NSK MEGATORQUE M-ESB-YSB2020AB300 - Setting Home Position by Home Return

— 6-5 —
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
6.2.1.2. Setting Home Position by Home Return
l The position at where the Home Return completed will be defined as the home position.
！
Caution: Perform the Home Return every time the power is turned on for ESB23
and 25 Driver Units. They don’t store the home position.
Figure 6-3: Signal timing of Home Return
CW*
CCW*
Start HOS, or
HS command in
a CH.
RUN
*
1
ON
OFF
30ms min.
Closed
Open
ON
OFF
ON
OFF
[Input]
SVON
Start
HLS
[Motor motion]
Rotation of Motor
[Output]
øZ
IPOS (FW>0)
IPOS (FW£0)
HOME
HCMP
H S CR
HA
*CR stands for carriadge
return code (0D
H
).
10 ms min.
HO
HZ
HV
Setting of FW
RS-232C
communication
command
Closed
Open
Closed
Open
Closed
Open
When
HO ¹ 0
2
3
4
l Make the Motor servo on. (SVON input is ON.)
l The Home Return starts when the HOS input turns ON. (
1 )
Table 6-2: Control Input / Output related to Home Return operation
Signal Function I/O Chapter to be referred.
SVON
Servo ON Input “7.1.1. Servo ON”
RUN
Start positioning Input “6.2.2. Positioning With Programmable Indexer”
HLS
Home position limit sensor
Input
－
CHZ
Position feedback signal øZ Output “7.1.16. Position Feedback Signal”
IPOS
Positioning completed Output “7.1.11. Completion of Positioning”
HOME
Home Return completed /
Home position detected
Output “7.1.12. Completion of Home Return /Detection of
Home Position”
HCMP
Home position defined Output “7.1.13. Definition of Home Position”