6 SERVO MOTOR DRIVING
6.1 Homing mode (hm)
91
6
Method -4 and -36 (stopper type home position return)
• Since the workpiece collides with the mechanical stopper, the home position return speed must be low
enough.
The following figure shows the operation of Homing method -4. The operation direction of Homing method -36 is opposite to
that of Homing method -4.
*1 When Method -4 is set, the torque limit value of 60E0h (Positive torque limit value) is applied. When Method -36 is set, the torque limit
value of 60E1h (Negative torque limit value) is applied.
*2 If the torque limit value is reached, TLC remains on after the home position return is completed.
• When the stroke end is detected
Statusword bit 12
Homing attained
Controlword bit 4
Homing operation start
Statusword bit 10
Target reached
[Pr. PT11]
*2
0 r/min
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Acceleration time constant
Home position return speed
Home position return
position data
Forward
rotation
Servo motor speed
10 ms or shorter
Reverse
rotation
Stopper
5 ms or longer
[Pr. PT10 Stopper type home position return stopper time]
TLC (Limiting torque)
Torque limit value
*1
Torque limit value
*1
Torque limit value
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]
