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14.4.6.1.4
Search Home Mode:=1 (P2P HOME, Reverse DOG Switch & check PG-INDEX)
Under this mode, when an external signal triggers the digital input DIx(32), the motion controller will
execute the following procedures in order to find the home position:
Step1:the servomotor start rotates in Reverse direction
Step2::the servomotor stops when DIx(33)=1, meaning the DOG switch ON
Step3::the servomotor rotates in Forward direction away from the DOG switch
Step4::When the DOG switch is OFF again, DIx(33)=0, the servomotor continues to rotate in Forward
direction checking the PG-Index of the motor encoder.
Step5::after the PG-Index is checked, the servomotor stops.
Step6::for the final step, the controller executes an P2P function commands the servomotor move to the
desired shift position (with respect to the PG-index point. In the mean time, DOx(32)=1, to indicate
the end of the Home-Search function.
Search DOG
PG-INDEX
PG-INDEX +
(-Offset)
PG-INDEX +
(+Offset)
Move DOG to PG-INDEX
PG-INDEX +
(Offset)
Offset=0
Offset=Plus Value
Offset=Minus Value
DIx(32)P2P Home Search Start
DIx(33)P2P Home DOG
DOx(67)P2P Home Search OK
Search Home Mode:=2 (P2P HOME, Reverse DOG Switch & check PG-INDEX)