6 SERVO MOTOR DRIVING
6.1 Homing mode (hm)
97
6
Method -11 and -43 (dogless Z-phase reference home position return)
The following figure shows the operation of Homing method -11. The operation direction of Homing method -43 is opposite to
that of Homing method -11.
When homing is performed from near the Z-phase, the home position return completion position varies. The
recommended start position for homing can be found by rotating the servo motor about a half-turn away from
the home position return direction.
*1 The home position shift distance can be changed with [Pr. PT07] and [Pr. PT69].
• When the stroke end is detected
Statusword bit 10
Target reached
Statusword bit 12
Homing attained
0 r/min
Controlword bit 4
Homing operation start
ON
OFF
OFF
ON
OFF
ON
ON
OFF
Deceleration time constant
Home position return speed
Acceleration time constant
Home position return position data
Forward
rotation
Servo motor speed
10 ms or shorter
Reverse
rotation
Creep speed
Home position shift distance
*1
Z-phase
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]
