NSK MEGATORQUE M-ESB-YSB2020AB300 - Position Control Mode Operation; Setting Home Position

— 6-3 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
2
2
3
3
t
t
y
y
p
p
e
e
2
2
5
5
t
t
y
y
p
p
e
e
6.2. Position Control Mode Operation
6.2.1. Setting Home Position
6.2. Position Control Mode Operation
l The parameter SL selects the control mode of B5 and 25 type Driver Units.
SL1: Torque control mode
SL2:
Velocity control mode
SL3: Position control mode
l Following operations are available in the position control mode.
à Home Return
à Programmable Indexer
à Pulse train command
à Positioning via RS-232C serial communication
à Jog
6.2.1. Setting Home Position
l You cannot define the zero position of the position scale unless the Home Return is performed
for the 23 and 25 type Driver Units because they are for the Motors with incremental position
sensor. Be sure to execute the Home return unless the master controller controls the position
scale.
l For the B3 and B5 type Driver Units, execute the Home Return only when you need to change
the home position because they are for the Motors with the absolute position sensor.
l The positioning and setting of software over travel limits depend on these position scales.
l There are two ways of setting the home position. One is to set the current position as the home
position (work origin) by the RS-232C communication command, and the other is Home Return
using external Home limit sensor.
à The external limit sensor is not necessary if the Home Return is performed with Home
Return mode 6.
Figure 6-2
Set the home position.
Setting with RS-232C communication
See “6.2.1.1. Setting the Home Position by AZ
Command.”
Setting with Home Return.
See “6.2.1.2. Setting the Home Position by Home Return.”
à We recommend using the RS-232C communication to set the home position of B3 and
B5 type Driver Units.
à We recommend setting the home position (origin) with the Home Return for 23 and 25
type Driver Unit.