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14. ABSOLUTE POSITION DETECTION SYSTEM
14.9.3 Home position setting
(1) Dog type home position return
Preset a home position return creep speed at which the machine will not be given impact. On detection of a
zero pulse, the home position setting (CR) is turned from off to on. At the same time, the servo amplifier
clears the droop pulses, comes to a sudden stop, and stores the stop position into the non-volatile memory
as the home position ABS data.
The home position setting (CR) should be turned on after it has been confirmed that the in-position (INP) is
on. If this condition is not satisfied, the home position setting warning (AL.96) will occur, but that warning
will be reset automatically by making home position return correctly.
The number of home position setting times is limited to 1,000,000 times.
OFF
ON
OFF
ON
OFF
ON
Servo motor
Dog signal
(DOG)
Completion of
positioning
(INP)
Home position
setting (CR)
Home position
A
BS data
Update
Proximity dog
20 [ms] or longer 20 [ms] or longer