Chapter 6 Communication function
118
At the rising edge of signal REF, the current position is set to 0, and the servo drives back to
the reference point.
External reference point block (signal REF) and encoder zero pulse (Mode 1)
When using Message 111, set the external input signal REF via POS_STW2.1:
Control word Set up Describe
POS_STW2.2
1 Reference point block activation
0 The reference point block is not activated
The back to reference process is triggered by STW1.11(0->1). Servo drive to find the
reference point block by accelerating to the speed specified by the parameter "back to
reference Search block speed", the direction of the search reference point block is specified by
the parameter "back to reference direction"; When the reference point block is searched (signal
REF: 0->1), the servo motor is slowed to the static state; Then, the servo drive is accelerated
again to the speed specified in the parameter "return to reference search zero speed", and the
direction is opposite to the direction specified in the parameter "return to reference direction",
when leaving the reference block (signal REF: 1->0); When the first zero pulse is reached, the
servo drive starts to run to the reference point defined by the parameter "back reference point
offset value" at the speed specified by the parameter "back reference point approaching the
reference point speed". When the servo drive reaches the reference point, the REFOK signal is
output. Setting STW1.11 to 0 succeeds in returning to the reference point.
The whole process is shown as follows. The parameter "maximum distance back to the
reference point block" is set to search the travel of the reference point block of path 1 in the
figure. If the REF signal (0->1) is not found in the travel, the servo driver appears Err77 alarm;
The parameter "maximum distance back to the reference point zero" is set to search the zero
stroke after leaving the reference point block (signal REF: 1->0) in path 2 in the figure. If no
zero pulse signal is found in the stroke, the servo driver will alarm Err78.
In the process of returning to the reference point, acceleration and deceleration are carried
out with maximum acceleration and maximum deceleration.
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