CHAPTER 4 PARAMETER

The motion proceeds in the following procedure.

(1) The motion starts upon homing [ORG] (OFF → ON) in the starting direction for homing (PA2_08)

at homing speed (PA2_06).

(2) When the home position LS (PA2_12, PA2_13) is detected, the motion changes in the homing

direction after reference signal detection (PA2_10) at the creep speed for homing (PA2_07).

(3) After the home position LS (PA2_12) is detected during travel in the homing direction after

reference signal detection and the first encoder Z-phase (PA2_11) is detected, a travel occurs by

the home position shift unit amount (PA2_14), followed by stoppage. The stopping point changes

to the home position and homing completion is turned on and the homing process is finished.

Home position shift unit amount

4

Encoder Z-phase

(1)

(2)

(3)

-OT

Starting direction for homing

Homing direction after

reference signal detection

Home

position LS

Home

position

+OT

Homing speed [PA2_06]

Speed

(1)

(2) Homing creep speed [PA2_07]

Home position shift unit amount [PA2_14]

Servo-on [S-ON]

OFF

(3)

Time

ON

Position control

OFF

Homing [ORG]

OFF

Home position LS [LS]

ON

OFF

ON

OFF

ON

OFF

Controller,

sensor

↓

Servo amplifier

Encoder Z-phase

OFF ON OFF

Ready for servo-on

OFF

Homing LS detection

Homing completion

Zero speed

ON

OFF

ON

ON

OFF

OFF

OFF

ON

ON

Servo

amplifier

↓

Controller

In-position [INP]

ON

OFF

ON

4-52 Automatic Operation Setting Parameter