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7-2-1 Normal return-to-home sequence in cyclic position control (CP) mode
[Type_Code: 011h-01Dh]
2.0
2.0
The figure below shows the return-to-home sequence using the trigger signal (logical rising edge and logical falling
edge of Z-phase or sensor(HOME, POT, NOT, EXT1, EXT2, EXT3)).
Initialize the position information so that Homing_Ctrl bit is 1 and trigger detection position is zero. When
Homing_Ctrl bit is 0, the position information is not initialized upon detecting of the trigger signal.
Command
20h
code
Homing_Ctrl
Velocity
Trigger signal
Busy
Homing_Complete
Command
code
echo
*1) When command code (24h) is changed to normal command (20h), homing process can be paused even when Busy
= 1. Even if Pr.7.23, bit 5 = 1 (start upon changing of command code and command argument), the normal
command (20h) is required to pause the homing process.
*2) In the incremental mode (incremental scale), internal command position and actual position are at 0 (home
position) at power up. Until homing process completes (home position is set by trigger signal), apply the command
position with reference to this 0 (home position).
*3) Using Type_Code, select the logical rising edge and logical falling edge of the sensor(HOME, POT, NOT, EXT1,
EXT2, EXT3) or Z-phase as the trigger signal. For the trigger signal, refer to 6-5-1.
2.0
2.0
*4) Homing complete bit will be 0 when Homing command is accepted. Note that it is 0 at power-up until homing is
completed. However, if the homing is started with Homing_Ctrl = 1 at communication cycle 0.5 ms or more and
then the trigger signal is immediately detected, Homing_Complete will not be set to 0 but set to 1 after the
completion of the process at the first response. The homing process is successfully completed when no command
error is detected, echo back value is returned and Homing_Complete = 1.
*5) Homing complete bit will be 1 after homing is completed.
While the command code is holding 24h after Homing_Complete bit switched to 1, the servo driver will ignore the
command position and will stop the motor (servo-lock) at detected home position.
Note that during feedforward the value remains valid. If this causes a problem, keep feedforward value at 0 during
homing process.
During the process, be sure to set the command position to 0 (home position). When command code is started with
normal command (20h) or another command, operation will be started by a command according to the new
reference.
R2.0
Positioning according to command position
0
*3)
1
*4)
0
20h
24h *1)
"Servo-Lock"
*2)
ignoring command position
*5)
1
Command velocity
Actual velocity
0
1
*5)
24h
Motor Business Division, Appliances Company, Panasonic Corporation
No. SX-DSV02310 - 110 -
Time
20h
Positioning according
to command position
based on new reference
*5)
20h
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