Technical Manual for EA350 Analog Pulse Type Servo Driver V101 If the ORPG signal is valid upon start of homing, the servo will run reversely at the speed of Pb-04 to search the target zero position. Pb-02 = 8 : 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 to stop when it receives an ORPG rising edge signal; then it will run reversely at the speed of Pb-04 until it receives an ORPG falling edge and then starts to run forward to search the target zero position.
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.
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