6. Operation
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6.2.3. Setting Home Position
The Motors have their own home position when they are shipped.
The user absolute home position, which is the origin of operation, is set to the same position of the Motor
home position when the Motor is shipped. The user absolute home position can be reset by the command
AZ (Absolute Zero position set) or a Home Return operation.
The user absolute home position functions as the origin for positioning operations caused by
internal commands, such as positioning commands, jogging, and the software over travel limit.
It is also the origin of the divided circular resolution (Parameter CR) of a pulse train positioning
command and the feedback signal.
When the user absolute home position is defined once, no Home Return operation is required for every
power-on because the Megatorque Motor System with Driver Unit Model EDD incorporates an absolute
position sensor.
As shown in “Fig 6-3: User home position and the parameter AO” below, the user absolute home position
and the Motor absolute home position are set on the same position when the Motor is shipped.
When the user home position is changed by the command AZ or a Home Return operation, the
distance in the CW direction from the Motor absolute home position to the new user absolute
home position is set to the data of the parameter AO (Absolute position scale offset).
Fig 6-3: User home position and the parameter AO
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