● If the ORPG signal is valid upon start of homing, the servo will run reversely at the speed of Pb-05 to search the target zero position. Pb-02 = 4 : 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-04 to search the target zero position. ● If the ORPG signal is valid upon start of homing, the servo will run reversely at the speed of Pb-03, and start to decelerate to stop when it receives an ORPG falling edge; then it will run forward at the speed of Pb-04 to search the target zero position. Pb-02 = 5 : Target zero position:
First Z signal following the ORPG falling edge Deceleration point: Origin switch (ORPG) ● If the ORPG signal is invalid upon start of homing, the servo will run reversely at the speed of Pb-03, and start to decelerate to stop when it receives an ORPG rising edge; then it will run forward at the speed of Pb-04 to search the target zero position. 178 Technical Manual for EA190 Series Servo Driver V100