![background image](http://html1.mh-extra.com/html/omron/r88d-kn-series/r88d-kn-series_user-manual_742799417.webp)
A-17
Appendicies
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
A-1
CiA402 D
ri
ve Pr
ofile
App
A-1
-6 Homing Mode
Specifications
Bit 6 is not used.
For details on other bits, refer to
Controlword
(6040 hex).
Controlword (6040 hex) in Homing Mode
Bit
Name
Code
Description
4
Homing operation start
0
Do not start homing procedure.
1
Start or continue homing procedure.
8
Halt
0
Enable bit 4
1
Stop axis according to halt option code (605D hex)
Statusword (6041 hex) in Homing Mode
Bit
Name
Description
10
Target reached
The status of the homing operation is indicated by the combination of
these bits.
The status based on the combination of the bits are shown in the
following table.
12
Homing attained
13
Homing error
Bit 13
Bit 12
Bit 10
Description
0
0
0
Homing procedure is in progress.
0
0
1
Homing procedure is interrupted or not started.
0
1
0
Homing is attained, but target is not reached.
0
1
1
Homing procedure is completed successfully.
1
0
0
Homing error occurred, velocity is not
“
0.
”
1
0
1
Homing error occurred, velocity is
“
0.
”
1
1
0
Reserved
1
1
1
Reserved