Delta RMC151 User Manual download pdf (Page 76)

RMC70/150 and RMCTools User Manual

The RMC offers homing of quadrature, incremental SSI, and incremental Resolver axes. All are

described in this topic.

How to Home an Axis

This section describes the basic steps for homing a quadrature axis using the Home input

and/or the Z (Index) pulse as the home trigger. The RMC has many options for homing;

for more details, see the rest of this topic.

Note: If you are using the Z pulse, it is important to specify the Z Alignment before homing.

See the Using the Z Trigger section below.

1. Arm the Home

In order to perform homing, the home must first be armed. This means that the RMC

will be looking for the specified trigger to occur, and when it occurs, will set the Actual

Position to the specified position.

To arm the home, issue the Arm Home (50) command. This command has three

parameters:

a. Home Position:

This is the position to which the Actual Position will be set when the specified

trigger occurs.

b. Trigger Type:

This is the trigger that the RMC will wait for. This is either the Home Input

(select rising or falling), or the Z Input, or a combination thereof.

c. Repeat mode:

This specifies whether the homing should occur every time the trigger occurs,

or only once.

When the axis is armed, the Home Armed

status bit will be set. This bit can be viewed

in the Axis Status Registers All tab, in the Home section.

2. Move the Axis Until it Homes

Move the axis so that it reaches the specified trigger, such as the Home input or Z

pulse. To move the axis, use any motion command you wish. Typically, a Move

Velocity works well. When the specified trigger occurs, the Actual Position will be set to

the specified position. The Target and Command Positions will be adjusted by the

same amount that the Actual Position was adjusted, and the motion will therefore not

be affected.

When the home has occurred, the Home Latched status bit will be set and the

Home

Armed status bit will be set. If the Repeat Mode parameter was set to Repeat, both

the Home Latched and the Home Armed status bits will remain set. These status bits

can be used in a user program to check that the home has occurred. The Home Input

status bit also shows the current state of the home input.

When the home has occurred, issue a command to stop the axis or move it to some

desired location.

Quadrature Homing Details

This section gives more detail on homing a quadrature axis.

Trigger Types

The following trigger types are available on quadrature axes.

Trigger

Type Description

Valid for

RMC70

RMC150

H Rising

Trigger a Home on the rising edge of the Home Input.

QAx, Q1

Quad, UI/O

H Falling

Trigger a Home on the falling edge of the Home Input.

QAx, Q1

Quad, UI/O

56 Delta Computer Systems, Inc.

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Delta RMC151 User Manual Page 76

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