User Manual for ELD2 Servo
www.leadshine.com
68
Parameter
Name
Specification
Pr8.00
Pr control setting
PR 's global control function
Bit0
：
CTRG Rising edge trigger / Double edge
trigger
，
0/1
Bit1
：
software limit is valid
，
0 invalid/1 valid
Bit2
：
homing after power on
，
0 invalid/1 valid
Pr8.10
Homing Method
Homing Method,
Bit0
：
homing direction, 0 reverse/1 forward
Bit1
：
Whether go to the set point after homing, 0 No /1 Yes
Bit2-7
：
Homing mode
=0
：
homing with limit switch detect
=1
：
homing with homing switch detect
=2
：
homing with single turn Z signal detect
=3
：
homing with torque detect
=8
：
set current position as homing point
Bit8
：
=0
：
homing process without Z signal detect
=1
：
homing process with Z signal detect
Pr8.11-Pr8.12
Zero point position
Zero point position on the coordinate axes
Pr8.11 for high 16bit
，
Pr8.12 for low 16bit.
Pr8.13-Pr8.14
Homing jump position
Motor move to the specified location and stop after homing. If
homing mode bit1 enable, then move to the absolute position after
homing.
P813 for high 16bit
，
P814 for low 16bit.
Pr8.15
Homing high speed
First speed of homing, unit: rpm.
Pr8.16
Homing low speed
Second speed of homing, unit: rpm.
Pr8.17
Homing acceleration time
Homing acceleration, unit: ms/1000rpm
Pr8.18
Homing deceleration time
Homing deceleration, unit: ms/1000rpm
Homing
Speed
HOME
CMD_OK
Start Homing
Homing finished
Remark
：
Homing also be done by positioning function, only need to set the path to be homing mode.
