Table of Contents
2.Homing Operation
Profile Homing Operation
⑤ Profile homing 6 (POT/NOT + Z phase)
This homing sequence uses Z phase as the trigger signal.
The first Z phase position where the limit sensor is no longer detected, after reversal of op-
eration by limit sensor detection in the return to origin direction, shall become the origin.
After stopping at the home position, initialize the position information so that this position is
set at 0.
Direction of homing (positive/negative) can be set according to Pr8.12 "Profile return to
home position mode setup".
■ Example: Pr8.12 = 0 (Homing direction = positive direction trigger signal detection)
Z phase
Ex.
See the next page.
Velocity 1: Pr.8.13 "Profile home position return velocity 1"
Velocity 2: Pr.8.14 "Profile home position return velocity 2"
Example: Pr8.12 = 0 (Positive direction trigger signal detection)—homing is
1)The host controller sets the command code to normal command (10h) of PP control.
2)With normal command (10h) condition, set Type_Code to 36h.
Rev.1.00
Start area
NOT ON
Ignore Z phase within
reverse direction limit (NOT).
Velocity1
Ignore Z phase until
reverse direction limit (NOT).
started at a position more negative than HOME sensor.
This does not start the profile operation.
Parameters related to acceleration/deceleration (Pr8.01/Pr8.04) and homing
(Pr8.12 to Pr8.14) should be set before starting operation
Set target position (TPOS) and target speed (TSPD) to 0 because they are not used.
Set Latch_Sel1 to 0. For Monitor_Sel, select data to be returned to Monitor_Data.
This does not directly start profile operation
Homing direction
(positive direction)
POT ON
Velocity2
速度2
Velocity1
Velocity2
Velocity1
Velocity2
Home position
1
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3
4
5
6
7
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