— 6-4 —
6.2.3. Setting Home Position
The Motors have their own home position when they are shipped.
The user absolute home position, which is the origin of operation, is set to the same position of
the Motor home position when the Motor is shipped. The user absolute home position can be
reset by the command AZ (Absolute Zero position set) or a Home Return operation.
◊ The user absolute home position functions as the origin for positioning operations
caused by internal commands, such as positioning commands, jogging, and the
software over travel limit. It is also the origin of the divided circular resolution
(Parameter CR) of a pulse train positioning command and the feedback signal.
When the user absolute home position is defined once, no Home Return operation is required for
every power-on because the Megatorque Motor System with EDC Driver Unit incorporates an
absolute position sensor.
As shown in Figure 6-3 below, the user absolute home position and the Motor absolute home
position are set on the same position when the Motor is shipped.
◊ When the user home position is changed by the command AZ or a Home Return
operation, the distance in the CW direction from the Motor absolute home position to
the new user absolute home position is set to the data of the parameter AO (Absolute
position scale offset).
Fig 6-3: User home position and the parameter AO
Motor home position
180°
90°
270°
0°: User absolute home
position
Motor output axis side
Motor home
position
180°
90°
270
°
Motor output axis side
Parameter AO
0°: user absolute
home
Shipping set
(User absolute home position = Motor home position)
When the user Home position is changed
(User absolute home position = (Motor home position +
parameter AO)
CW direction
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