User`s manual

Functions
5
5-20
5. Functions
FA-23 Return-to-origin using sensor method
Operation sequence
When origin sensor is ON when starting return-to-origin
1. Start return-to-origin.
2. Robot moves at 50% of return-to-origin speed (Fb-12).
3. Slows down during deceleration time (Fb-05) after detecting that the origin sensor (ORL
terminal) has turned off.
(Note 2)
4. Reverses movement direction after the motor has stopped, and speeds up during
acceleration time (Fb-04). Then moves at 50% of return-to-origin speed (Fb-12).
5. Slows down during deceleration time (Fb-05) after detecting that the origin sensor (ORL
terminal) has turned on.
(Note 2)
6. Reverses movement direction after the motor has stopped, and speeds up during
acceleration time (Fb-04). Then moves at return-to-origin speed (Fb-12).
7. Continue moving at return-to-origin speed (Fb-12) until 1024 pulses have elapsed after
detecting the sensor (phase ZM) signal.
8. Slows down during deceleration time (Fb-05).
9. Reverses movement direction after the motor has stopped, and speeds up during
acceleration time (Fb-04).
10. Moves at return-to-origin speed (Fb-12).
11. 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.
12. Slows down during deceleration time (Fb-05) after detecting that the origin sensor (ORL
terminal) has turned on.
(Note 2)
13. Moves at slow return-to-origin speed (Fb-13).
14. After detecting the origin sensor signal, the robot temporarily stops at first "phase Z" position
detected at each 4096 count.
15. 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
Note 1: The acceleration/deceleration time parameters specify the time needed to accelerate or decelerate
between 0 and maximum speed.
Note 2: If the origin sensor (ORL terminal) does not turn on and the robot comes into contact with the
mechanical end (stroke end), then an overload alarm (E05) occurs.
Note 3: 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.)
Note 4: Phase Z
Y
is a position offset 768(=300H) pulses from the phase Z (R/D converter) signal.
Note 5: Connect the origin sensor to the ORL terminal.
Note 6: If the origin sensor (ORL terminal) does not turn off even when the robot has moved a distance of
50,000 pulses after starting return-to-origin with the origin sensor (ORL terminal) turned on, then an
origin sensor alarm (E80) occurs.
Note 7: The magnetic pole position is determined when phase ZM is passed.