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Chapter 8 HPR Control
8.2.8 HPR method (6): Driver HPR method [CiA402 mode]
The HPR is executed based on the positioning pattern set on the driver (servo
amplifier) side (hereafter called the "driver side"). Set the setting value of HPR in the
parameters of the driver side. Refer to the manual of the driver because the HPR
operation and parameters depend on the specification of the driver.
Operation chart
1)
The machine HPR is started.
(The machine executes the HPR based on the positioning pattern set on the driver side.)
2)
The HPR complete flag ([Md.31] Status: b4) turns from OFF to ON and the HPR request flag ([Md.31]
Status: b3) turns from ON to OFF.
t
Positioning start singal [Y11]
OFF
3H FFFFH
ON
OFF
Md.514
HPR operating
status
Motor rotation speed
ON
0H: Homing procedure is in progress
1H
FFFFH
ON
OFF
1H: Homing procedure is interrupted
or not started ("3H" is stored when
the HP is already established.)
3H: Homing procedure is
completed successfully
FFFFH: The servo amplifier is not
set to the home position
return mode
Positioning start No.
Cd.3
9001
Proximity dog
Zero signal
When the driver is set to the
HPR method such as Method 35
or 37 (Data set method), the HPR
is completed immediately after
the execution.
Thus, the operating status may
not be able to be checked.
( Status: b4)
Md.31
HPR complete flag
( Status: b3)
Md.31
HPR request flag
Md.26
Axis operation
status
7: HPR 0: Standby
0: Standby
BUSY signal [X11]
ON
OFF
5
5: Analyzing
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