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 starting direction for

homing (PA2_08; direction opposite to homing direction after reference signal detection in this

case) at the homing speed (PA2_06).

(2) Upon detection of the home position LS (PA2_12, PA2_13), 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), the 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.

Home position shift unit amount

Encoder Z-phase

(2)

(3)

(1)

4

+

Speed

-OT

Home

position LS

Home

position

Starting direction

for homing

+OT

Homing direction after reference

signal detection

Homing speed

[PA2_06]

Homing creep speed [PA2_07]

(2)

Home position shift unit

amount [PA2_14]

(1)

-

(3)

Time

Servo-on [S-ON]

OFF

ON

Position control

OFF

ON

Homing [ORG]

OFF ON

OFF

Home position LS [LS]

OFF ON OFF

ON

OFF

Controller,

sensor

↓

Servo

amplifier

Encoder Z-phase

Ready for servo-on

OFF

OFF ON OFF

ON

Homing LS detection

Homing completion

Zero speed

In-position [INP]

OFF ON OFF

ON

OFF

OFF

ON

Servo

amplifier

↓

Controller

ON

OFF ON

OFF

ON

ON

OFF ON

OFF

ON

 At the 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.

Automatic Operation Setting Parameter 4-63