User`s manual

Functions
5
5-10
5. Functions
5.4 Return-to-origin function
(1) Return-to-origin using stroke end method (RDX)
The following table shows the RDX return-to-origin operation using the stroke end
method.
FA-23 Return-to-origin using stroke end method
t-F
( 4 ) 5
7
6
2
3
1
(Fb-12)
4096
2048
L
2048
{L- {[(Fb-35)-1]×4096+2048}}/4096
Forward run
First Z
Reverse run
Position
(Machine reference=100%)
Phase Z
Stroke end
Homing back distance
counter
When "Homing back distance" (Fb-35) = 1
Machine reference (d-18)
t-r
2
1
7
6
5
4
3
Forward run
(Fb-12)
(Fb-12)
(Fb-13)
4096
4096
2048
L
[(Fb-35)-1]×4096
2048
{L- {[(Fb-35)-1]×4096+2048}}/4096
Stroke end
First Z
Reverse run
Position
Homing back distance
counter
When "Homing back distance" (Fb-35) = 2
(Machine reference=100%)
Machine reference (d-18)
Phase Z
Operation sequence
1. Start return-to-origin.
2. Robot moves towards stroke end at return-to-origin speed (Fb-12).
3. Reverses movement direction while adjusting speed during acceleration/deceleration time
(Fb-04, Fb-05) when the robot has reached the stroke end, which is determined by detecting (in
first part of this step) a motor current exceeding the rated current and then the specified
"Stroke-end current" (Fb-36).
(Note 1)
4. Moves in direction opposite the stroke end at return-to-origin speed (Fb-12). Starts counting
the Homing back distance from the stroke end. (If the "Homing back distance" (Fb-35) is set
to 1, then step 4 is skipped and goes to step 5.)
5. When the Homing back distance count exceeds "[(Fb-35) – 1] × 4096" pulses, the robot starts
slowing down during deceleration time (Fb-05) and moves at slow return-to-origin speed
(Fb-13).
(Note 1)
6. Continues moving at slow return-to-origin speed (Fb-13).
7. Stops at first "phase Z" position after the Homing back distance count has exceeded
"[(Fb-35) – 1] × 4096+2048" pulses.
(Machine reference is displayed on d-18, which is calculated as follows:
{ L (distance from stroke end to stop point)–{[(Fb-35) – 1]× 4096+2048}} / 4096)
Note 1: The acceleration/deceleration time parameters specify the time needed to accelerate or decelerate
between 0 and maximum speed.