IAI MCON-C - Page 177

167
(2) Multi-Rotation Type
Rotary Axis
1)
1)
2)
3)
4)
5)
6)
7)
8)9)
10)
11)
12)
(Home
Position
Side)
(Opposite Side of
Home Position)
Home
(Forward Rotation End)
Offset Movement Amount
Datum Point for Offset
(Center of 6), 7), 9) and 10))
Home Sensor Detection Range
1) Once the home-return operation is started, the rotary part turns in CCW
(counterclockwise) from the view of the load side. The speed is either 20deg/s.
2) Home sensor turns ON.
3) Starts reversed rotation.
4) Goes back to a point exceeded the home sensor detection range, and confirms the
home sensor is turned OFF.
5) Starts reversed rotation.
6) Confirms the home sensor gets turned on again.
7) Goes to a point exceeded the home sensor detection range on the opposite side of the
home position, and confirms the home sensor is turned OFF.
8) Starts reversed rotation.
9) Confirms the home sensor turns ON.
10) Goes to a point exceeded the home sensor detection range on the home position side,
and confirms the home sensor is turned OFF.
11) Based on the result gained from 6), 7), 9) and 10), the center of the home sensor
detection range is calculated.
12) The actuator moves in a certain amount for each actuator from the position of 11) and
stops at the home position.
Caution: The direction to rotate is the other way for the reversed rotation type.
Make sure to refer to Section 8.2 [14] when a change to Parameter No.22
“Home Return Offset Level” is required.
3.7 Control and Functions of Input and Output Signals of Modes Other than Remote I/O Mode