IAI America PCON-CA - Manual (Page 143)

Chapter 3 Operation
POWER CON
PCON-CA/CFA
135
(2) Multi-Rotation Specification
1) Once the home-return command is issued, the actuator rotates in CCW (counterclockwise)
direction from the view point of the load side. The velocity is 20deg/s.
2) Home sensor turns ON.
3) Starts reversed rotation.
4) Goes back to a point exceeded the home sensor detection range, and confirms the home
sensor is turned OFF.
5) Starts reversed rotation.
6) Confirms the home sensor gets turned ON again.
7) Goes to a point exceeded the home sensor detection range on the opposite side of the
home position, and confirms the home sensor is turned OFF.
8) Starts reversed rotation.
9) Confirms the home sensor turns ON.
10) Goes to a point exceeded the home sensor detection range on the home position side, and
confirms the home sensor is turned OFF.
11) Based on the result gained from 6), 7), 9) and 10), the center of the home sensor detection
range is calculated.
12) Moves for the amount set in Parameter No.22 “Home return offset level” from the position
of 11), and stops at the home position.
Caution: The operation of the reversed rotation type should be in the reversed way.
Make sure to refer to Section 7.2 [16] when a change to Parameter No.22
“Home return offset level” is required.
Rotary Axis
1)
1)
2)
3)
4)
5)
6)
7)
8) 9)
10)
11)
12)
(Home
Position
Side)
(Opposite Side of
Home Position)
Home
(Forward Rotation End)
Offset Movement Amount
Datum Point for Offset
(Center of 6), 7), 9) and 10))
Home Sensor Detection Range