IAI America ASEL - Manual (Page 327)

Part 3 Positioner Mode
Chapter 2 Standard Mode
305
Part 3 Positioner Mode
5.2 Home Return
Timings associated with home-return operation are illustrated below.
Timing Chart of Home-return Operation (Standard Positioner Mode)
Perform home-return operation by following the procedure explained below.
* Before commencing the procedure, confirm that the ready output signal and alarm output signal are ON.
[1] Turn ON the servo ON input signal.
[2] Confirm that the servo-ON status output signal is
ON.
[3] Turn ON the home-return input signal.
[4] Confirm that the positioning complete output signal is
OFF.
[5] Turn OFF the home-return input signal.
[6] Confirm that the home-return complete output signal
is ON. Home return is now completed.
*Pause and *cancellation inputs are contact-B input signals (always ON), so keep these signals ON while home return
is in progress.
To initiate home return using the home-return signal input, the servo ON input signal must be ON. These operation
commands will not be accepted if the servo ON input signal is OFF. Note, however, that only the commands will be
ignored and no error will generate.
With the 2-axis specification, the controller has been configured at the factory so that the two axes will start home
return simultaneously.
You can cause either axis to start home return earlier than the other axis by changing the applicable parameter setting.
Specifically, change the setting in axis-specific parameter No. 13, “SIO/PIO home-return order” so that the parameter
value for the axis number corresponding to the axis for which you want to complete home return first, will become
smaller than the parameter value for the other axis number.
Example) Cause axis 1 to perform home return after axis 2 has completed home return, set “1” for axis 1 and “0” for
axis 2 in axis-specific parameter No. 13.
Input
Output
Start
Home return
Servo ON
Alarm
Ready
Positioning complete
Home return complete
Servo ON status
Home return in progress
Warning : Turning the servo ON near the mechanical end may disturb the magnetic pole phase
detection, and may cause the magnetic pole unconfirmed error or the magnetic pole
detection error.
Put the slider or rod away from the mechanical end when turning the servo ON.