Technical Manual for EA350 Analog Pulse Type Servo Driver V101 8.16 Pb-xx Homing parameters Encoder position: At absolute position, the absolute position after multiple rounds is considered; and at incremental position, the position where the motor passes upon power-on. Mechanical origin : Position of stop upon homing (position of mechanical origin switch or Z pulse of motor encoder). Mechanical zero : The reference value of mechanical position (recorded by D3-24:D3-22) upon homing. For absolute position mode, the mechanical zero is the position of encoder position at mechanical zero minus P6-10 setting, and is stored in (D3-20:D3-18).
When running with the absolute position mode on a later stage, the mechanical zero will be the reference point. Electrical zero : You can set electrical zero arbitrarily via the function code PB12 (offset between electrical zero and mechanical zero). You can return the motor to electrical zero via Pb-02=36. Mechanical position: Upon homing, the absolute position of motor running is no longer the encoder position. Instead, it becomes the one based mechanical zero, which is recorded in (D3-24:D3-22). Parameter functions:
If after receiving a homing command, the servo fails to be positioned to the origin within the time set by this parameter, the driver will show an alarm and the ALM terminal will act. When this parameter is set to 0, the homing monitor is turned off; in this case, no alarm will be given even if homing fails. Caution ☞ Set a proper time for Pb-00 based on the actual conditions to avoid occurrence of an error alarm in case the execution lasts long Parameter functions: Select a start mode for the homing function Pb-01=0 : Turn off the homing function. Pb-01=1 : Immediately execute homing when the servo driver is never activated and set to S-ON. Pb-01=2 :
Immediately start execution of homing when the DI terminal defined as SHOM (homing activation) (function No. 23) is valid. During homing, invalidation of the SHOM terminal cannot stop homing. Sequence diagram for the homing trigger and start mode 1: Automatically execute homing when the servo is activated (Pb-01=1) 2: Homing is triggered by the SHOW terminal (function No. 23) (Pb-01=2) Upon completion of homing, the output terminal defined as HOME (function No. 14) immediately outputs valid signals. If servo activation is cancelled or an alarm occurs during homing, the homing function will terminate, and the HOME terminal does not output valid signals.
Caution ☞ The SHOM terminal is triggered by level. If this terminal remains valid after completion of homing, homing will be executed again. 222 Pb-00 Homing failure alarm time Initial value 0 Communication address 0B00H Unit ms Time of taking effect With immediate effect Setting range 0~65535 Data size 16bit Control mode P Pb-01 Homing start mode Initial value 0 Communication address 0B01H Unit - Time of taking effect With immediate effect Setting range 0~2 Data size 16bit Control mode P