● If a signal of the forward limit switch P-OT is received, the servo will automatically run in the reverse direction at the speed of Pb-03; when it receives an ORPG rising edge signal, it will start to decelerate; after it decelerates to the speed of Pb-04, it will continue running at this speed until it receives an ORPG falling edge and then starts to run reversely at the speed of Pb-04; when it comes to the target zero position, it will stop running ● If the ORPG signal is valid upon start of homing, the servo will run reversely at the speed of Pb-04; when it receives an ORPG falling edge, it will start to decelerate to stop; then it will run forward at the speed of Pb-04 to search the target zero position.
Pb-02 = 9 : Target zero position: First Z pulse following the ORPG rising edge Deceleration point: Origin switch (ORPG) ● If the ORPG signal is invalid upon start of homing, the servo will run forward at the speed of Pb-03: If no signal of the forward limit switch P-OT is received, the servo will decelerate when it receives an ORPG rising edge signal; after it decelerates to the speed of Pb-04, it will continue running forward at this speed until it receives an ORPG falling edge; then it will decelerate to stop; afterwards, it will run reversely at the speed of Pb-04 to search the target zero position. 181 Technical Manual for EA190 Series Servo Driver V100