Drive profile
68
3 E
therC
z
Status output of motor
The status of the motor is output based on a combination of values in the Homing error (Bit 13), Homing attained (Bit
12), and Target reached (Bit 10).
Homing error
(Bit 13)
Homing attained
(Bit 12)
Target reached
(Bit 10)
Signal state
0
0
0
During operation of return-to-home operation
0
0
1
Return-to-home operation is interrupted, or it is not started.
0
1
0
− (Not generated)
0
1
1
Return-to-home operation was properly completed.
1
0
0
− (Not generated)
1
0
1
Interrupted since an alarm was generated during return-to-
home operation.
1
1
0
Reserved
1
1
1
Reserved
Selection of Homing (return-to-home) method
The return-to-home method is selected with the Homing method (6098h). The driver supports the following methods
to return to the home.
Homing method
Description
17
Return-to-home by the limit sensor (FW-LS/RV-LS). Starts in the negative direction.
18
Return-to-home by the limit sensor (FW-LS/RV-LS). Starts in the positive direction.
24
Return-to-home by the home sensor (HOMES). Starts in the positive direction.
28
Return-to-home by the home sensor (HOMES). Starts in the negative direction.
35, 37 *
Home preset
−1
Return-to-home of Oriental Motor’s specifications
* 35 and 37 perform the same action.
z
Related objects
Index
Sub
Name
Type
Access
PDO
Save
Range
Update
607Ch
00h
Home offset [step]
INT32
RW
No
−2,147,483,648 to
2,147,483,647 (Initial
value: 0)
A
6098h
00h
Homing method
INT8
RW
No
17, 18, 24 (Initial value),
28, 35, 37, −1
(
_
Homing (return-to-
home) method”)
B
6099h
01h
Speed during search for
switch [Hz]
U32
RW
No
1 to 4,000,000 (Initial
value: 10,000)
B
02h
Speed during search for
zero [Hz]
U32
RW
No
1 to 10,000 (Initial value:
5,000)
B
609Ah
00h
Homing acceleration
[step/s
2
]
U32
RW
No
1 to 1,000,000,000
(Initial value: 300,000)
B
415Fh
00h
JOG/HOME/ZHOME
operating current [1=0.1 %]
INT16
RW
No
0 to 1,000 (Initial value:
1,000)
B
4163h
00h
(HOME) Starting speed [Hz]
INT32
RW
No
1 to 4,000,000 (Initial
value: 5,000)
B
4169h
00h
(HOME) Backward steps in 2
sensor home-seeking [step]
INT32
RW
No
0 to 8,388,607 (Initial
value: 5,000)
B
41C6h
00h
Preset position [step]
INT32
RW
No
−2,147,483,648 to
2,147,483,647 (Initial
value: 0)
A
Summary of Contents for aSTEP AZ mini Driver
Page 14: ...14 1 Introduction...
Page 128: ...128 3 EtherCAT communication...
Page 146: ...146 4 Object list...
Page 164: ...164 5 Troubleshooting...
Page 170: ...170 6 Reference materials...
Page 171: ...171 6 Reference materials...