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14. ABSOLUTE POSITION DETECTION SYSTEM
(2) Data set type home position return
POINT
Never make home position setting during command operation or servo motor
rotation. It may cause home position sift.
It is possible to execute data set type home position return when the servo off.
Perform manual operation such as JOG operation to move to the position where the home position is
to be set. When the home position setting (CR
) is on for longer than 20ms, the stop position is stored
into the non-volatile memory as the home position ABS data.
When the servo on, set home position setting (CR
) to ON after confirming that the in-position
(INP
) is ON. If this condition is not satisfied, the home position setting warning (A.96) will occur,
but that warning will be reset automatically by making home position return correctly.
The number of home position setting times is limited to 100,000 times.
ON
OFF
ON
OFF
Servo Motor
Completion of
positioning
( INP )
Home position
setting (CR )
Home position
A
BS data
Manual feed (JOG, etc.)
(more than 1 revolution
of the motor shaft)
20 [ms] or more
Update
14.6.4 How to process the absolute position data at detection of stroke end
The drive unit stops the acceptance of the command pulse when forward rotation stroke end
(LSP
)
reverse rotation stroke end (LSN ) is detected, clears the droop pulses to 0 at the same time,
and stops the servo motor rapidly.
At this time, the controller keeps outputting the command pulse. Since this causes a discrepancy between
the absolute position data of the servo amplifier and the controller, a difference will occur between the
position data of the servo amplifier and that of the controller.
When the stroke end is detected, therefore, perform JOG operation or like to return to the position where
stroke end detection can be deactivated, and read the current position data in the drive unit again.