6-85
TI71M01D06-01EN 3rd Edition: 2012.12.01
ON
OFF
ON
OFF
OFF
#392
#392
(5) Adjusting Dog Installation Position
The Z-pulse can be generated in two ways (hardware Z-pulse and software Z-pulse). Which
method is used depends on the motor.
In order for the homing movement to be completed normally, it is necessary that the distance
between the ON area of the home sensor and the Z-pulse edge is within a certain range set
based on monitor #306 [Z-pulse interval]. The reference values vary depending on how the
Z-pulse is generated (hardware Z-pulse or software Z-pulse).
At the first home detection movement, the distance (number of pulses) from the edge of the
home sensor to the first edge of the Z-pulse is measured after the motor goes through the
home sensor area, and this value is set in monitor #392 [homing measurement value]. An
error or alarm is generated if this value does not satisfy the following expressions. In case an
error or alarm is generated, adjust the home sensor dog position and perform the homing
movement again, and repeat the operations until the homing operation is completed normally.
⇐
CW direction
CCW direction
[Hardware Z-pulse]
#392 value
< 0.05 x #306 value
Error (error code 49.1)
0.05 x #306 value
≤
#392 value < 0.1 x #306 value
Alarm
0.1 x #306 value
≤
#392
value
≤
0.7 x #306 value
Normal
0.7 x #306 value
< #392 value
≤
0.75 x #306 value
Alarm
0.75 x #306 value
< #392 value
Error (error code 49.1)
[Software Z-pulse]
#392 value
< 0.05 x #306 value
Error (error code 49.1)
0.05 x #306 value
≤
#392 value < 0.1 x #306 value
Alarm
0.1 x #306 value
≤
#392
value
≤
0.4 x #306 value
Normal
0.4 x #306 value
< #392 value
≤
0.45 x #306 value
Alarm
0.45 x #306 value
< #392 value
Error (error code 49.1)
Drive model
Z-pulse generation
method
Number of ZERO
pulses [1/rotation]
Z-pulse interval
Normal value range
for #392 [homing
measurement value]
UD1A-
Hardware
100
40960
4096 ~ 28672
UD1B-
(*1)
60
43690
4396 ~ 30583
UD1B-004/UD1B-006
Software
124
21140
2114 ~ 8456
UD1C-
Software
124
21140
2114 ~ 8456
UR1A-
Software
200
8192
819 ~ 3276
UR1B-
124
UR1E-
150
UR5A-
104
UR5B-
68
UR5E-
78
UR5C-
52
*1 Excluding UD1B-004 and UD1B-006
Home proximity sensor
Z-pulse
Home edge when [Inside] is
selected for homing
#392 [homing measurement value]
[Unit: Encoder resolution pulses]
Home edge when [Outside]
is selected for homing
