Fuji Electric ALPHA7, User Manual

Page: 251 / 662

CHAPTER 4 PARAMETER
4-60
Automatic Operation Setting Parameters
4
The motion proceeds in the following procedure.
(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 detected during travel by the reverse traveling unit amount for
homing (PA2_09), 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) during travel in the homing direction after reference signal detection (PA2_10), a 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.

At the direction of rotation switch 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.
Time
OFF ON OFF
OFF ON OFF
ON OFF
OFF ON
OFF ON
OFF ON OFF
OFF ON
OFF ON ON
OFF ON ON
OFF
OFF ON
(1)
(2)
(3)
+
-
ON
ON OFF
OFF
ON
ON
OFF
OFF
(1)
(2)
②
(3)
Speed
Homing creep speed [PA2_07]
+OT
-OT
Encoder Z-phase
Home position shift unit amount
Home
position LS Home
position
Homing speed
[PA2_06]
Home position shift unit amount
[PA2_14]
Starting direction for homing
Homing direction after
reference signal detection
Reverse traveling
unit amount for
homing [PA2_09]
Controller,
sensor
↓
Servo
amplifier
Servo-on [S-ON]
Position control
Homing [ORG]
Home position LS [LS]
Encoder Z-phase
Ready for servo-on
[RDY]
Homing LS detection
Homing completion
Zero speed
In-position
[INP]
Servo
amplifier
↓
Controller