User Manual Of EL7-EC** AC Servo
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12(Homing done)
0
Homing not done
1
Homing done, valid after reaching position(bit 10) *2)
14(Motion
Parameter = 0)
0
Motion parameters valid, necessary parameters all not
set to 0.
1
Parameter = 0 under current motion. One of 4
parameters, Homing mode (6098h), high homing
velocity(6099h-01), low homing velocity (6099h-02) and
homing point acc-/deceleration (609Ah) = 0.
15(Trigger)
0
Homing triggered/completed *3)
1
Homing triggers
*1) Bit 8 abnormal stoppage usually valid when hardware limit, deceleration stoppage
and quick stop are triggered.
*2) Determine if homing is done, determine if bit 10/12 is occupied.
*3) Use to indicate if homing is able to trigger or already triggered.
Incorrect position triggering conditions
Triggering condition
Remarks
Absolute encoder homing
Control words 6040h bit 4 from 0 to 1
2 limit switch signals detected
Positive and negative limit switches
detected during homing
Negative limit valid when positive limit in
used
Negative limit valid under 2,7-10,23-26
homing modes
Positive limit valid when negative limit in
used
Positive limit valid under 1,11-14,27-30
homing modes
Limit switch valid when not in used
Limit switch valid under 3,4,19,20 homing
modes
Limit switch/homing signal valid when
only z-signal in used
Limit switch and homing sensor valid under
33,34 homing modes
