User manual

TMCM-6110 TMCL Firmware V1.19 Manual (Rev. 1.03 / 2012-JUL-31) 76
www.trinamic.com
6.3 Reference Search
The built-in reference search features switching point calibration and support of one or two reference
switches. The internal operation is based on a state machine that can be started, stopped and monitored
(instruction RFS, no. 13). The reference switch is connected in series with the left limit switch. The
differentiation between the left limit switch and the home switch is made through software. Switches with
open contacts (normally closed) are used.
Hints for reference search:
- The settings of the automatic stop functions corresponding to the switches (axis parameters 12
and 13) have no influence on the reference search.
- Until the reference switch is found for the first time, the searching speed is identical to the
maximum positioning speed (axis parameter 4), unless reduced by axis parameter 194.
- After hitting the reference switch, the motor slowly moves until the switch is released. Finally the
switch is re-entered in the other direction, setting the reference point to the center of the two
switching points. This low calibrating speed is a quarter of the maximum positioning speed by
default (axis parameter 195).
- Set one of the values for axis parameter 193 for selecting the reference search mode.
PARAMETERS NEEDED FOR REFERENCE SEARCH
Number
Axis Parameter
Description
9
ref. switch status
The logical state of the reference (left) switch.
See the TMC 429 data sheet for the different switch modes. The default has
two switch modes: the left switch as the reference switch, the right switch as
a limit (stop) switch.
10
right limit switch
status
The logical state of the (right) limit switch.
11
left limit switch
status
The logical state of the left limit switch (in three switch mode)
12
right limit switch
disable
If set, deactivates the stop function of the right switch
13
left limit switch
disable
Deactivates the stop function of the left switch resp. reference switch if set.
141
ref. switch
tolerance
For three-switch mode: a position range, where an additional switch
(connected to the REFL input) won't cause motor stop.
149
soft stop flag
If cleared, the motor will stop immediately (disregarding motor limits), when
the reference or limit switch is hit.
193
ref. search mode
1
search left stop switch only
2
search right stop switch, then search left stop switch
3
search right stop switch, then search left stop switch from both sides
4
search left stop switch from both sides
5
search home switch in negative direction, reverse the direction when
left stop switch reached
6
search home switch in positive direction, reverse the direction when
right stop switch reached
7
search home switch in positive direction, ignore end switches
8
search home switch in negative direction, ignore end switches
Adding 128 to these values reverses the polarity of the home switch input.
194
referencing
search speed
For the reference search this value directly specifies the search speed.
195
referencing
switch speed
Similar to parameter no. 194, the speed for the switching point calibration can
be selected.
196
distance end
switches
This parameter provides the distance between the end switches after executing
the RFS command (mode 2 or 3).