CHAPTER 4 PARAMETER

The motion proceeds in the following procedure.

(1) The motion starts at the rising edge (OFF → ON) of homing [ORG] in the direction opposite to the

starting direction for homing (PA2_08) at the homing speed (PA2_06).

(2) If the home position LS (PA2_12) is detected during travel by the reverse traveling unit amount for

homing (PA2_09), the motion changes in the homing direction after reference signal detection

(PA2_10) at the creep speed for homing (PA2_07).

(3) Upon detection of the first encoder Z-phase (PA2_11) after detection of the home position LS

(PA2_12) during travel in the homing direction after reference signal detection (PA2_10), a travel

continues 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.

4

Home position shift unit amount

Encoder Z-phase

(2)

(3)

(1)

+

Speed

-OT

Home

Home

position LS position

Starting direction for homing

Homing direction after

reference signal detection

+OT

Homing speed

[PA2_06]

Reverse traveling

unit amount for

homing [PA2_09]

(2)

Homing creep speed [PA2_07]

Home position shift unit amount

[PA2_14]

(1)

-

(3)

Time

Servo-on [S-ON]

OFF

ON

Position control

OFF

Homing [ORG]

OFF ON

Home position LS [LS]

Encoder Z-phase

OFF

ON

OFF

ON OFF

ON OFF

OFF ON OFF

Controller,

sensor

↓

Servo

amplifier

Ready for servo-on OFF

ON

Homing LS detection

Homing completion

Zero speed

ON

In-position

ON

[INP]

OFF ON OFF

ON OFF

OFF

ON

OFF ON

OFF ON

OFF

ON

OFF

ON

Servo

amplifier

↓

Controller

 At the direction of rotation switch rotation direction selection point with zero speed, zero speed and

in-position [INP] are momentarily turned on. The signal change may fail to be sensed according to

some scanning periods of the host controller.

4-56 Automatic Operation Setting Parameter