IAI America PSEL - Manual (Page 321)

311
Part 3 Positioner Mode
Input
Output
000: Start
001: Home return
0002: Servo ON
300: Alarm
301: Ready
302: Positioning complete
303: Home return complete
304: Servo ON status
Home return in progress
[3] [5]
[1]
[2] [4]
[6]
5.2 Home Return
Timings associated with home-return operation are illustrated below.
Timing Chart of Home-return Operation (Standard Positioner Mode)
Perform home-return operation by following the procedure explained below.
* Before commencing the procedure, confirm that the ready output signal and alarm output signal are ON.
[1] Turn ON the servo ON input signal.
[2] Confirm that the servo-ON status output signal is
ON.
[3] Turn ON the home-return input signal.
[4] Confirm that the positioning complete output signal is
OFF.
[5] Turn OFF the home-return input signal.
[6] Confirm that the home-return complete output signal
is ON. Home return is now completed.
*Pause and *cancellation inputs are contact-B input signals (always ON), so keep these signals ON while home return
is in progress.
To initiate home return using the home-return signal input, the servo ON input signal must be ON. These operation
commands will not be accepted if the servo ON input signal is OFF. Note, however, that only the commands will be
ignored and no error will generate.
Warning: If the servo is turned on near the mechanical end, excited phase detection may not be
performed properly and an excited pole indetermination error or excited pole detection
error may generate.
Move the slider, rod, etc., away from the mechanical end before turning on the servo.
With the 2-axis specification, the controller has been configured at the factory so that the two axes will start home
return simultaneously.
You can cause either axis to start home return earlier than the other axis by changing the applicable parameter
setting.
Specifically, change the setting in axis-specific parameter No. 13, “SIO/PIO home-return order” so that the parameter
value for the axis number corresponding to the axis for which you want to complete home return first, will become
smaller than the parameter value for the other axis number.
Example)
Cause axis 1 to perform home return after axis 2 has completed home return, set “1” for axis 1 and “0” for
axis 2 in axis-specific parameter No. 13.