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TMC4210 Datasheet(PDF) 37 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4210 Datasheet(HTML) 37 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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37 / 48 page  TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03) 37 www.trinamic.com 7.3 Homing Procedure In order to home the drive, the reference switch position x ref must be determined after each power on (see Figure 7.2). PROCEED AS FOLLOWS: 1. Due to mechanical inaccuracy of switches, the reference switch is active within the following range: x 1 < xref < x2, where x1 and x2 may vary. If the traveler is within the range x1 < xtraveler < x2 at the start of the homing procedure, it is necessary to leave this range, because the associated reference switch is active. A dummy write access to X_LATCHED initializes the position latch register. 2. With the traveler within the range x 2 < xtraveler < xmax and the register X_LATCHED initialized, the position x 2 can simply be determined by motion with a target position X_TARGET set to –xmax. 3. When reaching position x 2 the position is latched automatically. 4. With stop switch enabled, the stepper motor automatically stops if the position x 2 is reached. 5. Now, set the DX_REF_TOLERANCE in order to allow motion within the active reference switch range x 1 < xref < x2 and to move the traveler to a position xtraveler < x1 if desired. 6. Afterwards initialize the register X_LATCHED again to latch the position x 1 by a motion to a target position x traveler < x1. 7. When the positions x 1 and x2 are determined the reference position xref = (x1 + x2 ) / 2 can be set. Finally, one should move to the target position X_TARGET = x ref and set X_TARGET := 0 and X_ACTUAL := 0 when reached. mechanical inaccuracy of switches (switching hysteresis) x1 x2 reference switch dx2 dx1 DX_REF_TOLERANCE xref xmax Motor traveller xtraveler Negative direction Positive direction Figure 7.2 Reference search |
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