NSK MEGATORQUE M-ESB-YSB2020AB300 - Page 125

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6.2. Position Control Mode Operation
6.2.1. Setting Home Position
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3) Mode 4: OS4 (The shipping set)
l The Motor slows down and reverses its motion at where the home limit sensor is on. Then it
reverses its motion again with the “Near-Zero velocity” after the Motor gets out the proximity
range of home position and searches the position of the limit.
l The position of the first rise of øZ signal after the home limit sensor is on will be defined as the
home position.
l If the Home position offset HO is set, the Motor goes further by the setting value, and thus sets
the home position.
Figure 6-7: Mode 4: OS4
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
4) Mode 5: OS5
l The Motor slows down and reverses its motion when the home limit sensor is on. Then it
reverses its motion with “Near –Zero” velocity after getting out the home position proximity
range and searches the position of the limit sensor.
l The Home position will be set on the point at where the home limit sensor is on.
Figure 6-8: Mode 5: OS5
: Starting point of Home Return
: Point at Home Return completed
HLS input ON
(Home position proximity)
CW direction
CCW direction
↑CCW direction
↓CW direction
5) Mode 6: OS6
l The Home position will be set on the point at where the Home Return started.
l Though the Motor does not move, the servo has to be turned on at the moment.