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7.4. Origin Return
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7.4.4 Torque Origin Operation
The torque origin command is a command that originates at the point where a physical load is
detected at the mechanical end point in a system without the H / W Limit signal.
Homing operation
①
and
②
are motions in which the motor moves in the origin direction and the
mechanical end point is designated as the origin. The operation at this time is to detect the load
amount of the motor and detect the mechanical end point when the abnormality occurs in the setting
value
of ‘Org Torque Ratio’ parameter value. Therefore, before executing the torque origin command,
it should be set to a value that is more than the basic load condition of the mechanical equipment.
Attention

When the limit sensor is detected during motioning, the origin
command is canceled and motion is stopped. .