-265-
7 Control Mode
Index
6098h
Name
Homing method
Setting
Condition
& Effective
Time
During
running &
At stop
Data
Structure
VAR
Data
Type
int8
Access
RW
Mapping
RPDO
Related
Mode
HM
Value Range
–2 to +35
Default
0
11
Reverse homing:
Home: Z signal
Deceleration point: home switch (HW)
The falling edge on the same side of the HW signal must be reached before reaching the Z signal.
12
Reverse homing:
Home: Z signal
Deceleration point: home switch (HW)
The rising edge on the same side of the HW signal must be reached before reaching the Z signal.
13
Reverse homing:
Home: Z signal on the other side of the home switch
Deceleration point: home switch (HW)
The rising edge on the other side of the HW signal must be reached before reaching the Z signal.
14
Homing in the reverse direction:
Home: Z signal on the other side of the home switch
Deceleration point: home switch (HW)
The falling edge of the HW signal on the other side must be reached before reaching the Z signal.
15 to 16 N/A
17 to 32
Similar to 1 to 14. However, the deceleration point overlaps with the home.
33
Reverse homing. The home is the Z signal.
34
Forward homing. The home is the Z signal.
35
The present position is used as the home.
Index
6099h
Name
Homing speeds
Setting
Condition
& Effective
Time
-
Data
Structure
ARR
Data Type
Uint32
Access
-
Mapping Yes
Related
Mode
HM Value Range OD data range Default
OD default
value
Defines the two speed values used in the homing mode.
◆
Speed during search for switch
◆
Speed during search for zero
Sub-
index
0h
Name
Number of homing speed sub-
indexes
Setting
Condition
& Effective
Time
-
Data
Structure
-
Data
Type
Uint8
Access
RO
Mapping
NO
Related
Mode
-
Value
Range
2
Default
2
