IAI America ASEL - Manual (Page 365)

Part 3 Positioner Mode
Chapter 6 DS-S-C Compatible Mode
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Part 3 Positioner Mode
5.2 Home Return
In the DS-S-C1 compatible mode, no dedicated home-return input is available.
Home return will be performed when the start signal is input after specifying position No. 0. The
positioning complete output signal is OFF after the power is input when home return is not yet completed.
Timings associated with home-return operation are illustrated below.
T1: Time after the ready output signal turns ON until input of the start signal becomes
possible (50 msec or more)
T2: Start signal input (50 msec or more)
Timing Chart of Home-return Operation (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] Specify position No. 0 (PC1 through 1000 are all OFF).
[2] Turn ON the start input signal. (The signal should remain ON continuously for 30 msec or more (T2).)
[3] Turn OFF the start input signal.
[4] Confirm that the positioning complete output signal is ON. Home return is now completed.
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.
Start
Alarm
Ready
Positioning complete
Input
Output
Home Return Stop
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.