IAI America PSEL - Manual (Page 351)

341
Part 3 Positioner Mode
000: Start
002: Servo ON
300: Alarm
301: Ready
302: Positioning complete
303: Home return complete
304: Servo ON status
[3]
[2]
[4]
[5]
[6]
[1]
5.2 Home Return
In the teaching mode, no dedicated home-return input is available.
Home return will be performed when the start signal is input after specifying a desired position in a
condition where home return is not yet completed.
Timings associated with home-return operation are illustrated below.
Timing Chart of Home-return Operation (Teaching Positioner Mode)
Perform home-return operation by following the procedure explained below.
*
Before commencing the procedure, confirm that the ready output signal is ON, alarm output signal is
OFF, and home-return complete output signal is OFF.
[1] Turn ON the servo ON input signal.
[2] Confirm that the servo-ON status output signal is
ON.
[3] Turn ON the start input signal.
[4] Confirm that the positioning complete output signal is
OFF.
[5] Turn OFF the start input signal.
[6] Confirm that the home-return complete output signal
is ON. Home return is now completed.
* Pause input is a contact-B input signal (always ON), so keep this signal ON while home return is in
progress.
To operate the actuator using the start input, the servo ON input signal must be ON. If the servo ON input
signal is OFF, this operation command will not be accepted. Note, however, that only the command will be
ignored and no error will generate.
Warning: If the servo is turned on near the mechanical end, excited phase detection may not be
performed properly and an excited pole indetermination error or excited pole detection
error may generate.
Move the slider, rod, etc., away from the mechanical end before turning on the servo.
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.
Home return in progress
Input
Output