the speed of P4-01 to find the reference origin on forward side.
(2) After the working table hit the limit switch, the motor stop as the mode set by parameter P0-28
(3) Motor leaves the limit switch at the speed of P4-02. After the working table left the limit switch, the
motor run at the Z phase signal position of No.n optical encoder. This position is considered as the
coordinates origin, n is decided by parameter P4-00.
5.3.1.9 Homing function
1. Function overview
The return to origin function refers to that when the servo enable is on in the position control mode,
after the return to origin function is triggered, the servo motor will find the origin and complete the
positioning function. The found origin can be used as the position reference point for subsequent
position control.
During the homing operation, other position commands (including the retriggered homing signal) are
shielded. After the homing is completed, the servo driver can respond to other position commands.
After the homing is completed, the servo driver outputs the homing completion signal, and the upper
computer can confirm that the homing has been completed after receiving the signal.
3. Parameter setting
P9-11.0=0: not find Z phase
P9-11.0=1: find one Z phase
P9-11.0=2: find two Z phases
And so on
P9-11.1=0: not trigger homing
P9-11.1=1: trigger homing through SI
terminal (P5-28)
P9-11.1=2: trigger homing after enabling
P9-11.2=0: homing mode 0
P9-11.2=1: homing mode 1
P9-11.2=2: homing mode 2
And so on
Deceleration
mode when
meeting the
overlimit
signal
P9-11.3=0: decelerate as the setting of
P9-14
P9-11.3=1: decelerate at once
Note: P9-11.0 can set up to 15 Z phases. P9-11.1 = 0 means that the homing function cannot be used.
This parameter can be understood as the enabling bit of the homing function. Homing modes 1, 3, 5
and 7 are the opposite situation of homing modes 0, 2, 5 and 6 respectively.
Return to the origin at high speed,
find the deceleration point and
execute the mechanical offset
Homing with low speed. This low
speed should be low enough not to
cause mechanical shock when
stopping
The acceleration and deceleration
time here refers to the time required
for 0 to 1000 rpm
Maximum
time
allowed to
return to
the origin
If the time spent in the whole
process of homing exceeds the time
set by this parameter, an alarm will
be given. When P9-15 = 0, the
timeout alarm will be shielded
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