Analysis of the realization of the origin zero mode of servo motor

1. Introduction to the original change zero: There are several origin back zero methods, each method is established: the original reference (limiting or origin switch conversion or encoder index pulse) motion direction and the relationship between the index pulse and the origin switch of the restricted limiter. Figure 1 Original zero mode is used to find mechanical origins, and locate the positional relationship between mechanical origin and mechanical zero. After the origin is zero, the motor stop position is a HOMEPOSITION, and the relationship between the mechanical origin and the mechanical zero point can be set by setting 607CH: Mechanical origin = mechanical zero + 0x607c (home_offset) Figure 2 Relationship between mechanical origin and mechanical zero There are several key CAN parameters that require configuration, namely: Table 1 related parameters The zero speed includes 2 speeds, one is to search the speed reduction point signal speed 6099-1h (user speed unit), this speed can be set to a higher value, prevent returns from zeroing time, a zero-time failure; Signal speed 6099-2h (user speed unit), this speed can be set to a lower speed to prevent overshoot when servo high speed, resulting in a large deviation from the stop position and setting mechanical origin. The zero speed 609ah is used in the acceleration segment and the deceleration, and when the speed is quickly stopped, the deceleration is determined by 6085H. 2, back zero configuration process Figure 2 Using the CANopen configuration origin zero process In the origin zero mode, the host computer should first select the origin zero (6098h) and set the zero speed (6099-1h 6099-2h), and the zero speed (609ah). After the origin is changed to zero contact, the servo will set the automatic mechanical origin and complete the relative positional relationship between mechanical origin and mechanical zero. The internal completion of the servo driver, speed and torque control. For example, the limit switchgear motor Z phase pulse in the negative direction is selected as a correction trigger condition, as shown below, where 0x6098 is selected to be 1. Figure 3 Selected origin zero mode 0x6098 = 1 2 Note: Copley does not support automatic conversion between user units and motor units, can only be able to calculate the unit and motor unit of the unit and motor units you need. Read more

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