Technical Manual for EA350 Analog Pulse Type Servo Driver V101 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. 1. In this mode, the limit switch is invalid. 2.
In this mode, it is required to set a relatively low Pb-04 speed and relatively low Pb-14 torque, so as to prevent fast shock or excessive impact resulting in mechanical problems. 3. The origin determined in this mode has limited accuracy; therefore, it is only applicable to specific scenarios with less strict requirement for positioning accuracy. 4. It is required to enable the locked rotor protection function, and use P8-14, P8-15 and P8-16 in combination; P8-14 must be smaller than Pb-14; an improper setting may cause an alarm. 5. Too low setting of the Pb-14 may cause mechanical movement failure or slow mechanical movement; at this time, if Pb- 00≠0, an may occur.
If Pb-00=0, the servo may never be able to exit from the homing state. 6. Pb-08 shall be used for proper deviation of the origin from any collision point, so as to avoid continuous rotor locking or occurrence of collision upon each movement. Caution ☞ Pb-02=32 : The process is the same as Pb-02=31, but with a reverse initial movement direction. Pb-02=33, 34: Origin signal: Z pulse Deceleration point: None Homing mode 33: Run reversely at the speed of Pb-04, and stop when the first Z pulse is received. Homing mode 34: Run forward at the speed of Pb-04, and stop when the first Z pulse is received.
Caution ☞ In this mode, the limit switch is invalid; make sure there is no mechanical interference Pb-02=35 : Take the current position as the mechanical origin. After homing is triggered, take the current position as the origin and give a homing completed signal. Pb-02=36 : Trigger homing to the electrical zero point at the speed of Pb-03 and return to the electrical zero point defined by Pb-12; upon arrival, give a homing completed signal. Caution ☞ This mode is only applicable to an absolute type encoder and is used when the absolute position mode is enabled; otherwise an accident may occur. Parameter functions:
Set the running speed of the motor before reaching the reference point upon execution of the homing function. 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.
231 Pb-03 High speed setting for the first segment of homing Initial value 500 Communication address 0B03H Unit rpm Time of taking effect With immediate effect Setting range 0~6000 Data size 16bit Control mode P Pb-04 Low speed setting for the second segment of homing Initial value 50 Communication address 0B04H Unit rpm Time of taking effect With immediate effect Setting range 0~6000 Data size 16bit Control mode P