default: LINEAR.
5.19 Home Position
. Home Position (User Units). The value assigned to
Commanded Position
when a
Find Home
cycle completes.
5.20 Home Offset
. Home Position Offset (User Units). A value added to or subtracted from the
servo’s final stopping point when a
Find Home
cycle completes.
Home Offset
adjusts the final
servo stopping point relative to the encoder marker. See chapter 6 for details on the home cycle.
Default: 0.
5.21 Find Home Velocity
. Find Home Velocity (User Units/second). The velocity at which the
servo seeks the initial Home Switch transitions during the
Find Home
cycle when the Home Mode
is configured for HOMESW. If desired, Find Home Velocity can be set to a high value to allow
the servo to quickly locate the Home Switch. Default: 2000
5.22 Final Home Velocity.
Final Home Velocity (User Units/second). The velocity at which the
servo seeks the final Home Switch transition and Encoder Marker pulse at the end of a Find Home
cycle. This velocity is also used for the home cycle MOVE+ and MOVE- modes. See chapter 6
for details on the home cycle. Final Home Velocity must be slow enough to allow a 10 millisecond
(filter time) delay between the final Home Switch transition and the Encoder Marker pulse.
Default: 500
5.23 Home Mode
. Find Home Mode. The method used to find home during a
Find Home
cycle.
HOME SWITCH indicates that a Home Switch is to be monitored to Find Home. MOVE+ and
MOVE– specify direct positive and negative movement to the next encoder marker at the Final
Home Velocity. See chapter 6, “Non-Programmed Motion,” for details on the Home Cycle, Home
Switch, Move+, and Move- Modes. Default: HOMESW.
5.24 Return Data 1 Mode and Offset
,
Return Data 2 Mode and Offset
. These
configuration parameters allow alternate data to be reported in the
User Selected Data 1
and
User
Selected Data 2
%AI location for each axis. The alternate data includes information such as
Parameter memory contents and the DSM314 Firmware Revision.
There are two
Return Data
configuration parameters, a mode selection and an offset selection. The
mode parameter selects the Return Data type. The offset parameter is only used when the
Parameter Data mode (18h) is selected. Mode default = 0 (Torque Command). Offset default = 0.
The following Return Data selections are allowed: