User manual of EL8-EC***F AC Servo
209
Z-Signal
HOMING SWITCH
B
：
HOME-
SWITCH=ON
，
NOT=OFF
Negative limit
NOT
A
：
HOME-
SWITCH=OFF
，
NOT=OFF
C
：
HOME-
SWITCH=OFF
, NOT=OFF
High velocity
6099h-01h
Low velocity
6099h-02h
Start
Stop
12
12
12
Mode 13
Diagram A:
Homing switch & negative limit switch = OFF
1. Move in
negative direction
at
high velocity
until
after
homing switch
.
2. Move in
positive direction
at
low velocity
and stops after
homing switch valid
and
first encoder Z-signal valid
.
Diagram B:
Homing switch = ON, negative limit switch = OFF
1. Start to move at
homing switch position
in
negative direction
at
high velocity
until
after
homing switch.
2. Move in positive
direction
at
low velocity
and stops after
homing switch valid
and
first encoder Z-signal valid.
Diagram C:
Homing switch & negative limit switch = OFF
1. Move in
negative direction
at
high velocity
until
negative limit switch valid
.
2. Move in
positive direction
at
high velocity
until
homing switch valid
.
3. Move in
negative direction
at
high velocity
until
after
homing switch
.
4. Move in
positive direction
at
low velocity
and stops after
homing switch valid
and
first encoder Z-signal valid.
If the positive 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.
