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15. ABSOLUTE POSITION DETECTION SYSTEM
15.7.3 Home position setting
(1) Dog type home position return
Preset a home position return creep speed at which the machine will not be given impact. On detection
of a zero pulse, the home position setting (CR) is turned from off to on. At the same time, the servo
amplifier clears the droop pulses, comes to a sudden stop, and stores the stop position into the non-
volatile memory as the home position ABS data.
The home position setting (CR) should be turned on after it has been confirmed that the in-position
(D01 or INP) is on. If this condition is not satisfied, the home position setting warning (AL.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 1,000,000 times.
OFF
ON
OFF
ON
OFF
ON
Servo Motor
Dog signal
(DOG)
Completion of
positioning
(D01 or INP)
Home position
setting (CR)
Home position
ABS data
Near-zero point dog
20 [ms] or more 20 [ms] or more
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