10-2-9 Homing And Absolute Positioning - Omron NY532-1500 User Manual

10-2-9 Homing and Absolute Positioning

In this sample, the starting point for homing is assumed to be where the home proximity input is ON.
The Homing Method is set to home proximity input OFF. After homing is completed to define home,
absolute positioning is executed.
Home input detection direction
Negative limit input signal
Home proximity input signal
Home input signal
Homing start direction
Samples are provided for both ladder diagram and ST programming.
Axis Parameter Settings That Are Related to Homing
Parameter name
Homing Method
Operation Selection at Pos-
itive Limit Input
Operation Selection at Neg-
ative Limit Input
Homing Start Direction
Home Input Detection
Direction
Main Variables Used in the Programming Samples
Variable name
MC_Axis000
MC_Axis000.Status.StandStill
MC_Axis000.MFaultLvl.Active
MC_Axis000.Details.Homed
Pwr_Status
StartPg
Hm_Ex
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
ON
OFF
ON
OFF
ON
OFF
Negative
direction
Setting
4: Home proximity input OFF
1: Reverse turn/immediate
stop
2: Reverse turn/deceleration
stop
2: Negative direction
1: Positive direction
Data type
_sAXIS_REF
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
10 Sample Programming
Start Homing Absolute positioning
completed.
Description
Home is defined where the home proximity input
turns OFF.
The positive limit input is not used, so the default
setting is used for this parameter.
The axis decelerates to a stop and reverses direc-
tion when the negative limit input is detected.
When homing is performed, the axis starts moving
in the negative direction.
Home is detected while the axis moves in the pos-
itive direction.
Default
--- This is the Axis Variable for axis 0.
FALSE TRUE while the Servo is OFF for axis 0.
FALSE TRUE when there is a minor fault level error for
axis 0.
FALSE TRUE when home is defined for axis 0.
FALSE This variable is assigned to the Status output
variable from the PWR instance of the
MC_Power instruction. It is TRUE when the
Servo is ON.
FALSE When StartPg is TRUE, the Servo is turned ON
if EtherCAT process data communications are
active and normal.
FALSE This variable is used to execute the MC_Home
instruction. It is used in ST programming.
Positive direction
completed.
Comment
10-29
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