Emotiontek MCU 2 Axis - Page 60

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Chapter 3. Homing
2) Method 2 (MCU-XA2 (velocity type of servo driver))
Setting a parameter P17(homing method) as a ‘method 2’ 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 opposite 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 continuing opposite 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’.
Homing velocity 1(basic parameter P20)
Velocity
Homing velocity 2(basic parameter P21)
Homing velocity 3(basic parameter P22)
Homing(encoder phase C detected)
Homin
g
sensor ON&OFF
Axis