5-6
Functions
5
(4) First home sensing move
With the
#25 Homing operation: Origin inside selection
parameter, it is possible to select and set either the
inside Zero signal or outside Zero signal of the home position proximity signal as the home position. If #25 = 1,
the inside Zero signal is set as the home position; if #25 = 0, the outside Zero signal is set as the home position.
If #202 = 1, the rotor moves to search the home position proximity signal in (-) direction. If #25 = 1, the rotor
recognizes the first Zero signal edge as the home position upon entering the area, and then stops. If #25 = 0, the
rotor recognizes the first Zero signal edge as the home position upon leaving the area, and then stops.
If #202 = 0, the rotor moves to search the home position proximity signal in (+) direction. If #25 = 1, the rotor
recognizes the first Zero signal edge as the home position upon entering the area, and then stops. If #25 = 0, the
rotor recognizes the first Zero signal edge as the home position upon leaving the area, and then stops.
The moving velocity is set to the value in the
#
13
Homing operation: Home sensing feed velocity 1
parameter.
(5) Second home sensing move
The second home sensing move is executed in two steps.
1) Preparation move
The rotor moves as far as diametrically opposite the Zero signal edge in the opposite direction of the Zero
signal edge search direction that was used in the first home sensing move.
The moving velocity is set to the value in the
#
13
Homing operation: Home sensing feed velocity 1
parameter.
2) Zero signal edge search move
The rotor moves until it finds the Zero signal edge in the Zero signal edge search direction that was used in
the first home sensing move.
The moving velocity is set to the value in the
#
13
Homing operation: Home sensing feed velocity 1
parameter.
(6) Home position move
The home position is moved to the detected Zero signal edge position. Motors that use software Zero signals
further perform a second corrective move.
The moving velocity is determined internally by the driver.
(7) Home position offset move
The home position is moved for the distance given by the value set in
#29 Offset distance from the Home
position
parameter, after which the operation coordination command value is set to the value given in
#30
Homing complete operation command value
parameter.
The moving velocity is set to the value in
#15 Homing operation: Origin position offset feed velocity
parameter.
For the homing move to be completed normally, the distance between the home position proximity area and the
Zero signal edge must be within a specific range based on the value of
#358 Z-phase signal pulse interval
monitor. The reference value differs depending on the method by which the Zero signal (hardware or software
Zero signal) is generated.
At the first home sensing move, the distance to the first Zero signal edge after passing through the home position
proximity area (pulse amount) has been measured and written in
#318 Homing operation: The measured
value
monitor. If this value does not satisfy the equations below, an error or warning will occur. In that case, the
home position proximity dog should be adjusted and the homing move should be performed again. Repeat these
steps until the operation is completed normally.
