Omron NY532-1500 Reference Manual page 113

12: Proximity Reverse Turn/Holding Time Operation
1
The axis starts at the homing velocity. When the home proximity input signal turns ON, the axis
starts decelerating to the homing approach velocity.
Decelerating the axis and monitoring time are started at the same time. The torque limit at the
start of holding differs between OMRON 1S-series as well as G5-series Servo Drives and other
Servo Drives as shown below.
1S-series, G5-series:
Other Servo Drives:
Refer to Holding Operation for OMRON 1S-series Servo Drives on page 3-32 or Holding Opera-
tion for OMRON G5-series Servo Drives on page 3-33 for information on the holding operation.
2
Home is defined when the set time elapses.
After the home proximity input signal turns ON, its status does not affect operation.
Home input detection direction
Home proximity input signal
Command output
Negative direction
Negative direction
• If you start homing while the home proximity input signal is ON, the operation will start at the hom-
ing velocity in the direction opposite to the home input detection direction. After the home proxim-
ity input signal turns OFF, the homing operation will start at the homing approach velocity in the
home input detection direction.
• Releasing the torque limit also differs between OMRON 1S-series as well as G5-series Servo
Drives and other Servo Drives.
1S-series, G5-series:
Other Servo Drives:
• An error will not occur and home is defined even if the holding time elapses after the home prox-
imity input signal is detected and before velocity reaches the homing approach velocity.
• Home is also defined if the holding time elapses after the home proximity input signal turns ON
before the homing approach velocity is reached.
NY-series Motion Control Instructions Reference Manual (W561)
Automatically applies torque limits.
Apply torque limits according to a setting.
ON
OFF
Homing velocity
Start
Homing velocity
Homing velocity
Torque limit
Command torque from previous operation
Automatically released when the axis moves in the direction
opposite to homing for the first time after homing.
If a torque limit is used, release the torque limit when the axis
moves in the direction opposite to homing for the first time after
homing. Use the EC_CoESDOWrite (CoE SDO Write) instruc-
tion to change the torque limit.
3 Axis Command Instructions
Home is defined upon elapse of the set time.
Homing approach velocity
Stops.
Homing approach velocity
Stops.
Start
Torque limit is continued even after the set time elapses.
Positive direction
Positive direction
3-29
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