User`s manual

5-19
5
Functions
5. Functions
FA-23 Return-to-origin using sensor method
Operation sequence
When phase ZM is between return-to-origin start position and origin sensor
1. Start return-to-origin.
2. Robot moves at return-to-origin speed (Fb-12).
3. Continues moving at return-to-origin speed (Fb-12). Starts detecting phase Z at each 4096
count after detecting the sensor (phase ZM) signal.
At this point, phase Z just before detecting the sensor (phase ZM) signal is regarded as
reference phase Z which is the start point to detect phase Z at each 4096 count.
4. Slows down during deceleration time (Fb-05) after detecting that the origin sensor (ORL
terminal) has turned on.
(Note 2)
5. Moves at slow return-to-origin speed (Fb-13).
6. After detecting the origin sensor signal, the robot temporarily stops at first "phase Z" position
detected at each 4096 count.
7. Further moves a distance equal to the 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
When return-to-origin start position is between phase ZM is and origin sensor
1. Start return-to-origin.
2. Robot moves at return-to-origin speed (Fb-12).
3. Slows down during deceleration time (Fb-05) after detecting that the origin sensor (ORL
terminal) has turned on.
(Note 2)
4. Reverses movement direction after the motor has stopped, and speeds up during
acceleration time (Fb-04).
5. Moves at return-to-origin speed (Fb-12) until 1024 pulses have elapsed after detecting the
sensor (phase ZM) signal.
6. Slows down during deceleration time (Fb-05).
7. Reverses movement direction after the motor has stopped, and speeds up during
acceleration time (Fb-04).
8. Moves at return-to-origin speed (Fb-12).
9. Continues moving at return-to-origin speed (Fb-12). Starts detecting phase Z at each 4096
count after detecting the sensor (phase ZM) signal.
At this point, phase Z just before detecting the sensor (phase ZM) signal is regarded as
reference phase Z which is the start point to detect phase Z at each 4096 count.
10. Slows down during deceleration time (Fb-05) after detecting that the origin sensor (ORL
terminal) has turned on.
(Note 2)
11. Moves at slow return-to-origin speed (Fb-13).
12. After detecting the origin sensor signal, the robot temporarily stops at first "phase Z" position
detected at each 4096 count.
13. Further moves a distance equal to the 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