Question:
What must be observed when performing homing for belt kinematics?
Answer:
Due to the mechanical coupling via the rotating toothed belt and the limited traversing range, a special proceeding is required for homing the axes of belt kinematics. For tool movements in the Tool Center Point (TCP) in the Cartesian coordinate system in X and/or Z direction, the real axes (A1, A2) must be controlled in a certain way:
X direction: both real axes (A1, A2) in the same traversing direction
Z direction: real axes (A1, A2) each in opposite traversing directions
This must be considered when homing belt kinematics.
You may choose between the following options for homing belt kinematics:
Homing option 1:
Use manual jog to move the tool (TCP) to a defined mechanical position (home position).
After this, execute "Direct home position setting" for both real axes.
Homing status: "Home position known".
Homing option 2:
- Select the same homing parameters for both real axes (A1, A2), in particular, the same homing mode and the same acceleration and speed values.
- In the first step, perform homing to mechanical stop in X direction (same traversing direction of the real axes).
- Then perform homing to mechanical stop in Z direction (real axes in opposite traversing direction).
- Homing status: "Home position known".
Tip: When using absolute value encoders, the belt kinematics only has to be homed once during commissioning.
