CHAPTER 4 PARAMETER
If the home position LS (PA2_12) is not found during travel from the homing starting position in the
reverse traveling unit amount for homing (PA2_09), the motion continues in the starting direction
for homing to search for the home position LS (PA2_12).
(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 not found during travel by the reverse traveling unit
amount for homing (PA2_09), the motion changes in the starting direction for homing
(PA2_08) at the homing speed (PA2_06).
(3) If 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).
(4) 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, a travel
4
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.
Reverse traveling unit amount for homing
Home position shift unit amount
Encoder Z-phase
(2) (1) (3)
(4)
+
Speed
-OT Starting direction for homing
Homing direction after reference
signal detection
Homing speed
[PA2_06] Reverse traveling
unit amount for
homing [PA2_09]
(2)
Home Home
+OT
position position
LS Homing speed [PA2_06]
Homing creep speed [PA2_07]
Home position shift unit amount
[PA2_14]
(3)
Time
-
(1)
Servo-on [S-ON]
OFF
ON
Position control
Homing [ORG]
OFF
OFF ON
Home position LS [LS]
Encoder Z-phase
OFF
ON
OFF
ON OFF
OFF ON OFF
Controller,
sensor
↓
Servo
amplifier
Ready for servo-on OFF
ON
Homing LS detection
OFF
Homing completion
Zero speed
ON
In-position
ON
[INP]
OFF
OFF
ON
OFF
ON
OFF
OFF
ON
ON
Servo
amplifier
↓
Controller
ON
OFF
ON
Automatic Operation Setting Parameter 4-57