Parker Dynaserv G2 User Manual

Also see for Dynaserv G2: User guide

Contents

5-55.2.4 Homing MoveIn this operation the rotor is moved according to a preset home position search method in order to establish acoordinate system. After first moving to the home position determined by the proximity signal and motor Zerosignal, it continues to move an amount further given in the #29 Offset distance from the Home positionparameter's setting value. It then sets the drive coordinate command value to the value set in the #30 Homingcomplete operation command value parameter.There are two ways to generate motor Zero signals (hardware and software Zero signals). The method usedvaries depending on the motor. See the explanation given below.The homing operation is processed in the following order.The move can only be trapezoidal but it is possible to set the acceleration and deceleration profile. In addition,the velocity override does function in real time.The settling wait function is performed at each point during the homing operation.[Related parameters]#11 Over-travel search velocity during a homing move#12 Homing operation: Home sensor proximity signalsearch velocity#13 Homing operation: Home sensing feed velocity 1#15 Homing operation: Origin position offset feed velocity#20 Homing direction#21 Enable/Disable the over-travel signal under thehoming mode#25 Homing operation: Origin inside selection#26 Enabling the proximity signal during OT search underthe homing mode#27 Enabling the homing flag position error#29 Offset distance from the Home position#30 Homing complete operation command value#202 Coordinates (+) direction setting(1) OT search moveThe rotor moves until it finds an over-travel (OT) signal in the opposite side of the homing direction and in theopposite direction of homing direction. It is executed only when the OT signal search move is enabled in #21Enable/Disable the over-travel signal under the homing mode parameter.If the proximity signal during OT search move is enabled in the #26 Enabling the proximity signal during OTsearch under the homing mode parameter, and an home position proximity signal is detected during an OTsearch move, the rotor stops the OT search move, and then proceeds to (2) or (3) below.The moving velocity is set to the value in #11 Over-travel search velocity during a homing move parameter.(2) Homing search moveThe rotor moves until it finds a homing sensor in the homing direction.The moving velocity is set to the value in #12 Homing operation: Home sensor proximity signal searchvelocity parameter.(3) Moving to outside of home position proximity areaThis is executed only if #25 = 1. If #202 = 1, the rotor moves in (+) direction until it leaves the home positionproximity area. If #202 = 0, the rotor moves in (-) direction until it leaves the home position proximity area.The moving velocity is set to the value in the #13 Homing operation: Home sensing feed velocity 1parameter.[Hardware Zero signal]Applicable motor:DYNASERVDMA and DMB series[Software Zero signal]Applicable motor:DYNASERVFlat motor (DM1004B)Small-diameter motor (DM1004C)Standard DRA, DRB and DRE seriesHigh-speed DRB and DRE series5