User`s manual

Functions
5
5-14
5. Functions
FA-23
Return-to-origin using stroke end method
When phase ZM is between return-to-origin start
position and stroke end
When return-to-origin start position is between
phase ZM is and stroke end
Operation sequence
1. Start return-to-origin.
2. Robot moves towards stroke end at return-to-origin
speed (Fb-12).
3. Continues moving towards the stroke end at return-
to-origin speed (Fb-12).
Starts counting "Homing back distance" after
detecting the sensor signal (phase ZM).
Among phase Z at each 4096 count, the phase Z
detected at a point closest to the stroke end is
regarded as reference phase Z.
4. Reverses movement direction while adjusting speed
during acceleration/deceleration time (Fb-04, Fb-05)
when robot has reached the stroke end, which is
determined by detecting (in first part of this step) a
motor current that exceeded the rated current and
then the specified stroke-end current.
5. Moves in direction opposite the stroke end at return-
to-origin speed (Fb-12).
6. Continues moving in direction opposite the stroke end
until reaching the position "[(Fb-35)–1] × 4096]"
pulses away from the reference phase Z.
(If "Homing back distance" (Fb-35) is set to 1, then
step 6 is skipped and goes to step 7.)
7.
Moves at slow return-to-origin speed (Fb-13) after
adjusting speed during deceleration time (Fb-05).
(Note 1)
8. Temporarily stops at a position 4096 pulses away
from phase Z at the deceleration point.
9. Further moves a distance equal to the following phase
difference between phase Z
Y
and phase Z, and then
stops there.
When moving to L: 256=100H pulses
When moving to R: 768=300H pulses
Machine reference is displayed on d-18, which is
calculated as follows:
When moving to L: (d-18)=(d+768)/4096
When moving to R: (d-18)=(d+256)/4096
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 robot has reached the stroke end, which is
determined by detecting (in first part of this step) a
motor current that exceeded 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).
5. Moves a distance of 1024 pulses after detecting the
sensor signal (phase ZM).
6. Reverses movement direction while adjusting speed
during deceleration time (Fb-05) after checking that
at least 1024 pulses have elapsed.
(Note 1)
7. Moves towards the stroke end after changing speed
back to the return-to-origin speed (Fb-12) during
acceleration time (Fb-04).
8. Continues moving towards the stroke end at return-
to-origin speed (Fb-12). Starts counting the "Homing
back distance" after detecting the sensor signal
(phase ZM).
Among phase Z at each 4096 count, the phase Z
detected at a point closest to the stroke end is
regarded as reference phase Z.
9. 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 that exceeded the rated current, and
then the specified stroke-end current.
10. Moves in direction opposite the stroke end at return-
to-origin speed (Fb-12).
11. Continues moving in direction opposite the stroke
end until reaching the position "[(Fb-35)–1] × 4096]"
pulses away from the reference phase Z.
(If "Homing back distance" (Fb-35) is set to 1, then
step 11 is skipped and goes to step 12.)
12. Moves at slow return-to-origin speed (Fb-13) after
adjusting speed during deceleration time
(Fb-05).
(Note 1)
13. Temporarily stops at a position 4096 pulses away
from phase Z at the deceleration point.
14. Further moves a distance equal to the following
phase difference between phase Z
Y
and phase Z,
and then stops there.
When moving to L: 256=100H pulses
When moving to R: 768=300H pulses
Machine reference is displayed on d-18, which is
calculated as follows:
When moving to L: (d-18)=(d+768)/4096
When moving to R: (d-18)=(d+256)/4096
Note 1: The acceleration/deceleration time parameters specify the time needed to accelerate or decelerate between 0 and
maximum speed.
Note 2: There are two phase Z types as described below. Be careful not to confuse them.
Phase ZM : Phase Z signal that is input from the mechanical section via ENC. (This sensor signal is output
from two points at both ends of the mechanical stroke.)
PHASER series
Phase ZM Phase ZM
One each of phase ZM is
present near both ends of robot.
Phase Z (R/D converter) : Phase Z signal that is output from the resolver or R/D converter. (This is output every 1024 pulses.)
Also note that the ORL terminal is left unconnected when performing the RDP return-to-origin operation using the stroke end method.
Note 3: Phase Z
Y
is a position offset 768(=300H) pulses from the phase Z (R/D converter) signal.
Machine reference corresponds to the distance between the stroke end and phase Z
Y
as shown in the operation sequence diagram.
Note 4: The magnetic pole position is determined when phase ZM is passed.