Jump to content
OMRON Forums

Absolute Homing

Shreyas D

Recommended Posts

Hello All,

I am very much new to PMAC & Delta-Tau Products

Right now, I am using Omron 1S Drive (Absolute Multiturn Encoder) along with CK3E Controller firmware version 2.7. 0.0

I need to understand how to do Absolute homing. Can you please help me with some project examples?

This would be great support.

I will wait for reply.

Link to comment
Share on other sites

  • Replies 1
  • Created
  • Last Reply

Top Posters In This Topic

Popular Days

Top Posters In This Topic

See the attached document.  

Note that I did some testing with that procedure, and I had some trouble when I ran the PLC again with the axis in different positions.  There was a problem with the stored home position.  I remedied that with some code that used the HomeOffset to compensate for the last stored home position.  The code I added is in the two commented out sections here:

open plc Mot5AbsPos
LOCAL Direction //Is the drive set as CW+ or CCW+

local OldHomePos, HomePosDiff, HomeOffsetSetting
HomeOffsetSetting=Motor[5].HomeOffset    // Store HomeOffset
Sys.Udata[13] = ecattypedsdo(0,0,1,$4510,$84,0,$4) 
sys.Idata[14] = ecattypedsdo(0,0,1,$4510,$85,0,$4) 
Direction = ecattypedsdo(0,0,1,$3000,1,0,4) 
CALL Timer(0.050) 
Motor[5].AbsPosSf = ((2 * Direction) - 1) * Motor[5].PosSf 
CALL Timer(0.050) 
CALL Timer(0.050) 
Motor[5].HomeOffset = HomeOffsetSetting + OldHomePos - Motor[5].HomePos  // Restore HomeOffset and add in the change in HomePos
CALL Timer(0.050) 
Motor[5].HomeOffset = HomeOffsetSetting  // Restore proper setting


Absolute Homing a 1S Drive over EtherCAT.pdf

Link to comment
Share on other sites

Join the conversation

You can post now and register later. If you have an account, sign in now to post with your account.

Reply to this topic...

×   Pasted as rich text.   Paste as plain text instead

  Only 75 emoji are allowed.

×   Your link has been automatically embedded.   Display as a link instead

×   Your previous content has been restored.   Clear editor

×   You cannot paste images directly. Upload or insert images from URL.

  • Create New...