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Performing a servo Origin Search;
Firstly, from this screen, the servo must be “Enabled”; pressing this button will turn it green
to indicate that the servo system is enabled and ready to go. If you try to turn the servo
motor shaft by hand, you will notice that it is ‘locked’ into position. If you have not changed
any parameters on the SmartStep2 servo amplifier, you will probably notice that it is
possible to turn the motor shaft slightly from side to side, but it will always ‘spring back’ to
its default position. In reality, the servo system will be ‘tuned’ to the application (by using
the ‘Auto Tune’ facility within ‘CX-Drive’ software), to increase the ‘rigidity’.
In order to use ‘absolute’ positioning, and origin search must be performed to give the
motor a ‘home’ reference point. There are many different ways in which an origin search
can be performed (usually involving an external home position sensor such as a proximity
switch), but in this case we have just used the “Z” phase of the servo motor’s encoder,
which is a single pulse marker for each complete revolution of the shaft. Pressing the
“ORIGIN SEARCH” button will cause the motor to rotate no more than one revolution until
the PLC ‘sees’ the Z-phase marker. Once completed, the “AT ORG” indicator on the HMI
screen will light green to indicate that the system has successfully performed an origin
search.