APPLICATION NOTE 042.IM23x-MA.

110
1/4/06

IM23x-MA
Homing procedure (3)

Problem:

As incremental encoders do not provide absolute position information, it is often

required to move the motor until the Index from encoder is detected by the
drive, (or to a certain offset from the encoder Index signal detection) allowing
the setting of the absolute position information to a given value.

Solution:

Drive

Description:

Technosoft Intelligent Motor IM23x-MA

S/W environment :

Technosoft EasyMotion Studio

S/W application

P091.042.IM23x-MA.APN-MOT.110.x.msq

This Application Note explains:

how use a homing procedure predefined in EasyMotion Studio (and

generate a Start homing transition using IN#38 input ).

how to move the motor to an initial home position (corresponding to the

transition of the encoder Index signal).

Project set-up:
1. Install EasyMotion Studio on your PC. Please find the setup kit on our web site.
2. From the attached archive P091.042.IM23x-MA.APN-DOC.110.x.zip extract
P091.042.IM23x-MA.APN- MOT.110.x.msq into the ..\ESM\Archives folder.

the

file

3. Perform all the hardware connections as it is explained in P091.042.IM23x-MA.APNDOC.101.x.pdf document (Getting started using IM23x-MA).
4. Setup the intelligent motor for position and speed control (see the section 3.B. Drive setup of
P091.042.IM23x-MA.APN-DOC.101.x.pdf document).
5. Start EasyMotion Studio, then create a new project using the template IM23x IM23x-MA
(see the section 1. Create a new project of P091.042.IM23x-MA.APN-DOC.101.x.pdf
document).
6. In the Project window left side select Homing Modes item and then from the list choose
Homing 3 Stop at first index pulse after home switch high-low transition. If home input is high,
move negative, else move positive and reverse after home input low-high transition
7. Select in the Project window left side, in your application M Motion and import the motion file
P091.042.IM23x-MA.APN-MOT.110.x.msq in your application by selecting Application |
Motion | Import Sequence menu. You will be prompted to select from ..\ESM\Archives
folder an .msq file. Select the file P091.042.IM23x-MA.APN-MOT.110.x.msq.

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IM23x-MA

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Homing procedure (3)

Pulse & Direction Connection

IM23x - MA v1.1

+
+5V

ENC2B

J3

+
-

ENCDIR

Diferential
Pulse & Direction
Generator
TTL compatible
(0...5V)

Direction

Pulse

ENCA/P+

10

DIR

Selection
signal

ENC2A
PULSE

11

A
ENCA/P-

12

ENCB/P+

13

B
ENCB/PGND

14

Integrated Quadrature
Encoder - 500 lines

15

Button1
Figure 1. How to generate a rising transition on Start Homing input

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TM

+3.3V

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IM23x-MA
Homing procedure (3)

Application running:
In order to run your application, follow the next steps:
1. Power up the intelligent motor IM23x-MA.
2. Download the setup, using the menu command Application | Setup | Download to
Drive/Motor or by pressing the correspondent button from EasyMotion Studio toolbar
3. Download and execute the programmed motion sequences, by pressing the button from
EasyMotion Studio toolbar
4. Press the Start Homing button in order to generate a rising edge transition for starting the
home procedure.
Then, the application detects the falling transition of the encoder Index signal and motor will be
positioned on the captured position at this falling transition. After the positioning is complete the
actual position will be set to HOMEPOS (as an initial position for subsequent movement).
For more details about other configuration for your application, using of data analysis tools and
saving your project/application please refer to P091.042.IM23x-MA.APN-DOC.101.x.pdf document.

Implementation:
The application purpose is the initial positioning of the motor to the position, which corresponds to
the falling transition of encoder Index signal.
This application performs the following main tasks:
1. Configure the Homing 3 procedure;
2. Run the motor slowly in speed control mode until you press the Start Homing button. At this
moment the rising edge of IN#38 input generates a homing procedure Homing 3 Stop at
first index pulse after home switch high-low transition. If home input is high, move negative,
else move positive and reverse after home input low-high transition. Index capture is
activated on the rising edge transition;
3. The motor continues to move until the rising edge transition of encoder Index is reached. At
this the target position is set to the captured position (CPOS = CAPPOS).
4. Then the motor is positioned on the target position (absolute positioning).
Remark: Starting with this initial home position any subsequent motion sequences can be
performed.

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IM23x-MA
Homing procedure (3)

The principle of the Homing 3 selected is the following:

Figure 2. Application structure

The application structure above is implemented in the Main section of the TML program. Select
the M Motion item in your application tree to view this section.

Figure 3. Motion sequences window

To get details about how the motion sequences are configured in the window above, double-click
on the motion sequence for which you need details.
To see how the Homing 3 procedure is implemented follow the next steps:
1. In the Project window left side, in your application select Homing, to open this window:

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Figure 4. How to select the homing procedure

2. Check Homing 3 and then in the window left side choose Homing 3

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Homing procedure (3)

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Figure 5. Homing 3 procedure

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IM23x-MA
Homing procedure (3)

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