Parameter functions: Set the running speed of the motor upon execution of homing after it arrives at the reference point for final positioning to the origin. This speed shall not be set too high; otherwise overshooting may occur in case of large load inertia. Parameter functions: Set the acceleration and deceleration time for homing. Acceleration time refers to the time required to accelerate from speed 0 to the rated motor speed. Deceleration time refers to the time required to decelerate from the rated motor speed to the speed 0. Parameter functions:
Upon execution of homing, if the user desires some deviation of the motor stop position from the reference point, this parameter can be used to set pulses of the deviation. Parameter functions: This parameter is used to set the current position of the motor when homing is completed. When homing is completed, the set value of Pb-10 is the value of parameter d0-36. The value of d0-34 is obtained through electronic gear conversion of d0-36. Parameter functions: This parameter can be used to set the deviation of the electrical zero point from the mechanical zero point when the motor stop position is the mechanical zero position upon completion of homing.
For the absolute value system, after the electrical zero point is set, all position commands subsequently received will take the electrical zero point as the reference starting position. It shall be specially noted that data referenced upon setting the electrical zero point shall be the motor encoder position comprising d0-29 and d0-30, other than data of d0-36. The electrical zero point is based on absolute position data of the encoder. Therefore, the electrical zero point is fixed unless the following operations are performed. Replace the motor. Set another value for Pb-12. The mechanical origin has changed, and homing is additionally executed.
Execute the “Clear multiple-turn data of encoder” operation (AF-16 = 2). For an incremental system, the electrical zero point can also be taken as the reference starting position. However, when the system is powered off and then powered on again, the electrical zero point will deviate from the motor position upon power-on by Pb-12.
185 Technical Manual for EA190 Series Servo Driver V100 Pb-05 Acceleration and deceleration time for homing Initial value 100 Communicatio address 0B05H Unit ms Time of taking effect With immediate effect Setting range 1~65535 Data size 16bit Control mode P Pb-08 Pulses of homing deviation Initial value 0 Communication address 0B08H Unit Pulse Time of taking effect With immediate effect Setting range -2147483647~2147483647 Data size 32bit Control mode P Caution☞ The count of pulses set by Pb-08 corresponds to a command pulse unit.
Pb-10 Position upon homing completion Initial value 0 Communication address 0B0AH Unit Pulse Time of taking effect With immediate effect Setting range -2147483647~2147483647 Data size 32bit Control mode P Caution☞ The count of pulses set by Pb-10 corresponds to a command pulse unit. Pb-12 Offset of the absolute position from the electrical origin Initial value 0 Communication address 0B0CH Unit PUL Time of taking effect Taking effect upon power-on again Setting range -2147483647~2147483647 Data size 32bit Control mode P Caution☞ The count of pulses set by Pb-12 corresponds to an encoder pulse unit.