overtravel switch POT (P5-22) (P9-11.2=4)
To use this mode, it needs to connect NOT, POT.
(a) When the motor starts moving, the forward overtravel switch (POT) is invalid
Firstly, the servo motor searches the forward overtravel switch at high speed P9-12 (homing high
speed). After encountering the rising edge of the forward overtravel switch signal, it gradually
decelerates in reverse according to the setting of P9-14 (homing acceleration and deceleration time).
The servo motor searches the falling edge of the forward overtravel switch signal in reverse direction at
low speed -P9-13 (homing low speed). After encountering the falling edge of the forward overtravel
switch signal, the next action of returning to the origin can be divided into four cases:
(a1) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is 0:
Decelerate in the reverse direction (i.e. restore the forward direction), and search for the rising edge of
the forward overtravel switch signal in the forward direction and low speed P9-13 (homing low speed).
In the process of forward acceleration or forward constant speed operation, stop immediately when
encountering the rising edge of the forward overtravel switch signal.
(a2) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is not 0:
Decelerate in the reverse direction (i.e. restore the forward direction), and search the rising edge of the
forward overtravel switch signal in the forward with low speed P9-13 (homing low speed). In the
process of forward acceleration or forward uniform speed operation, stop immediately when
encountering the rising edge of the forward overtravel switch signal. After the motor is completely
stopped, motor walks a quantitative pulse at the speed set by P9-12 (homing high speed) according to
the set number and direction of mechanical offset pulses (it can only be in the negative direction, that is,
it must move between the origin switch and NOT), and then the motor will stop.
(a3) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0:
Continue to operate in reverse at the low speed set by -P9-13 (homing low speed), and then stop
immediately after encountering the rising edge of the first Z-phase signal.
(a4) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is not 0:
Continue to operate in the reverse direction at the low speed set by -P9-13 (homing low speed), and
then stop immediately after encountering the rising edge of the first Z-phase signal. After the motor
stops completely, the motor will move a quantitative pulse at the speed P9-12 (homing high speed)
according to the set number of mechanical offset pulses and direction (it can be negative or positive,
but it must move between the origin switch and NOT), and then the motor stops.
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