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TI71M01D06-01EN 3rd Edition: 2012.12.01
6.4.5 Homing
The homing method is different between incremental motors (DM/DR series motors) and
absolute motors (DB series motors).
For more information about incremental motors, see Section 6.4.5 (a), "Homing of an
Incremental Motor." And, for more information about absolute motors, see Section 6.4.5 (b),
"Homing of an Absolute Motor."
(a) Homing of an Incremental Motor
In homing of an incremental motor, the motor moves to establish a coordinate system
according to the home search method set in advance.
After the motor moves to the home position determined by the home proximity signal and
Z-pulse, it further moves by the value set in parameter #56 [Offset distance from home
position], and an operation coordinate command value is set as the setup value of parameter
#57 [Coordinate value in command units after homing] at that position.
The homing operation is processed in the order described in Section 6.4.5 (1), "Homing
Operations." It is possible to set the acceleration/deceleration profile for movement. Velocity
override also functions in real time.
Home sensor
CCW direction
CW direction
ON
OFF
Z-pulse
ON
OFF
Home sensor signal "ON" area
The pulse pitch of Z-pulse varies with the motor type.
These are Z-pulse edges used as the home.
Set which signal edge is used as the home by specifying
[Select home sensor inside] of [Table data 0] of [Table
data]. The homing movement method is different
between the inside and outside edges of the Z-pulse.
Edge when [Outside] is
selected
Edge when [Inside] is
selected