— 10-4 —
10.2.1. Home Return Parameter List
Table 10-2: Parameter list
Parameter function
RS-232C
Parameter
Unit
Data input range
Shipping
set
Home Return Acceleration
HA
G
0.01 ~ 5.00
HA0.05
Home Return Velocity
HV
mm/s
1 ~ 1800
HV100.0
Home Return Near-Zero Velocity
HZ
mm/s
1 ~ 100.0
HZ5.0
Home Position Offset
HO
-
-30 000 000 ~ +30 000 000
HO0
Home Return Direction
HD
pulse
0: PLS, 1: MNS
HD1
Home Return Mode
OS
-
1, 3, 4, 5
OS4
Automatic Home Return
PH
-
0: Invalid, 1: valid
PH0
10.2.2. Adjusting the Home Limit Switch and Home Offset Value
l
To accurately perform the home return, the home position sensor (sensor and dog) must be
adjusted properly.
l
The resolver has teeth for detecting its position and the rising edge of HLS is to define a tooth.
To make precise detection of øZ, the home limit switch position must be adjusted so that the
HLS input goes high when the switch is at the middle center of the tooth width. Design the home
limit switch position so that it can be adjusted ±2.048 mm.
¨
Take the following steps to adjust the position of the home limit switch.
<Procedure> Adjusting the home limit switch position
(1)
Loosely mount the HLS sensor (home limit switch) slightly preceding a point to be the origin.
(2)
Check the wiring of the HLS sensor. Execute the IO command and check if the ESA13 Driver
Unit is reading the HLS input correctly. Press BS key to terminate the reading.
::::
::::
:IO1/RP
:IO1/RP
:IO1/RP
:IO1/RP
00010000/1010
00010000/1010
00010000/1010
00010000/1010
O
1
#
I
R
/
ENT
P
Numeric 1 appears here when
the dog enters in the home limit
switch area.
(3)
Adjust the position of the home position sensor. First, make the Motor servo-on, then execute the
HS/LS command. At this time, be careful that the Motor starts the home return operation and
thereby moves. By using Handy Terminal, take the following steps:
(i)
:HS/LS_
S
/
H
S
L
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