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B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
2
3
t
y
p
e
2
5
t
y
p
e
2
3
t
y
p
e
2
5
t
y
p
e
6.2.1.2. Setting Home Position by Home Return
l The position at where the Home Return completed will be defined as the home position.
！ Caution: Perform the Home Return every time the power is turned on for ESB23
Figure 6-3: Signal timing of Home Return
[Input]
SVON
RS-232C
communication
command
Start
Start HOS, or
HS command in
a CH.
HLS
[Motor motion]
Rotation of Motor
[Output]
øZ
IPOS (FW>0)
IPOS (FW£0)
HOME
HCMP
l Make the Motor servo on. (SVON input is ON.)
l The Home Return starts when the HOS input turns ON. (
Table 6-2: Control Input / Output related to Home Return operation
Signal
SVON
RUN
HLS
CHZ
IPOS
HOME
HCMP
and 25 Driver Units. They don't store the home position.
ON
OFF
H
RUN
ON
OFF
ON
OFF
CCW*
CW*
Closed
Open
Closed
Open
Closed
Open
Closed
Open
Function
Servo ON
Start positioning
Home position limit sensor
Position feedback signal øZ
Positioning completed
Home Return completed /
Home position detected
Home position defined
30ms min.
*
S
CR
10 ms min.
HA
HZ
1
2
)
1
I/O
Input
"7.1.1. Servo ON"
Input
"6.2.2. Positioning With Programmable Indexer"
Input
Output
"7.1.16. Position Feedback Signal"
Output
"7.1.11. Completion of Positioning"
Output
"7.1.12. Completion of Home Return /Detection of
Home Position"
Output
"7.1.13. Definition of Home Position"
— 6-5 —
6.2. Position Control Mode Operation
6.2.1. Setting Home Position
*CR stands for carriadge
return code (0D
).
H
HO
HV
4
3
When
HO ¹ 0
Setting of FW
Chapter to be referred.
－
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