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 to stop; then it will run forward at the speed of Pb-04 to search the target zero position; 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 forward at the speed of Pb-04 to search the target zero position. Pb-02 = 11, 12, 13, 14 : Similar to the case of Pb-02 = 7~10, only the initial running direction is reverse and the reverse limit switch is N-OT. Pb-02 = 17 to 30 :
With the same movement curve as Pb-02 = 1~14, only the last step of searching Z signal is omitted. Immediately stop when the following origin signal is received. Pb-02 = 31: Target zero position: Move forward at the second segment of low speed set by Pb-04; the motor torque is limited to the setting of Pb-14; when any obstacle is encountered and entry of the motor into the locked rotor state is detected, movement will immediately stop, and the position is taken as the origin. Deceleration point: None. The running speed is always the second segment of low speed set by Pb-04.
183 Technical Manual for EA190 Series Servo Driver V100 Pb-02 = Origin signal Pb-02 = Origin signal 17 N-OT falling edge 24 ORPG rising edge 18 P-OT falling edge 25 ORPG rising edge 19 ORPG falling edge 26 ORPG falling edge 20 ORPG rising edge 27 ORPG falling edge 21 ORPG falling edge 28 ORPG rising edge 22 ORPG rising edge 29 ORPG rising edge 23 ORPG falling edge 30 ORPG falling edge