Technical Manual for EA350 Analog Pulse Type Servo Driver V101 Pb-02 = 9 : 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 when it receives an ORPG rising edge signal; after it decelerates to the speed of Pb-04, it will continue running forward at this speed until it receives an ORPG falling edge; then it will decelerate to stop; afterwards, it will run reversely at the speed of Pb-04 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 to stop; then it will run forward at the speed of Pb-04; when it receives an ORPG falling edge, the servo will decelerate to stop, and then run reversely at the speed of Pb-04 to search the target zero position; 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 forward for homing at the speed of Pb-04; when it receives an ORPG falling edge, it will start to decelerate to stop; then it will run reversely at the speed of Pb-04 to search the target zero position.
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