Emotiontek MCU 2 Axis - 3.3 Execution of homing return

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Chapter 3. Homing
3.3 Execution of homing return
1) Method 1 (MCU-XA2 (velocity type of servo driver))
Setting a parameter P17(homing method) as a ‘method 1’ executes a homing return as
follows.
If a homing DOG sensor is turned ON during movement to a homing return direction at a
velocity of homing return velocity 1, then decelerate, stop, move to the same direction
until the homing DOG sensor is turned OFF at the homing return velocity 2, and stop, and
if ‘phase C’ is detected from the servo drive during movement at a velocity of homing
return velocity 3 in the same direction, then stop and set this position as the home.
If the homing return has finished, the ZP1[M50.C] and ZP2[M50.D] signals are outputted as
‘1’.
Homin
g
velocit
y
1
(
basic
p
arameter P20
)
Homing velocity 2(basic parameter P21)
Homing velocity 3
(basic parameter P22)
Homing sensor OFF Homing sensor ON
Homing(encoder phase C detected)
velocity
Axis