Autonics AiCA Series, User Manual

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10 Drive
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10.1.5.4 Torque Home Search (home search method=3)
It operates home search by contact with the sepcific equipment when there is no home
sensor, limit sensor.
When the torque value is output as much as the value set in the parameter “Home Search
Torque” by contactcing a specific object, assign the position moved by the value set in the
parameter “Home Search Offset” as the home.
1st Torque Home Search DriveIt operates home search drive to the set direction at
“Home Search Direction”.
2nd It starts drive with the set start drive speed at “Home Search Start Speed” and
operates acceleration drive with the set acceleration time at “Home Search
Acceleration Time”.
3rd When acceleration drive is completed, it operates constant speed drive until
contacting the specific equipment with the set max. drive speed at “Home Search
Max speed”.
4th When it contacts with the specific equipment, the current of motor is higher. It
stops when the current of motor is same value as the set value at “Home Search
Torque”.
5th After stops, it rotates and stops to the reverse direction with the start drive speed
and rotation value set from atMotion.
6th After finding home, “In-Position” signal utputs and the “INP. indicator (orange)”
turns ON.

At “Home Search Offset”, the other value except 0 is set, it moves for the setting value
with start drive speed, “In-Position” signal outputs, and the “INP. indicator (orange)”
turns ON.