— 6-6 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
6.2. Position Control Mode Operation
6.2.1. Setting Home Position
2
2
3
3
t
t
y
y
p
p
e
e
2
2
5
5
t
t
y
y
p
p
e
e
l The Motor starts in CCW* direction, decelerates and stops when it enters the HLS range (
2
Home position proximity), and then reverses its direction (
3
). The Motor goes out the HLS
range once, then reverses again and enters the HLS range with the Home position Near-Zero
velocity (
4
). It moves to the point at where the position sensor value becomes 0 for the first
time (= rising edge of the øZ), and thus completes the Home Return.
* The direction of rotation can be changed with the parameter HD (Home Return direction).
HD0: CW
HD1: CCW (Shipping set)
l If the Home offset value HO is specified this time, the Motor moves further for the offset value
from the 0 point of the position sensor, then completes Home Return operation.
l The Home Return can be also executed with the following ways.
à Select t a channel where the HS command is set, and then input the RUN command.
à Execute the HS command through the RS-232C communication.
l The Home Return sequence differs by the starting point of Home Return as shown in Figure 6-4.
Figure 6-4: Different Home Return sequence by starting point
The DRDY output remains
closed during this ,motion.
Starting point of Home Return
Home position
OTP input* active
(CW-direction overtravel
OTM input* active
(CCW-direction overtravel area)
HLS input active
(Home position
CW
direction*
CCW
direction*
CCW-direction*
velocity
CW-direction*
velocity
The DRDY output is
open during this motion.
øZ
The DRDY output is open
during this motion.
*: When Home Return direction is reversed by the HD parameter, CW and CCW as
well as OTP and OTM are reversed: CW ® CCW and OTP ® OTM.
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