ZLTECH ZLIS42C, Manual

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ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10
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5.3.6 Homing Mode
Working Process Description
In homing mode, the origin signal needs to be connected to the input terminal of driver,
and the search and position fix of the mechanical home position is completed inside the
driver.
At the same time, the value of the working mode object 6060h needs to be set to 6.
When the register of the working mode status object 6061h is read as 6, the related
operation of the HM working mode can be performed. The objects involved in this
mode are as follows:
※
Related Object Dictionary Content
Index Sub-
Index
Name Typ
e
Attribu
te
Parameter Range Set
6060h 00 Modes_of_operat
ion
I8 RW 0,1,3,6 6
6098h 00 Homing_method U8 RW
17: Negative limit mode;
18: Positive limit mode;
24: Forward origin mode;
29: Reverse origin mode;
0
6099h 01 Homing_speeds_
Speed_during_se
arch_for_switch
U32 RW 0-3000 r/min 120
r/min
02 Homing_speeds_
Speed_during_se
arch_for_zero
U32 RW 0-3000 r/min 60
r/min
609Ah 00 Homing_accelerat
ion
U32 RW 0-2000ms 100ms
607Ch 00
Home_offset
I32 RW
-0x7FFFFFFF
～
0x7FFFFFFF
0
Currently the driver supports 6 homing modes:
1) 6098h = 01: Look for the positive limit signal in the positive direction. After
encountering the positive limit signal, decelerate to stop and retreat for a certain
distance, then look for the origin at a slow speed in reverse direction. After finding it,
stop and the homing operation is completed.
2) 6098h = 02: Look for the negative limit signal in the reverse direction. After
encountering the negative limit signal, decelerate to stop and retreat for a certain
distance, then look for the origin at a slow speed in reverse direction. After finding
it, stop and the homing operation is completed.
3) 6098h = 17: Look for positive limit signal in the positive direction. After
encountering the positive limit signal, decelerate to stop and retreat for a certain
distance, then search for the positive limit signal in the reverse direction at a slow
speed. Stop after finding it and the homing operation is completed. If the motor
runs in the reverse direction, the negative limit is valid, the machine stops
immediately, and the homing fails.