NSK EDD Megatorque Motor, User Manual

Page: 229 / 398

8. More Advanced Function
— 8-45 —
8.8. Home Return

The PS/PN/PX series Megatorque Motor incorporates an absolute position sensor and holds the home
position even the power is turned off. Thus, the Home Return operation is not necessary in normal
operation. However, you can execute the Home Return operation triggered by an external sensor, when
your machine system requires it.

The Home Return operation is to move the Motor to the home position, which is inputted to the Driver
Unit by the signal of home position limit or by the signal of travel limit switch, and to define the position
as the origin of position scale system.

Teaching of the home position sets any position as the home position without inputting the
signal of limit switch.

The table in this page lists commands and parameters exclusively used for the Home Return operation.
Refer to “9. Details of Command and Parameter” for more details.

The functions of control inputs and outputs related to the Home Return operation are not set in
the shipping set of the connector CN2 (Control input/output connector). Set the required
functions to the signal ports.

Refer to “8.1. Assignment of Input/Output Function” for setting of control input/output.
Table 8-38: Inputs/outputs and parameters related to the Home Return operation
Category Code Function
Initial
setting
Range Unit
Control
input
HOS
Home Return start

Starts the Home Return operation
–
Starts operation: OFF
→
ON
–
HLS Home position limit
–
OFF: Not nearing to the home position
ON: Nearing to the home position
–
Control
output
HOME
Home Return complete

Reports completion of the Home
Return
–
Open: Home Return not completed, or the commanded
position is not the home position
Closed: Home Return completed and the commanded
position holds the home position.
–
HCMP
Home position defined

Outputs for definition of the home
position
–
Open: Home position not defined.
Closed: Home position defined.
–
Command
HS
Home Return start

Starts the Home Return operation.
– – –
HS/LS
Adjust of home position limit
– – –
Parameter

OS
Origin setting mode

Specifies Home Return mode
6
1: Define the home position at where the Motor entered the ON area
of the home position limit.
3. Define the home position at where the nearest phase Z signal is
detected after the Motor passed the ON area of home position limit.
4: Define the home position at where the first phase Z signal is
detected after entering the ON area of the home position sensor.
5: Define the home position at where the Motor entered ON area of
the home position limit.
6: Set the current position as the home position. The Motor does not
move.
7: Set the home position at where the first phase Z signal is detected
when the Motor reverse the motion after it entered the area of
home position sensor.

HD
Home Return direction

Sets direction of Home Return.
1
0: Plus direction
1: Minus direction
-

HO
Home offset

Offsets the home position.
0 0 to ± 262 144 000 pulse
HV
Home Return velocity

Sets Home Return velocity.
0.200 0.001 to 10.000 s
-1
HA
Home Return acceleration

Sets Home Return acceleration.
1.0 0.1 to 800.0
s
-2
HB
Home Return deceleration

Sets Home Return deceleration.
0.0
0.0: Use HA.
0.1 to 800.0
HZ
Home Return near-zero velocity

Sets searching velocity for Home
position. 0.010 0.001 to 0.200 s
-1
CSA
Acceleration pattern select
Sets an acceleration profiling. .
1
0: Use CSA. (CSB only)
1: Constant acceleration
2: Modified sine
3: Modified trapezoid
4: Cycloid
5: Half sine
CSB
Deceleration pattern select
Sets a deceleration profiling. .
0

: Requires an entry of the password.