CHAPTER 4 PARAMETER
(8) Homing pattern using the stopper
[Parameter setting example]
PA1_
No.
Name
Setting
Default
value
Change
01
Control mode selection
7: Positioning
operation
0
Power
PA2_
4
No.
Name
06 Homing speed
Setting
500.00 [r/min]
Default
value
500.00
Change
Always
07 Creep speed for homing 50.00 [r/min]
50.00 Always
Homing direction after
10 reference signal
0: Forward rotation
detection
0
Power
11
Reference signal for
shift operation
5: Stopper
1
Power
14
Home position shift unit
amount
1000 [units]
1000 Always
16
Home position after
homing completion
0 [units]
0
Always
17
Home position detection 0: Always ON after
range
homing completion
0
Always
22
Detection time for
contact-stopper
50 [ms]
0
Always
23
Torque limit for
contact-stopper
30 [%]
0
Always
Select “5” (stopper) for the home position shift amount reference signal (PA2_11). Be sure to
enter the output torque generated upon contact with the stopper, as a torque limit for
contact-stopper (PA2_23), and enter the time between contact with the stopper and completion
of homing as a Detection time for contact-stopper (PA2_22).
(i) If the home position sift amount (PA2_14) is zero, homing is finished at the stopping
position after the detection time for contact-stopper.
(ii) If the home position shift amount (PA2_14) is other than zero, the motor moves by the
home position shift amount from the stopping position after the detection time for
contact-stopper in the reverse direction to the contact stop, and homing is finished
there.
4-70 Automatic Operation Setting Parameter