13.3 Controlling Operation from the Host Controller
13.3.3 Origin Returns
13-16
3.
After the status of the Home Flag changes, the axis will continue to travel until the first
phase C is detected.
4.
When phase C is detected, the axis will decelerate and travel to the position where
phase C was detected.
Type 1
Origin returns are based only on the detection of the Home Flag.
1.
The axis travels at the origin approach speed in the specified origin return direction.
2.
When the status of the Home Flag changes, the axis will change the direction. It will
then return at the origin return creep speed to the position where the status of the Home
Flag changed.
3.
When the position where the Home Flag changes to the original status is detected, the
axis direction will change and the axis will return to the position where the change in the
status of the Home Flag was detected.
Motor speed
Encoder’s phase C signal
Command Assembly Code
Command Data
Start Trajectory
Home Flag
0
1
0
1
0
1
0
1
Trajectory In
Progress
12h
00h
A1
A1
D1
A1
V1
V2
D1
D1
Motor speed
Home Flag
0
1
0
1
0
1
Command Assembly Code
Command Data
Start Trajectory
Trajectory In
Progress
12h
01h
A1
V1
V2
D1
D1
A1
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