IAI America LSA-W21SS - Manual (Page 29)

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9.2 Home Return
9.2.1 Operating Principles of Home Return
Home return is performed in the sequence specified below.
[1] When a home return command is issued, the moving direction is determined from the specified
parameter.
[2] A home sensor signal is detected during home return.
[3] Upon detection of the home sensor signal, the actuator reverses and subsequently detects a Z-phase
signal to recognize this position as the reference point.
[4] The actuator moves further by the offset specified by the applicable parameter and recognizes the
achieved position as the home.
9.2.2 Fine-tuning the Home Position
The actuator is shipped with its motor revolutions after the actuator detects a home sensor signal until a Z-
phase signal is output pre-adjusted.
The table below lists the standard reversing distance for each model, where the reversing distance
indicates the distance moved by the slider after it detects a home sensor signal and reverses, until it stops
at the home position.
Model Reversing distance
LSA-W21SS, LSA-W21SM
LSA-W21HS, LSA-W21HM
Approx. 7 mm
If the home return direction remains the same, changing the parameter based on this value allows you to
fine-tune the home position of your actuator. Perform this fine-tuning by following the procedure below.
[1] Perform home return to check the home.
[2] Thereafter, move the actuator to a desired home. Check the difference and correct the parameter
accordingly. The parameter accepts a positive value to set an offset in the moving direction of the
actuator. (Negative values cannot be set.)
[3] Increasing the offset reduces the moving range by the amount incremented. If you have specified an
offset exceeding 1 mm, also adjust the soft stroke limits.
9.2.3 Changing the Home Direction
Changing the factory-set home direction after the delivery requires certain changes, such as changing the
moving direction parameter. Please consult IAI.
Warning: The encoder not only detects position and home signals, but it also plays an
important role in the switching of AC-servo power phases. Since the AC-servo
power phases have been adjusted precisely, never touch the encoder to
change the home.