Fuji Electric ALPHA7, User Manual

Page: 258 / 662

CHAPTER 4 PARAMETER
Automatic Operation Setting Parameters
4-67
4
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.

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.
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) (3)
Time
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]
Homing direction after reference
signal detection
Starting direction
for homing
Controller,
sensor
↓
Servo
amplifier
Servo-on [S-ON]
Position control
Homing [ORG]
Home position LS [LS]
Encoder Z-phase
Ready for servo-on
Homing LS detection
Homing completion
Zero speed
In-position [INP]
Servo
amplifier
↓
Controller