Omron Sysmac NY-series User Manual

In-position waiting is not performed for the homing compensation value operation even if the in-
position check time is set to 0.
The status of in-position waiting can be checked with the InPosW
aiting (In-position Waiting) sys-
tem-defined variable for motion control.

Homing Compensation
When you set a homing compensation value, the axis will move by the homing compensation value
after the home input is detected to define home.
Adjusting the workpiece is sometimes difficult after home has been defined in the mechanical system.
You can use the homing compensation to fine-tune the position of home after it is defined.
The travel velocity at this time is the homing compensation velocity. The axis starts moving 500 ms
after it stopped when the home input was detected.
The sign of the homing compensation value indicates the direction relative to the coordinate axis. If it
is negative, the axis moves in the negative direction.
ON
OFF
ON
OFF
500 ms
Start Stops.
Homing
compensation
value
Homing
compensation
velocity
Homing approach velocity
Homing velocity
Velocity
Home input
signal
Home proximity
input signal

Overrides
Overrides are disabled for this instruction.

Automatic Control of Torque Limit
If you are using an OMRON 1S-series Servo Drive or G5-series Servo Drive, and you select either 12:
Proximity Reverse T
urn/Holding Time or 13: No Home Proximity Input/Holding Home Input for
the homing operation, the torque limit will be automatically started in the holding direction.
The torque limit is released when the axis moves in the direction opposite to the home input detection
direction.
The torque limit is automatically released at the following times.
• When the Servo is turned OFF (Servo Unlock)
• When the Cyclic Synchronous Position (CSP) Control Mode is changed to another control mode.
During the homing operation, torque limits are released for operation in the direction opposite to the
home input detection direction.
For example, if the reversal operation direction at a limit input is in the direction opposite to the home
input detection direction, the torque limit is released when the reversal operation is completed.
If the operation direction reverses again and becomes the home input detection direction, the torque
limit will be enabled again.
3 Axis Command Instructions
3-35
NY-series Motion Control Instructions Reference Manual (W561)
MC_Home
3
Function

Omron Sysmac NY-series Specifications

General

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