NSK MEGATORQUE M-ESB-YSB2020AB300 - Page 124

— 6-7 —
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
Table 6-3: Parameters related to Home Return
Item
RS-232C
parameter
Unit Input data range
Initial
setting
Home Return acceleration HA s
-2
0.01 to 1 280.00 1.00
Home Return velocity HV s
-1
0.0001 to 3.0000 0.2
Home position offset HO pulse 0 to ± 802 816 0
Home Return direction HD –
0: CW direction;
1: CCW direction
1
Home Return Near-Zero
velocity
HZ s
-1
0.0001 to 0.2000 0.0100
1 Operation mode of Home Return
l The parameter OS sets the Home Return operation mode.
1) Mode 1: OS1
l Home return velocity changes to “Near-Zero velocity” (creeping speed) when the home limit
sensor (HLS) is ON.
l Home position is set on the point at where the home limit sensor is off.
Figure 6-5: Mode1: OS1
: Starting point of Home Return
Point at the Home Return completed
HLS input ON
(Home position proximity)
CW direction CCW direction
↑CCW direction
↓CW direction
2) Mode 3: OS3
l Home Return velocity changes to “Near-Zero” velocity when the home limit sensor is on.
l Position of the first rise of øZ signal after the home limit sensor is off will be defined as the
home position.
l If the Home position offset (HO) is set, the Motor goes on by the HO setting after the first rise of
øZ signal and stops, and thus sets the home position.
Figure 6-6: Mode 3: OS3
ØZ
HO
: Starting point of Home Return
Point at Home Return completed
HLS input ON
(Home position proximity)
CW direction
CCW direction
↑CCW direction
↓CW direction