CHAPTER 4 PARAMETER

If PA2_08 = “2” and neither of the above conditions is satisfied, the starting direction for homing

follows the setting of PA2_10 (homing direction after reference signal detection). If PA2_08 is set

at “2,” PA2_09 (reverse traveling unit amount for homing) is internally handled as zero forcibly.

Operation proceeds in the following order.

(1) Condition judgment start is made upon the rising edge (OFF-to-ON transition) of homing

[ORG] in the reverse rotation direction at the zero return speed (PA2_06).

(2) Upon deactivation of home position LS (PA2_12, PA2_13), movement is temporarily stopped,

then continues in the homing direction after reference signal detection (PA2_10) at the creep

speed for homing (PA2_07).

(3) The travel continues by the home position shift unit amount (PA2_14) after the first encoder

Z-phase (PA2_11) is detected since the home position LS (PA_12) is detected, followed by

stoppage. The stopping point changes to the home position and homing completion is turned

4

on, finishing the homing process.

Home position shift amount

Encoder Z-phase

(2)

(1)

(3)

Home position LS

Starting direction for homing

Home position

Homing direction after reference signal detection

＋

Speed

Homing speed

[PA2_06]

Creep speed for homing [PA2_07]

(2)

Home position shift unit amount

[PA2_14]

(1)

－

(3)

Time

Servo-on [S-ON]

OFF

ON

Position control

Homing [ORG]

Home position LS

[LS]

Encoder Z-phase

OFF

OFF ON

ON

ON

OFF

OFF

ON

OFF ON OFF

Controller,

sensor

↓

Servo amplifier

Ready for servo-on OFF

Homing LS detection

Homing completion

Zero speed

ON

In-position [INP]

ON

ON

ON

OFF

OFF

OFF

ON

OFF ON

OFF ON

OFF

ON

OFF

ON

Servo amplifier

↓

Controller

Automatic Operation Setting Parameter 4-65