Determining Zero Pulse position For Beckhoff Axis : Différence entre versions

[version en cours de rédaction]

Version actuelle datée du 26 août 2025 à 16:16

How to measure the Zero pulse position relative to home switch position to determine if a motor needs mechanically rotating

Auteur Gareth Green | Dernière modification 26/08/2025 par Gareth Green en cours de rédaction ⧼frevu-button-review-label⧽

Difficulté

Difficile

Durée

10 minute(s)

How to measure the Zero pulse position relative to home switch position to determine if a motor needs mechanically rotating

Difficulté

Difficile

Durée

10 minute(s)

Introduction

26/08/25 Moved to Confluence

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 }}
 {{Introduction
-|Introduction=<translate>= Problem =
+|Introduction=<translate>26/08/25 Moved to Confluence
-If the zero pulse position is very close to the the home switch position, a common fault can occur where the axis datum moves out of position by one rotation.
-This manifests itself as a Y/Z axis being 5 / 10mm out or a gripper around 32mm out
+[https://stuga-ltd.atlassian.net/wiki/external/ZDU5YjQwZDc3ZTZmNDEwNjhjNWMyMzM3OWQ4ODljMTU Click Here]</translate>
-The problem is easy to solve once detected, by either moving the home switch flag, or rotating the motor by one quarter turn.
-However, this means the fault has to happen before detection.
-This tutorial describes how to predict if this will be a problem, so the corrective action can be taken before it creates the issue</translate>
 }}
 {{Materials}}
 {{EPI}}
 {{Tuto Step
-|Step_Title=<translate>Prepare</translate>
+|Step_Title=<translate></translate>
-|Step_Content=<translate>Enter setup mode and load the TwinCAT project</translate>
-}}
-{{Tuto Step
-|Step_Title=<translate>Navigate to the axis</translate>
-|Step_Content=<translate>In TwinCAT, navigate to the Axis->Enc->Parameter->Homing
-Reference Mode
-Check which system the axis is using
-'''PLC''' - This method uses just the home switch for zero. Fine for low accuracy axes (GY, GZ). The Zero pulse offset will not affect this mode, so STOP HERE.
-'''Software Sync'''- This method uses the home switch then zero pulse seek. Better for higher accuracy, but opens the risk of this problem
-'''Default''' - This is not a good setting because it is not clear which mode. It is a good idea to change this to Software Sync to ensure the best possible datuming method is maintained.
-<br />{{Info|...If the axis uses PLC mode, there is NO NEED to continue this test}}<br /></translate>
-|Step_Picture_00=Determining_Zero_Pulse_position_For_Beckhoff_Axis_2025-03-20_15-57-30.PNG
-|Step_Picture_00_annotation={"version":"2.4.6","objects":[{"type":"image","version":"2.4.6","originX":"left","originY":"top","left":0,"top":0,"width":1634,"height":908,"fill":"rgb(0,0,0)","stroke":null,"strokeWidth":0,"strokeDashArray":null,"strokeLineCap":"butt","strokeDashOffset":0,"strokeLineJoin":"miter","strokeMiterLimit":4,"scaleX":0.37,"scaleY":0.37,"angle":0,"flipX":false,"flipY":false,"opacity":1,"shadow":null,"visible":true,"clipTo":null,"backgroundColor":"","fillRule":"nonzero","paintFirst":"fill","globalCompositeOperation":"source-over","transformMatrix":null,"skewX":0,"skewY":0,"crossOrigin":"","cropX":0,"cropY":0,"src":"https://stuga.dokit.app/images/6/68/Determining_Zero_Pulse_position_For_Beckhoff_Axis_2025-03-20_15-57-30.PNG","filters":[]},{"type":"wfrect","version":"2.4.6","originX":"center","originY":"center","left":60.38,"top":268.56,"width":114.44,"height":23.5,"fill":"rgba(255,0,0,0)","stroke":"#FF0000","strokeWidth":2,"strokeDashArray":null,"strokeLineCap":"butt","strokeDashOffset":0,"strokeLineJoin":"miter","strokeMiterLimit":4,"scaleX":1,"scaleY":1,"angle":0,"flipX":false,"flipY":false,"opacity":1,"shadow":null,"visible":true,"clipTo":null,"backgroundColor":"","fillRule":"nonzero","paintFirst":"fill","globalCompositeOperation":"source-over","transformMatrix":null,"skewX":0,"skewY":0,"rx":0,"ry":0},{"type":"wfrect","version":"2.4.6","originX":"center","originY":"center","left":261.62,"top":83.74,"width":37.15,"height":24.05,"fill":"rgba(255,0,0,0)","stroke":"#FF0000","strokeWidth":2,"strokeDashArray":null,"strokeLineCap":"butt","strokeDashOffset":0,"strokeLineJoin":"miter","strokeMiterLimit":4,"scaleX":1,"scaleY":1,"angle":0,"flipX":false,"flipY":false,"opacity":1,"shadow":null,"visible":true,"clipTo":null,"backgroundColor":"","fillRule":"nonzero","paintFirst":"fill","globalCompositeOperation":"source-over","transformMatrix":null,"skewX":0,"skewY":0,"rx":0,"ry":0},{"type":"wfrect","version":"2.4.6","originX":"center","originY":"center","left":433.62,"top":218.75,"width":183.98,"height":15,"fill":"rgba(255,0,0,0)","stroke":"#FF0000","strokeWidth":2,"strokeDashArray":null,"strokeLineCap":"butt","strokeDashOffset":0,"strokeLineJoin":"miter","strokeMiterLimit":4,"scaleX":1,"scaleY":1,"angle":0,"flipX":false,"flipY":false,"opacity":1,"shadow":null,"visible":true,"clipTo":null,"backgroundColor":"","fillRule":"nonzero","paintFirst":"fill","globalCompositeOperation":"source-over","transformMatrix":null,"skewX":0,"skewY":0,"rx":0,"ry":0}],"height":333,"width":600}
-}}
-{{Tuto Step
-|Step_Title=<translate>Run a home cycle</translate>
-|Step_Content=<translate>Home the axis from the drives screen</translate>
-|Step_Picture_00=Determining_Zero_Pulse_position_For_Beckhoff_Axis_2025-03-20_16-00-56.PNG
-}}
-{{Tuto Step
-|Step_Title=<translate>Mark</translate>
-|Step_Content=<translate>Mark on the axis where the home position is.
-Mark this line with a Z to denote "Zero Pulse".
-{{Info|...The photos show two lines - Sorry!}}<br /></translate>
-|Step_Picture_00=Determining_Zero_Pulse_position_For_Beckhoff_Axis_2025-03-20_16-00-07.PNG
-|Step_Picture_01=Determining_Zero_Pulse_position_For_Beckhoff_Axis_2025-03-20_16-12-03.PNG
-}}
-{{Tuto Step
-|Step_Title=<translate>Change the Homing Mode</translate>
-|Step_Content=<translate>Change the homing mode to "PLC"
-Click Download</translate>
-|Step_Picture_00=Determining_Zero_Pulse_position_For_Beckhoff_Axis_2025-03-20_15-58-10.PNG
-|Step_Picture_00_annotation={"version":"2.4.6","objects":[{"type":"image","version":"2.4.6","originX":"left","originY":"top","left":-352,"top":-175,"width":1831,"height":1029,"fill":"rgb(0,0,0)","stroke":null,"strokeWidth":0,"strokeDashArray":null,"strokeLineCap":"butt","strokeDashOffset":0,"strokeLineJoin":"miter","strokeMiterLimit":4,"scaleX":0.67,"scaleY":0.67,"angle":0,"flipX":false,"flipY":false,"opacity":1,"shadow":null,"visible":true,"clipTo":null,"backgroundColor":"","fillRule":"nonzero","paintFirst":"fill","globalCompositeOperation":"source-over","transformMatrix":null,"skewX":0,"skewY":0,"crossOrigin":"","cropX":0,"cropY":0,"src":"https://stuga.dokit.app/images/3/34/Determining_Zero_Pulse_position_For_Beckhoff_Axis_2025-03-20_15-58-10.PNG","filters":[]}],"height":449.80026631158455,"width":600}
-}}
-{{Tuto Step
-|Step_Title=<translate>Home again and Mark second line</translate>
-|Step_Content=<translate>Measure the distance between the two</translate>
-|Step_Picture_00=Determining_Zero_Pulse_position_For_Beckhoff_Axis_2025-03-20_16-00-07.PNG
-}}
-{{Tuto Step
-|Step_Title=<translate>Calculate the units per turn</translate>
-|Step_Content=<translate>Using the scaling factor for the axis from the axis parameters, calculate the distance moved for one turn of the motor.
-This is 1,048,676 divided by axis scaling factor.
-Example - Y axis
-1048576 / 104857.6 = 10mm per turn
-<br /></translate>
-}}
-{{Tuto Step
-|Step_Title=<translate>Analyse results</translate>
-|Step_Content=<translate>An ideal distance would be equivalent to one half turn (eg for a 10mm pitch leadscrew, the ideal would be 5mm, so the axis has to rotate one half turn.
-As a rule of thumb,
-* if the difference in distance is less than 25% of the units per turn, it is a good idea to move the datum position.
-* If it is less than 10%, it is vital the position is moved.</translate>
-}}
-{{Tuto Step
-|Step_Title=<translate>Move datum flag position</translate>
-|Step_Content=<translate>Datum position can be moved by
-* Moving the flag position (if possible). Depends on the mechanical setup of the system
-* Turning the motor by 90 or 180 degrees. Not always possible due to the cable inlet.
-{{Warning|...Take note if rotating the motor that the zero pulse actually moves in the correct direction. There is a 50 / 50 change it will move the wrong way!}}<br /></translate>
-}}
-{{Tuto Step
-|Step_Title=<translate>Return the axis to Software Sync</translate>
 |Step_Content=<translate></translate>
-}}
-{{Tuto Step
-|Step_Title=<translate>Datum test any axes changed</translate>
-|Step_Content=<translate>Vital to check and reset the datum offset after any changes</translate>
 }}
 {{Notes}}