IAI America LSA-L15SS - Manual (Page 50)

4. Operation
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4. Operation
4.1 Home Return
4.1.1 Principle of Home-Return Operation
Home return is performed in the sequence specified below.
1) When a home return command is issued, the moving direction is determined from the
specified parameter.
2) During home return, the mechanical end is detected via the software.
3) The actuator reverses upon contacting the mechanical end, after which it detects a Z phase
signal and recognizes this position as the reference point.
4) The actuator moves further by the offset specified by the applicable parameter and recognizes
the achieved position as the home.
4.1.2 Fine-tuning the Home Position
The actuator is shipped with its motor travel after the actuator contacts the stopper until a Z phase
signal is output pre-adjusted. The table below lists the standard reversing distance for each model,
where the reversing distance indicates the distance moved by the slider after it contacts the stopper
and reverses, until it stops at the home position.
Model Reversing distance from mechanical stopper
Small type
H8SS, H8SM, H8HS, H8HM
Approx. 10mm
Flat type
L15SS, L15SM
Approx. 15mm
If the home return direction remains the same, changing the parameter based on this value allows
you to fine-tune the home position of your actuator. Perform this fine-tuning by following the
procedure below.
1) Perform home return to check the home.
2) Thereafter, move the actuator to a desired home. Check the difference and correct the
parameter accordingly. The parameter accepts a positive value to set an offset in the moving
direction of the actuator. (Negative values cannot be set.)
3) Increasing the offset reduces the moving range by the amount incremented. If you have
specified an offset exceeding 1mm, also adjust the soft limits.
[Refer to PC Software Instruction Manual for details of how to set up the parameters]
4.1.3 Changing the Home Direction
Changing the factory-set home direction after the delivery requires the moving direction parameter
to be changed and the encoder readjusted. Please consult IAI.
Warning: The encoder not only detects position and home signals, but it also plays an
important role in the switching of AC-servo power phases. Since the AC-servo
power phases have been adjusted precisely, never touch the encoder to change
the home.