TAMAGAWA TS5246N160 TS5246N160 TS5246N160 TS5246N160 TS5246N160 TS5246N160

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TS5246N160

ENCODER

M-52004

RP872ZL

2048PPR

ROTALY

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RP-132A-T1,750PPR

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RP-873ZL,2048PPR

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RP-886ZN,2500PPR

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RP-5354D-CD-4096PPR

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RP-132A-T1,600PPR

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RP-132A,2000PPR

TS2025N471E69

TS2014N181E32

TS5208N111E78

"Position".
 1: Direct homing relative
New axis position is the current axis position + position
value of parameter "Position".
 2: Passive homing
Homing according to the axis configuration. Following
homing, the value of parameter "Position" is set as the
new axis position.
 3: Active homing
Reference point approach in accordance with the axis
configuration. Following homing, the value of parameter
"Position" is set as the new axis position.
Done OUT Bool TRUE = Task completed
Busy OUT Bool TRUE = The task is being executed.
CommandAborted OUT Bool TRUE = During execution the task was aborted by another
task.
Error OUT Bool TRUE = An error has occurred during execution of the task.
The cause of the error can be found in parameters "ErrorID"
and "ErrorInfo".
ErrorID OUT Word Error ID for parameter "Error""
ErrorInfo OUT Word Error info ID for parameter "ErrorID"
Note
Axis homing is lost under the following conditions
 Disabling of axis by the MC_Power instruction
 Switchover between automatic control and manual control
 Upon start of active homing (After successful completion of the homing operation, axis
homing is available again.)
 After power-cycling the CPU

After CPU restart (RUN-to-STOP or STOP-to-RUN) To home the axis, follow these steps:
1. Check the requirements indicated above.
2. Initialize the necessary input parameters with values, and start the homing operation with
a rising edge at input parameter "Execute".
3. If output parameter "Done" and technology object tag <Axis
name>.StatusBits.HomingDone indicate the value TRUE, homing is complete. The MC_Home task cannot be aborted by any other motion control task. The new MC_Home task does not
abort any active motion control tasks. Position-related motion tasks are resumed after homing according to
the new homing position (value at the Position input parameter).
2 The MC_Home task can be aborted by the following motion control tasks:
MC_Home task Mode = 2, 3: The new MC_Home task aborts the following active motion control task.
MC_Home task Mode = 2: Position-related motion tasks are resumed after homing according to the new
homing position (value at the Position input parameter).
3 The MC_Home task can be aborted by the following
motion control tasks:
 MC_Home Mode = 3
 MC_Halt
 MC_MoveAbsolute
 MC_MoveRelative
 MC_MoveVelocity
 MC_MoveJog
The new MC_Home task aborts the following active
motion control tasks:
 MC_Home Mode = 2, 3
 MC_Halt
 MC_MoveAbsolute
 MC_MoveRelative
 MC_MoveVelocity
 MC_MoveJog Use the MC_Halt instruction to stop all
motion and to brings the axis to a standstill.
The stand-still position is not defined.
In order to use the MC_Halt instruction,
the axis must first be enabled. Axis technology object
Execute IN Bool Start of the task with a positive edge
Done OUT Bool TRUE = Zero velocity reached
Busy OUT Bool TRUE = The task is being executed.
CommandAborted OUT Bool TRUE = During execution the task was aborted by another
task.
Error OUT Bool TRUE = An error has occurred during execution of the task.
The cause of the error can be found in parameters "ErrorID"