Omron CP1H-X40D Operation Manual page 290

Pulse Outputs
5-3-5-1 Origin Search
Pulse frequency
Origin search
initial speed
256
When ORG(889) executes an origin search, it outputs pulses to actually move
the motor and determines the origin position using the input signals that indi-
cate the origin proximity and origin positions.
The input signals that indicate the origin position can be received from the
servomotor's built-in phase-Z signal or external sensors such as photoelectric
sensors, proximity sensors, or limit switches.
Several origin search patterns can be selected.
In the following example, the motor is started at a specified speed, acceler-
ated to the origin search high speed, and run at that speed until the origin
proximity position is detected. After the Origin Proximity Input is detected, the
motor is decelerated to the origin search low speed and run at that speed until
the origin position is detected. The motor is stopped at the origin position.
Origin search
high speed
Origin search
acceleration rate
Deceleration
point
Start Decelerate from high to low speed.
Execution of ORG(889)
Origin search
deceleration rate
Origin search
proximity speed
Indicated by the Origin
Proximity Input Signal
Section 5-3
Time
Stop
Indicated by the
Origin Input Signal