User manual of EL8-EC***F AC Servo
196
6091-01h
Electronic gear ratio
numerator
U32
RW
—
6091-02h
Electronic gear ratio
denominator
U32
RW
—
6092-01h
Number of pulses per rotation
U32
RW
—
6092-02h
Number of physical axis turns
U32
RO
—
Control and status words under HM mode
Control word bit 4 definition under HM mode
Bit
Value
Definition
4(Homing motion
starts/stops)
0
—
>
1
Homing motion starts
1
—
>
0
Homing motion stops, motor stops
Status word bits 12-15, 10, 8 definition under PP mode
Bit
Value
Definition
8(Abnormal
Stoppage)
0
Normal motion
1
Abnormal stoppage triggered, motor stops *1)
10(Arrived at
position)
0
Motion not completed
1
Target position reached
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
