SD710 Series Servo Drive User's Manual Chapter 12 Motion Control
1
12.1 Home Position Return
12.1.1 Home position return
Home position
: the mechanical home position, which can represent the home position or motor Z signal position. It is
set by the function code Pn290.Y.
Zero point
: the positioning target point, which can be expressed as the home po offset (set by Pn294); when
Pn294=0, the zero point coincides with the home position.
The home position return process is the process in which the servo drive controls the motor to locate the home position
or zero point in a set method in the position mode.
The home position signal source can be given in three ways: limit signal, mechanical home position signal and Z pulse.
The home position signal can generally be represented by a level signal with a certain pulse width. In order to accurately
locate the home position signal, when selecting the home position signal source, it is necessary to select the forward or
reverse rising edge of the home position signal source as the home position signal, as shown in Figure 12.1
Home position signal
Forward direction
Forward rising edge
Reverse rising edge
Invalid
Valid
Invalid
Fig. 12.1 Schematic diagram of home position signal direction selection
When starting the home position return, a large speed value is given to ensure the speed of finding the home position;
Define the first time that touches the home position signal as
deceleration
point
. After the deceleration point is touched,
the home position return speed is switched to low speed to find home position accurately. The accuracy of the home
position during home position return is affected by the speed of finding the home position at low speed; the higher the
speed of fidning the home position at low speed , the greater the pulse deviation of the home position signal edge .
Related input terminal signals:
Setting
value
Terminal
name
Functional
name
Description
Trigger
method
Operation
mode
0x02
P-OT
Forward limit
The motor forward rotation is prohibited at
high level.
Level trigger
□
P
0x03
N-OT
Reverse limit
The motor reverse rotation is prohibited at
high level.
Level trigger
□
P
0x27
ORGEN
Home
position return
enable
The terminal signal is used to trigger home
position return in position control mode.
Level
trigger;
Signal edge
trigger
□
P
0x28
ORGS
Mechanical
home position
signal
Used as home position signal to feed back
to the drive during the Home position
return process.
Level
trigger;
Signal edge
trigger
□
P
Related output terminals:
Setting
value
Terminal
name
Functional
name
Description
Trigger
method
Operating
mode
0x15
ORGC
Home
position return
completion
Failure to perform home position return,
interrupted home position return
Home position return fails: Output OFF
Level trigger
□
P
