LS Industrial Systems XGT Series - Homing;Manual Parameter Teaching (Command: THP)

Chapter 6 Command
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6.3.26 Homing/Manual Parameter Teaching (Command : THP)
(1) Program
(2) Description
Device Description
M00022 Axis X homing parameter teaching input
D00000.0 Axis X in operation
D00000.1 Axis X error state
D03000 Parameter value
D03012 Parameter Items
Command THP Homing parameter Teaching
OP1 Slot Constant WORD Slot No. installed with positioning module
OP2 Axis PMLK,constant,D,Z,R,ZR WORD Command axis (0: axis X, 1: axis Y)
OP3 Parameter value PMLK,constant,D,Z,R,ZR DINT Parameter value to change
Operand
OP4 Parameter item PMLK,constant,D,Z,R,ZR WORD Parameter items to change (1~14, hFF)
※ PMLK means P, M, L and K areas.
(a) This is the command that changes the value of the item (OP4) which already set among homing/manual parameter items
to setting value (OP3). At this time, teaching data is saved in RAM and for permanent presser. For permanent
preservation, write to flash memory using WRT command.
(b) Homing parameter setting command is unavailable to be executed when the axis is operating.
(c) Homing parameter item is as follows.
Setting Value Items Setting value
1 Origin address -2,147,483,648 2,147,483,647 [pulse]∼
2 Homing high speed
3 Homing low speed
1 ∼ 2,000,000 [pulse/s]
4 Home compensation
-32,768 ∼ 32,767 [pulse]
5 Homing acc. Time
6 Homing dec. time
7 Homing dwell time
0 ~ 65,535 [ms]
8 Homing mode
1:DOG/HOME(Off), 1:DOG/HOME(On), 2: DOG
3: U.L.Limit/Home, 4: U.L.Limit
9 Homing direction 0:CW, 1:CCW
10 JOG high speed
11 JOG low speed
1 ∼ 2,000,000 [pulse/s]
12 JOG acc. time 0 ~ 65,535[ms]
13 JOG dec. time 0 ~ 65,535[ms]
14 Inching speed
1 ∼ 65,535[pulse/s]
(e) For the change value (OP3) setting range of each homing parameter item (OP4) which already set, refer to “4.3.1
Homing/Manual Parameter Content”
(f) D device signal (axis X in Operation, etc) which used in the example above is an assumption that saving the axis state
value in D device area with SRD command.