User Manual Of EL7-EC** AC Servo
200
Mode 34
:
The motor starts to move in positive direction and stops when the Z-signal is valid.
If the positive/negative limit switch signal or homing switch is valid during the homing
process, the status word (6041h) bit 13 will be valid, indicating homing error and the
motor will stop immediately.
Z-Signal
High Velocity
6099h-01h
Low Velocity
6099h-02h
Start
Stop
34
Negative limit
NOT
Positive limit
POT
Mode 35/37
:
Set the current position as homing point. Using this mode, motor doesn’t have to be
enabled. Set control word 6040h bit 4 from 0 to 1.
Position
Control Word 6040h bit4
:
0
→
1
High Velocity
6099h-01h
Low Velocity
6099h-02h
Start
Stop
35
37
Application: Realization of homing motion
Step 1: 6060h = 6, determine if 6061h = 6. Servo driver is now under HM mode.
Step 2: Write motion parameters: Homing method 6098h, Homing velocity
6099h-01/6099h-02 and acceleration/deceleration 609Ah.
Step 3: Enable servo driver and switch bit 4 from 0 to 1 to start homing motion.
5.6 Velocity Control Mode
(
CSV
、
PV
)
5.6.1 Common Functions of Velocity Control
Index
Sub
Index
Name
Access
PDO
Mode
CSV
PV
6040
0
Control word
RW
RxPDO
Yes
Yes
6072
0
Max torque
RW
RxPDO
Yes
Yes
6080
0
Maximum motor velocity
RW
RxPDO
Yes
Yes
60B1
0
Velocity feedforward (Restricted
by 6080)
RW
RxPDO
Yes
Yes