5Functions

(4) First home sensing move

With the #25 Homing operation: Origin inside selection parameter, it is possible to select and set either the inside Zero signal or outside Zero signal of the home position proximity signal as the home position. If #25 = 1, the inside Zero signal is set as the home position; if #25 = 0, the outside Zero signal is set as the home position. If #202 = 1, the rotor moves to search the home position proximity signal in (-) direction. If #25 = 1, the rotor recognizes the first Zero signal edge as the home position upon entering the area, and then stops. If #25 = 0, the rotor recognizes the first Zero signal edge as the home position upon leaving the area, and then stops.

If #202 = 0, the rotor moves to search the home position proximity signal in (+) direction. If #25 = 1, the rotor recognizes the first Zero signal edge as the home position upon entering the area, and then stops. If #25 = 0, the rotor recognizes the first Zero signal edge as the home position upon leaving the area, and then stops.

The moving velocity is set to the value in the #13 Homing operation: Home sensing feed velocity 1 parameter.

(5) Second home sensing move

The second home sensing move is executed in two steps.

1)Preparation move

The rotor moves as far as diametrically opposite the Zero signal edge in the opposite direction of the Zero signal edge search direction that was used in the first home sensing move.

The moving velocity is set to the value in the #13 Homing operation: Home sensing feed velocity 1 parameter.

2)Zero signal edge search move

The rotor moves until it finds the Zero signal edge in the Zero signal edge search direction that was used in the first home sensing move.

The moving velocity is set to the value in the #13 Homing operation: Home sensing feed velocity 1 parameter.

(6) Home position move

The home position is moved to the detected Zero signal edge position. Motors that use software Zero signals further perform a second corrective move.

The moving velocity is determined internally by the driver.

(7) Home position offset move

The home position is moved for the distance given by the value set in #29 Offset distance from the Home position parameter, after which the operation coordination command value is set to the value given in #30 Homing complete operation command value parameter.

The moving velocity is set to the value in #15 Homing operation: Origin position offset feed velocity parameter.

For the homing move to be completed normally, the distance between the home position proximity area and the Zero signal edge must be within a specific range based on the value of #358 Z-phase signal pulse interval monitor. The reference value differs depending on the method by which the Zero signal (hardware or software Zero signal) is generated.

At the first home sensing move, the distance to the first Zero signal edge after passing through the home position proximity area (pulse amount) has been measured and written in #318 Homing operation: The measured value monitor. If this value does not satisfy the equations below, an error or warning will occur. In that case, the home position proximity dog should be adjusted and the homing move should be performed again. Repeat these steps until the operation is completed normally.

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Parker Hannifin G2 manual First home sensing move, Second home sensing move, Home position move, Home position offset move
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G2 specifications

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