IAI America ISPDACR-ESD - Manual (Page 48)

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7. Setting the Home Position
7. Setting the Home Position
7.1 Home Return
The home return procedure for this actuator is explained below.
Home return involves the operation explained below:
[1] When a home return command is issued, the actuator moves in the direction set by the parameter for
moving direction.
[2] The software senses the mechanical end in the return operation.
[3] The slider reverses its direction when this end is reached, after which the position where the Z-phase
signal is detected becomes the reference point.
[4] The slider travels further by the offset amount set by the parameter, and this position becomes home.
7.2 Fine-tuning the Home Position
The number of motor revolutions from the time the slider hits the stopper until the Z-phase signal is
generated has been adjusted before the actuator is shipped. The standard value of the reversing distance
when the slider hits the stopper, reverses its direction, and then stops at the home position, is shown in the
table below.
Standard Types ISD/ISDAISPDA
Cleanroom Types ISDCR/ISPDCR/ISDACR/ISPDACR (excluding W)
Type
Distance from mechanical stopper to home
(approx. in mm)
S 5
M xMX 5
L xLX 5
Cleanroom Types ISDCR-W/ISDACR-W/ISPDACR-W
Type Distance from mechanical stopper
Standard 7 r 2
Intermediate support 15 r 2
As long as the home direction is the same, you can fine-tune the home position for each actuator by
changing the parameter based on this value. Fine-tuning is made as follows:
[1] Perform homing operation and confirm home.
[2] Next, move to a desired home position and check the difference between the two positions. In the
case of a XSEL or SSEL, correct the parameter for home preset. In the case of a SCON, correct the
parameter for home return offset. Add or subtract an applicable value to or from the value currently
set.
[3] If you allow for a large offset, the movement range is limited by the amount of offset. If the offset is
greater than 1 mm, you must also adjust the stroke soft limits.