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6 SERVO MOTOR DRIVING
6.1 Homing mode (hm)
Controlword (6040h)
The current control command status can be checked.
In addition, control commands can be written.
The following table lists the bits of this object that relate to the home position return operation.
To start a home position return operation, turn bit 4 from "0" to "1". When the home position return operation is completed or
an alarm is issued during the return operation, turn bit 4 from "1" to "0".
When bit 8 (Halt) of Controlword (6040h) is set to "1", the servo motor decelerates to a stop. After that, when bit 8 (Halt) is set
to "0" and bit 4 is turned to "0" and then to "1", the home position return operation is performed again.
Homing method (6098h)
The current home position return method can be read.
In addition, a home position return method can be set. To enable the written home position return method after turning the
power back on, execute Store Parameters (1010h). After the execution of Store Parameters, the setting value of [Pr. PT45] is
changed.
Index
Sub Index
Access
Name
Data Type
Default
6040h
0
rw
Controlword
U16
Bit
Description
0 to 3
4
Homing Operation Start
0: Do not start homing procedure
1: Start or continue homing procedure
5 to 6
Reserved
The value at reading is undefined. Set "0" when writing.
7
8
Halt
0: Bit 4 enable
1: Stop axis according to halt option code (605Dh)
9
Reserved
The value at reading is undefined. Set "0" when writing.
10 to 14
15
Reserved
The value at reading is undefined. Set "0" when writing.
Index
Sub Index
Access
Name
Data Type
Default
6098h
0
rw
Homing method
I8
37
