6 SERVO MOTOR DRIVING
6.1 Homing mode (hm)
75
6
Operation example of the CiA 402-type Homing method
The following shows an operation example of the home position return in the CiA 402-type Homing method.
■
Method 3 (Homing on positive home switch and index pulse) and Method 5 (Homing on
negative home switch and index pulse)
The following figure shows the operation of Homing method 3. The operation direction of Homing method 5 is opposite to that
of Homing method 3.
*1 After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without stop, [AL. 90] occurs. Revise
the length of the proximity dog or revise both the home position return speed and creep speed.
*2 The home position shift distance can be changed with [Pr. PT07] and [Pr. PT69].
• When a home position return is started from the proximity dog
• When the stroke end is detected
Statusword bit 10
Target reached
Statusword bit 12
Homing attained
Controlword bit 4
Homing operation start
0 r/min
*1
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Home position return speed
Acceleration time
constant
Deceleration time
constant
Home position return position data
Forward
rotation
Servo motor speed
10 ms or shorter
Reverse
rotation
Creep speed
Home position shift distance
*2
Proximity dog
Z-phase
DOG (Proximity dog)
0 r/min
Home position return direction
Proximity dog
Servo motor speed
Reverse
rotation
Home position return start position
Moves back automatically before the proximity dog,
then performs home position return from this position.
0 r/min
Home position return direction
Stroke end
Forward
rotation
Servo motor speed
Home position return start position
Stops due to the occurrence of [AL. 90]
