User guide

Configuring an Application www.controltechniques.com 75
activated during the "back off sensor" portion of the home.
Home.#.CommandComplete - The
Home.#.CommandComplete source will activate when the
specific home completes its deceleration ramp. It will
remain active until the specific home is initiated again. If the
drive stop destination is used during a home, then the
Home.#.CommandComplete will not activate.
Home.#.CommandInProgress - Activated when the Home
is initiated and remains active until all motion related to the
Home has completed.
Home.#.Decelerating - This source is active while a home
is decelerating from its target velocity. Once the home
reaches zero velocity (or its' new target velocity), the
Home.#.Decelerating source will deactivate. This source
will also activate during the "back off sensor" motion before
the actual home.
Home.#.LimitDistHit - This source is activated when the
home reference is not found before the Home Limit
Distance is traveled. It will remain active until the home is
initiated again.
Destinations
Home.#.Initiate - The Home.#.Initiate destination is used to
initiate the home function. The Home is initiated on the
rising edge of this function. The device will not initiate a
Home if there is an Index, Jog, or Program in progress, or
if the Stop destination is active or if a travel limit is active.
Home.#.SensorTrigger - This destination is required to be
used if you are homing to a sensor. This destination is edge
sensitive. The home position is determined when the
Home Sensor destination is activated.
If the device receives a Home.#.Initiate input while the
Home.#.SensorTrigger is active, you can choose to have
the motor "back-off" of the home sensor before it initiates
the home function, or move forward to the next sensor.
If debounce is used on the hardware input that the
Home.#.SensorTrigger is assigned to, the debounce
determines the length of time the input must be active to be
considered a valid input.
The rising edge of the sensor is still used for the reference
position. This maintains accuracy while providing the ability
to ignore false inputs.
7.5.3 Index View
Figure 103: Index View
Following is a list of parameters used to configure each
index.
Index Number
The Index Number parameter selects the index number
with a scroll box.
Index Name
The User can specify an Index name of up to 12
alphanumeric characters. This allows assigning a
descriptive name to each index indicating different
machine operations.
IndexType
Select the index type from Incremental, Absolute,
Registration, Rotary Plus, or Rotary Minus.
Click the down arrow on the parameter list box to select the
desired type of Index Profiles, as follows:
Incremental Indexes run a specified distance from the
current position.
Absolute Indexes move to an exact position with respect to
the home reference point. The absolute index could run in
either a clockwise (CW) or counterclockwise (CCW)
direction dependent on the current position when it is
initiated.
A Registration Index runs at the specified velocity until a
registration sensor is seen or until it reaches the
Registration Limit Distance. If a Registration Sensor is
seen, then the index runs an additional Registration Offset
distance.
Rotary Plus and Rotary Minus type indexes are typically
used in applications which use rotary rollover. These
absolute indexes are forced to run in a specific direction