Calibration Type 4

For Calibration Type 2, calibration is accomplished using one sensor.

Use the NORG signal for rough positioning first. Then, to position more closely, pick up the ORG signal (if a stepper motor is used) or ZORG signal (if a servo motor is used).

Place the NORG sensor in the direction of CCW Limit Position. Place the ORG sensor on the motor’s rotation axis and, leave +ZORG disconnected when a stepper motor is used. When a servo motor is used, connect the +Z Phase of the servo motor to +ZORG and -Z Phase to -ZORG respectively.

Leave ORG disconnected when a servo motor is used.

The sequence of rough positioning in Calibration Type 4 using NORG signal is as follows:

When the starting position is in the range of A above. (Operation: 2 steps)

When the starting position is in the range of B above. (Operation: 3 steps)

When the starting position is in the range of C above. (Operation: 2 steps)

KEY POINTS

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The above motion direction is subject to and affected by the Direction parameter in [System Configuration]-[Controller]-[Robots]. The directions shown above without parentheses indicate the motion direction when Normal is selected while those marked in parentheses indicate the motion direction when Reverse is selected.

If a stepper motor is used, the following sequence follows according to the ORG signal status when the NORG (↑) is detected:

• ORG=HIGH (sensor: OFF) when the NORG (↑) is detected.

  

  • a: NORG
  • b: ORG

• ORG=LOW (sensor: ON) when the NORG (↑) is detected.

  

  • a: NORG
  • b: ORG