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16. INDEXER POSITIONING OPERATION
16.9.3 Torque limit changing data setting type home position return
POINT
Torque limit becomes effective after completing the torque limit changing data
setting type home position return, so that when the servo motor is rotated by
the external force, a difference occurs in between the command position and
the current position. In the home position return mode, even if a difference
occurs in between the command position and the current position, the error
excessive alarm (A52) does not occur. Therefore, when the mode is changed
from home position return to automatic operation, depending on the size of
difference between the command position and the current position, the error
excessive alarm (A52) occurs. Note that if the error excessive alarm (A52)
does not occur, the servo motor rotates to eliminate the difference.
Use the torque limit changing data setting type home position return to set the home position in any place. JOG
operation can be used for moving a position. For this home position return, torque generation is stopped at the
same time when the mode is changed to the home position return mode. Home position can be set for any
position by rotating the axis with external force.
The proximity dog (DOG) cannot be used. The proximity dog (DOG) is disabled even if it is turned off.
(1) Device/Parameter
Set the input devices and parameters as indicated below.
Item Device/Parameter Setting description
Operation mode selection 1 (RYn6) Turn off RYn6.
Home position return mode selection
Operation mode selection 2 (RYn7) Turn off RYn7.
Position/speed specifying system by
remote register
(only when 2 stations are occupied)
Position/speed specifying system
selection (RY(n
2)A)
Turn off RY(n
2)A.
Torque limit changing data setting
type home position return
Parameter No.PC02
D: Select the torque limit changing data
setting type.
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
No.0
6ms or more
(Note)
4ms or
more
3ms or more
0
Parameter No.PC35
Operation mode selection 2
(RYn7)
Operation mode selection 1
(RYn6)
Start (RYn1)
In position (RXn1)
Station output 1 to 8
(RX(n 2)2 to RX(n 2)9)
Home position return completion
(RXn3/ZP)
Parameter No.PC35
Torque limit value to be effective
Note. Configure a sequence that changes the operation mode earlier, considering the delay time of CC-Link
communication.