Chapter 7 Motion Control ASDA-A2R Series7-16 Revision December, 20147.8 Homing Description of PR ModeThe purpose of homing is to connect the Z pulse position of motor encoder to the internalcoordinate of the servo drive. The coordinate value corresponded by Z pulse can bespecified.After homing is completed, the stopped position will not be the Z pulse. It is because it hasto decelerate to stop when finding the Z pulse. It might therefore exceed a bit. However,since the position of Z pulse has correctly setup, it would not influence the accuracy ofpositioning. For example, when specifying the coordinate value corresponded by Z pulse is100 and it is Cmd_O = 300 after homing, it means the deceleration distance is 300 – 100 =200 (PUU). Since Cmd_E = 100 (Z’s absolute coordinate), if desire to return to Z pulseposition, issuing the positioning command will do, absolute 100 command or incremental 0command.After homing is completed, it will execute the specified PR automatically, which can move adistance of offset after homing.When it is executing homing, software limit is disabled.7.9 DI／DO Provided by PR Mode and DiagramsDI signal:CTRG, SHOM, STP, POS 0~5, ORG, PL(CCWL), NL(CWL), EV1~4DO signal:CMD OK, MC_OK, TPOS, ALM, CAP_OK, CAM_AREASystem frame:DI.CTRGDO.CMD_OKServo positioning iscompletedCommand is issuingDO.TPOSDLYDO.MC_OK PR procedure iscompleted.
