Omron Sysmac NY-series User Manual

Positive direction
Command torque from previous operation
Torque limit is continued even after the set time elapses.
Torque limit
Homing velocity
Stops.
Start
Negative direction
Homing approach velocity
Homing velocity
Positive direction
Stops.
Start
Negative direction
Homing approach velocity
Home is defined upon elapse of the set time.
Homing velocity
Command output
Home proximity input signal
Home input detection direction
ON
OFF
• If you start homing while the home proximity input signal is ON, the operation will start at the
homing velocity in the direction opposite to the home input detection direction. After the home
proximity input signal turns OFF
, the homing operation will start at the homing approach velocity
in the home input detection direction.
• Releasing the torque limit also differs between OMRON 1S-series as well as G5-series Servo
Drives and other Servo Drives.
Servo Drive Operation
1S-series, G5-
series
Automatically released when the axis moves in the direction opposite to homing for
the first time after homing.
Other Servo
Drives
If a torque limit is used, release the torque limit when the axis moves in the direction
opposite to homing for the first time after homing. Use the EC_CoESDOW
rite (CoE
SDO Write) instruction to change the torque limit.
• An error will not occur and home is defined even if the holding time elapses after the home
proximity input signal is detected and before velocity reaches the homing approach velocity
.
• Home is also defined if the holding time elapses after the home proximity input signal turns ON
before the homing approach velocity is reached.

13: No Home Proximity Input/Holding Home Input Operation
1 The axis starts at the homing approach velocity.
The torque limit at the start of holding dif
fers between OMRON 1S-series as well as G5-series
Servo Drives and other Servo Drives as shown below.
Servo Drive Operation
1S-series, G5-series Automatically applies torque limits.
Other Servo Drives A torque limit imposed as required.
Refer to Holding Operation for OMRON 1S-series Servo Drives on page 3-36 or Holding Opera-
tion for OMRON G5-series Servo Drives on page 3-37 for information on the holding operation.
3 Axis Command Instructions
3-32
NY-series Motion Control Instructions Reference Manual (W561)

Omron Sysmac NY-series Specifications

General

Brand	Omron
Model	Sysmac NY-series
Category	Control Unit
Language	English