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Chapter 8 OPR Control
8.4 Selection of the OPR setting condition
8.4.1 Outline of the OPR setting condition
If executing the home position return (OPR), it is necessary to make sure that the
servomotor has been rotated more than one revolution and passed the Z phase (Motor
reference position signal) and that the zero point pass signal (
Md.108
Servo status
(low-order buffer memory address): b0) has turned ON.
However, if selecting "1: Not need to pass motor Z-phase after the power supply is
switched on." with "Function selection C-4 (PC17)", it is possible to turn the zero point
pass signal (
Md.108
Servo status (low-order buffer memory address): b0) ON without
passing the zero point.
Buffer memory address (low-order)
QD77MS2/QD77MS4 QD77MS16
Md.108 Servo status: b0
876+100n 2476+100n
Data setting
To select the "OPR setting condition", set the data shown in the following table to
the QD77MS.
Servo parameters are set for each axis.
The "OPR setting condition" is stored into the following buffer memory addresses.
Buffer memory address
Setting item
Setting
value
Setting details
QD77MS2
QD77MS4
QD77MS16
Function selection C-4
(PC17)
0
0 : Need to pass motor Z-phase after the
power supply is switched on.
1 : Not need to pass motor Z-phase after
the power supply is switched on.
30180+200n 28480+100n
: Refer to Section 5.2.8 "Servo parameters" for information on the storage details.
Precautions during operation
(1) If setting the above servo parameter to "1: Not need to pass motor Z-phase
after the power supply is switched on.", the restriction, "If executing the home
position return (OPR), it is necessary to execute OPR after rotating the
servomotor more than one revolution and letting it pass through the Z phase
(Motor reference position signal).", will be invalid.
(2) Set the parameter value and switch power off once (The parameter is
transferred to servo amplifier from QD77MS), then switch it on again to make
that parameter setting valid.
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