CHAPTER 4 PARAMETER
Automatic Operation Setting Parameter 4-71
4
Timing chart
(1) The rising edge of the homing signal starts operation at the homing speed (PA2_06) in
the homing starting direction (PA2_10).
(2) Upon contact with the stopper or the like, the motor is stopped and the output torque is
limited to the torque limit for contact-stopper (PA2_23).
After limitation is set in the output torque, the detection time for contact-stopper (PA2_22)
is counted for the specified time, then a return is caused by the home position shift
amount (PA2_14), and homing is finished.
If the home position shift amount is zero, homing is finished at the contact position.
Torque limit value
ON
Torque limit detection
Homing completion
Speed
Time
Home position
shift unit amount
[PA2_14]
Creep speed for
homing [PA2_07]
Homing speed
[PA2_06]
PA2_23: Torque limit for contact-stopper
ON
ON
PA2_22: Detection time for contact-stopper
Stopper
Homing
PA1_27: Forward rotation torque limit
PA1_28: Reverse rotation torque limit
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