8. More Advanced Function
— 8-22 —
8.3.4. Output Normal: NRM
Reports that the Driver Unit is in normal condition.
When this output opens, an alarm or a warning occurs.
Table 8-24: Signal logic of the output NRM
Occurrence of an alarm or warning.
The signal timing of the alarms and warnings is the same as those of the output DRDY (Driver Unit ready)
and the output WRN (Warning). Refer to “11. Alarm and Warning” for details.
8.3.5. Home Return Completed: HOME
This output reports that Home Return operation is completed and the Motor is on the Home position.
It can be used for the completion signal of the input HOS (Home Return start).
Table 8-25: Signal logic of the HOME output
Home Return unfinished or the commanded position is not the
Home position.
Home Return is completed and the current commanded position is
the Home position.
The completion of Home Return operation reports the following.
The commanded position is denotes the sum of the current position and the position error.
When the commanded position becomes other than 0 (zero), this output opens and does not close until the
completion of next Home Return operation.
Refer to “8.8. Home Return” for the signal timing of the output HOME.
8.3.6. Home Position Defined: HCMP
This output reports that the Home position of position scale is defined.
♢Since this system has the embedded absolute sensor, this output is closed after the power is turned on.
Table 8-26: Signal logic of the output HCMP
The following alarms make the Home position undefined.
Also, interruption of Home Return operation makes the Home position undefined.
Table 8-27: Alarm that makes the Home position undefined
Error in the position sensor
A1>Absolute Position Error
Error in absolute position data
Refer to “8.8. Home Return” for the signal timing of the output HCMP.
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