Homing
(Master TwinCAT 2.11 R3)
The data provided in this section as an example refer to an AM3121-0200-0001 servomotor from Beckhoff Automation. For other motors the values may vary, depending on the application.
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Referencing
Referencing is not available via the online commissioning tab for the axis (see Fig. Online homing in the NC), since the reference cam cannot be directly connected to the EL72x1.
Function block "MC_Home"
- Referencing must be done from the PLC. The function block MC_Home from the TC MC2 Lib is used for this purpose.
- The following minimum configuration is required in MC_Home.
- Homing mode enables selection of mode to be used for referencing.
- Execute is used to initiate homing.
- bCalibrationCam, which has to be linked with your reference cam, is used to stop homing.
- The following figure Extract from the functional description for MC_Home shows an extract from the functional description of MC_Home. Full information can be found in the corresponding functional description.
Reference modes
- The EL72x1 can be operated with the following NC reference modes (see Fig. Selection of the reference modes in the NC).
- Default: Is suitable as a general setting and for most applications.
Once the motor reaches the reference cam, the direction is reversed. The declining cam signal causes the motor to stop. The reference position is then set. - Software Sync: The C track is modelled virtually.
The velocity to be used for homing can also be set in the NC (Fig. Setting the reference velocity).
