Moons' MBDV Series - Page 99

99
Rev. 2.0
07/27/2023
MBDV Hardware Manual
7.8.2.4 Back-to-origin mode -1: Negative return, looking for negative mechanical hard limit
and Z -phase pulse signal
H
H
L
Offest
Negative mechanical hard limit
Movement Track
Z-phase Signal
a) Start the return at a negative high speed, decelerate and stop when the mechanical hard limit
meets the torque limit of the blocking force and the motor limit, run at a positive low speed, stop at
the rst Z pulse, and run at a positive high-speed origin o󰀨set the distance of P2-27, the position of
the motor after stop is 0.
7.8.2.5 Return to origin mode 1: Negative return, looking for negative limit and Z pulse
signal
H
L
L
Negative Limit Signal
Movement Track
Z-phase Signal
a) When starting the return, NOT=0, start the return at a high speed in the negative direction, after
encountering the rising edge of NOT, decelerate, reverse, and run at a low speed in the forward
direction.
The rst Z pulse after the falling edge of NOT stops.
b) When starting the return, NOT=1, start the return at a forward low speed, and stop at the rst Z
pulse after encountering the falling edge of NOT.