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7-2-3-1 Example of cyclic homing operation 1
Below shows an example of return-to-home operation in the cyclic position control (CP) mode using the combination
of sensor signal (HOME) and Z-phase of feeback scale. In this example, the first feeback scale Z-phase after passing
the sensing area of HOME sensor (position where one revolution data is zero) is the home.
1)
Set Type_Code to Z-phase (011h) of feeback scale and set Homing_Ctrl bit to 0, and then change normal
command (20h) to homing command (24h).
Hold homing command (24h) until homing process completes.
2)
Execute the positioning to rotate the motor at 1st velocity according to command position, which is based on the
position at power-up.
3)
Slow down the command velocity (2nd velocity) when the rising edge of HOME is detected with HOME bit of
response.
4)
Set Homing_Ctrl bit to 1 when the falling edge of HOME is detected.
5)
When the servo driver detects Z-phase of feeback scale, it will set Homing_Complete bit to 1, ignore command
position and stop the motor (servo-lock) at home position (single turn data is zero).
Note that during feedforward the value remains valid. If this causes a problem, keep feedforward value at 0
during homing process.
6)
After confirming that Homing_Complete bit has become 1, set Homing_Ctrl bit to 0, and then set 0 (home
position) to command position.
7)
Change the command code to the normal command (20h).
Then, positioning will start according to the new reference. Therefore, be sure to perform step 6) before changing
the command code to the normal command.
Command
code
Velocity
HOME
Homing_Ctrl
Z-phase of
feeback scale
Busy
Homing_Complete
Command
R2.0
20h
20h
code
echo
24h
Home position
Command velocity
Actual velocity
*2)
24h
Motor Business Division, Appliances Company, Panasonic Corporation
No. SX-DSV02310 - 114 -
Time
20h
1st velocity
*1)
2nd velocity
20h
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