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TI71M01D06-01EN 3rd Edition: 2012.12.01
(1) Homing
Operations
Homing is performed in the order from step 1 to step 8.
STEP 1 EOT search movement
This step is only performed when [Hardware EOT limit active in homing operation] is set to
[Enable] for the table data. It can be used when the direction of homing is not determined.
The motor is moved in the direction opposite of the homing direction until the EOT sensor is
detected, and the motor then moves in the direction of the home sensor until it reaches the
home position. In this way, it is possible to prevent the motor from entering an area where
operation is prohibited.
Moreover, if [Enables the home sensor during EOT search] is set to [Enable] for the table data,
the hard EOT search movement is stopped, and the operations in STEP 3 and onward are
performed in case the home sensor is detected during the hard EOT search movement.
STEP 2 Home sensor search movement
The motor is moved until the home sensor is detected in the homing direction.
If [Enable home sensor] is set to [Disable] for table data, the home sensor search movement
is not performed. Set it to [Enable] under normal circumstances.
STEP 3 Moving outside the home sensor area
This is a preliminary movement carried out before performing STEP 4, first home detection
movement. The motor is moved in the CW direction until it passes the home sensor area
regardless of the setting of the #parameter for determining the coordinate system forward
direction.
If the home sensor is at the edge of the movable range in the CW direction, it is possible to
avoid performing this operation and prevent the motor from moving in the CW direction upon
detection of the motor proximity signal by setting [Select home sensor inside] to [Outside].
STEP 4 First home detection movement
The motor moves in the CCW direction until it detects the rising edge of the Z-pulse,
regardless of the setting of the #parameter for determining the coordinate system forward
direction.
If [Select home sensor inside] is set to [Inside]: inside home position
The motor stops when the rising edge of the first Z-pulse after the motor enters the ON area
of the home sensor, is detected.
If [Select home sensor inside] is set to [Outside]: outside home position
The motor stops when the rising edge of the first Z-pulse after the motor leaves the ON area
of the home sensor in the CCW direction, is detected.
STEP 5 Second and onward home detection movement (preliminary movement)
The motor moves in the CW direction for the amount set in #55 [Overshoot distance in
homing operation] relative to the Z-pulse edge.
STEP 6 Second and onward home detection movement (Z-pulse edge search movement)
The motor is moved in the CCW direction until the Z-pulse edge is detected.
After STEP 6 is completed, the operations of STEPs 5 and 6 are repeated for the number of
times set by #58 [Z-Pulse sensing iterations during homing].
The final home position is determined by averaging the data obtained during all the home
detection movements.