User manual of EL8-EC***F AC Servo
205
Z-Signal
HOMING SWITCH
B:
HOMING SWITCH=ON
POT=OFF
Positive limit
POT
A:
HOMING SWITCH=OFF
POT=OFF
C:
HOMING SWITCH=OFF
POT=OFF
High Velocity
6099h-01h
Low Velocity
6099h-02h
Start
Stop
8
8
8
Mode 9
Diagram A:
Homing switch & positive limit switch = OFF
1. Move in
positive direction
at
high velocity
until
after
homing switch.
2. Move in
negative direction
at
low velocity
and stops after
homing switch valid
and
first encoder Z-signal valid.
Diagram B:
Homing switch = ON, positive limit switch = OFF
1. Start to move at
homing switch position
in
positive direction
at
high velocity
until
homing switch invalid.
2. Move in
negative direction
at
low velocity
and stops after
homing switch
valid
and
first encoder Z-signal valid
Diagram C:
Homing switch & positive limit switch = OFF
1. Move in
positive direction
at
high velocity
until
positive limit switch valid
.
2. Move in
negative direction
at
high velocity
until
homing switch valid
.
3. Move in
positive direction
at
high velocity
until
after homing switch
.
4. Move in
negative direction
at
low velocity
and stops after
homing switch valid
and
first encoder Z signal valid
If the negative limit switch signal is valid during the homing process, the status word
(6041h) bit 13 will be valid, indicating homing error and the motor will stop immediately.
