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6. APPLICATION FUNCTIONS
6.21.2 Processing procedure
Be sure to execute the operation referring to the following procedures at home position return and power on.
(1) Processing procedure for returning to home position
(1) Processing procedure for returning to home position
(a) Set the absolute position detection system (parameter No.1102) to 1 (Use in absolute position detection
system).
(b) If setting the parameter in (a) for the first time, "absolute position erased" (servo alarm 25) occurs. After
turning OFF the power supply of servo amplifier, turn power supply ON again and start the system again.
(c) Execute home position return.
(d) When the home position return is completed, the home position return request (ZREQ) turns off and the
home position return complete signal (ZP) turns on. Then the home position multiple revolution data
(parameter No.024D) and the home position within 1 revolution position (parameter No.024E, 024F) are
updated, and the absolute position data of the home position return option 2 (parameter No.0241) is
changed to 1 (valid).
(parameter No.024D) and the home position within 1 revolution position (parameter No.024E, 024F) are
updated, and the absolute position data of the home position return option 2 (parameter No.0241) is
changed to 1 (valid).
(e) After confirming the home position return complete signal (ZP) is on, read the home position multiple
revolution data (parameter No.024D) and home position within 1 revolution position (parameter
No.024E, 024F) and store a backup copy.
No.024E, 024F) and store a backup copy.
(2) Processing procedure for turning on the power
After executing backup of the position of the home position at (1), execute the following processing before
system startup (before setting the system directive code to 000Ah). Performing of this process restores the
system to absolute positioning at system startup.
system startup (before setting the system directive code to 000Ah). Performing of this process restores the
system to absolute positioning at system startup.
(a) Set the home position multiple revolution data and home position within 1 revolution position stored
during backup of (1) to the home position multiple revolution data (parameter No.024D) and home
position within 1 revolution position (parameter No.024E, 024F).
position within 1 revolution position (parameter No.024E, 024F).
(b) Set the absolute position data of the home position return option 2 (parameter No.0241) to 1 (valid).