Emerson P/N 400518-02 User Manual

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Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual

1.

The Home Reference parameter determines how the home reference position is established. The parameter can have one 
of three different values: ‘Sensor’, ‘Marker’, ‘Sensor and Marker’.

•

When the Home Reference is ‘Sensor’ the going active edge of the ‘Home Sensor’ input function is used to establish 
the reference position.

•

When the Home Reference is ‘Marker’ the rising edge of the motor encoder’s marker channel is used to establish the 
reference position.

•

When the Home Reference is ‘Sensor and Marker’ the reference position is established using the first marker rising 
edge after the Home Sensor input function goes active.

2.

The Velocity parameter specifies the velocity used for homing. Use a positive value to search for home in the positive 
direction and a negative value to search for home in the negative direction.

3.

The Acceleration parameter specifies the acceleration value to be used during the home.

4.

The Deceleration parameter specifies the deceleration value to be used during the home.

5.

The Home Offset parameter designates the location of the home position in the machine coordinate system relative to 
the home reference. During the homing routine, after the home reference is detected, the device moves the motor to the 
home offset position. This may be a calculated value or a specified value. A calculated offset is the distance required to 
decelerate to a stop from the home velocity.

6.

After the motor reaches the home offset position, the End of Home Position value is put into the command and feedback 
positions.

7.

The Home Limit Distance check box enables the Home Limit Distance parameter. If this flag is not set, there is no limit 
to the distance the drive will travel during the home routine. 

8.

The Home Limit Distance parameter places an upper limit on the distance the motor will travel during the home. In 
situations where the reference position indicator (sensor or marker) is not seen, this parameter limits the total distance 
the motor will move.

9.

Select either the Back off before homing or Go forward to next sensor option button in the “If On Sensor...” group. This 
determines the operation of the system if the Home Sensor input function is “On” when the home is initiated.

The device supports 16 indexes. They are configured in the Index view as described below.