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6-3. Origin Return
If the machine is operated by I/O signals, the motor can execute origin return by inputting
[Origin Search] signal. Also, the motor can execute origin return with User
Program(GUI) and DLL program. The following table shows parameters related to origin
return.
Parameter Name
Description
Range
Org Speed
Operation speed when origin return starts
1~500,000[pps]
Org Search Speed
Low-speed operation speed after origin sensor
is sensed and operation start speed when origin
starts.
1~50,000[pps]
Org Acc Dec Time
The time assigned to the
acceleration/deceleration section when origin
return starts and stops.
1~9,999[ms]
Org Method
To select how to return the origin
0~7
Org Dir
To select operation direction(CW or CCW)
0~1
Org Offset
After origin return is finished, the motor moves
additionally as this setting value and then stops.
-2,147,483,648 ~
+2,147,483,647
Org Position Set
After origin return is finished, ‘Command Pos’
value is set to this setting value.
-2,147,483,648 ~
+2,147,483,647
Org Sensor Logic
To set the origin sensor signal level.
0~1
Org Torque Ratio
To set the torque ratio during Torque origin
method
20~90[%]
*The Org Torque Ratio value is determined by the load condition and is influenced by
motor product variation, power fluctuation, and wiring conditions. Also, if the load
fluctuation is expected, please set a sufficiently large value.
(1) Origin Return method setting
To execute origin return, ‘Org Method’ parameter should be set as follows.
The arrows in the picture below depict moving directions.
○ in the picture below are origin end positions.
Index Pulse is Z Phase pulse.
In case of origin return by a Z-pulse, Slow origin return is performed as the speed of
'Org Search Speed' value.
