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3.3
Home Search Mode Setting
3.3.1
The Description of Home Search Operation
Home Search for MR210AU/MR220AU executes from step 1 to step 4 shown below in turn once it starts. For each step, it can be
configurable for execution/non-execution, a search direction and the logical level of a detection input signal. In step 1 and 4,
search operation is performed at home search high speed which is set in the parameter. In step 2 and 3, search operation is
performed at home search low speed.
Step Number
Operation
Search Speed
Detection Signal
Step 1
High-speed near home search
Home search high speed
nSTOP0
Step 2
Low-speed home search
Home search low speed
nSTOP1
Step 3
Low-speed Z-phase search
Home search low speed
nSTOP2
Step 4
High-speed offset drive
Home search high speed
－
■
Step 1 High-speed Near Home Search
Driving pulse is output in the specified direction at the speed
which is set in the parameter of home search high speed until
near home signal (nSTOP0) becomes active. To perform
high-speed search operation, set the higher value for home
search high speed than initial speed. Acceleration/deceleration
driving is performed and when near home signal (nSTOP0)
becomes active, it stops by decelerating.
Irregular Operation
(1) Near home signal (nSTOP0) is already active before Step 1 starts.
→
Proceed with Step 2.
(2) Limit signal in the detection direction is already active before Step 1 starts.
→
Proceed with Step 2.
(3) Limit signal in the detection direction is activated during execution.
→
Stops driving and proceed with Step 2.
■
Step 2 Low-speed Home Search
Driving pulse is output in the specified direction at the
speed which is set in the parameter of home search
low speed until home signal (nSTOP1) becomes active.
To perform low-speed search operation, set the lower
value for home search low speed than initial speed.
Constant speed driving is performed and when home
signal (nSTOP1) becomes active, it stops instantly.
Irregular Operation
(1) Home signal (nSTOP1) is already active before Step 2 starts.
→
The motor drives the axis in the opposite direction of the specified search direction at home search low speed until home
signal (nSTOP1) becomes inactive. When home signal (nSTOP1) becomes inactive, the function executes Step 2 from the
beginning.
(2) Limit signal in the search direction is active before Step 2 starts.
→
The motor drives the axis in the opposite direction of the specified search direction at home search low speed until home
signal (nSTOP2) becomes active. When home signal (nSTOP1) is active, the motor drives in the opposite direction of the
specified search direction at home search low speed until home signal (nSTOP1) becomes inactive. When home signal
(nSTOP1) becomes inactive, the function executes Step 2 from the beginning.
(3) Limit signal in the search direction is activated during execution.
→
Driving stops and the same operation as (2)
→
is performed.
STOP1
Irregular (1)
Specified Search
Over Run Limit in the
Irregular (3)
Stop1 Search in the
Exit
To Normal Operation
Active
Section
Normal Operation
Direction
Search Direction
Active
Section
Exit
Opposite Direction
Irregular (2)
Active
STOP0
Irregular (1)
Specified Search
Irregular (3)
Irregular (2)
Section
Directi on
Search Direction
Over Run Limit in the
Active
Section
Normal Operation
