User Manual Of EL7-EC** AC Servo
181
3. Move in positive direction at low velocity and stops after negative limit switch and first
encoder Z-signal valid
If the positive limit signal is valid during the homing process, the status word (6041h) bit
13 will be valid, indicating homing error and the motor will stop immediately.
1
1
Z-signal
Negative limit
NOT
A:
NOT = OFF
B:
NOT = ON
Start
Stop
High velocity
6099h-01h
Low velocity
6099h-02h
Mode 2:
Diagram A:
Positive limit switch = OFF
1. Move in positive direction at high velocity until positive limit switch valid.
2. Move in negative direction at low velocity and stops after positive limit switch and first
encoder Z-signal valid
Diagram B:
Positive limit switch = ON
1. Start to move at positive limit switch position in negative direction at high velocity until
positive limit switch invalid.
2. Move in positive direction at high velocity until positive limit switch valid.
3. Move in negative direction at low velocity and stops after positive limit switch and first
encoder Z-signal valid
If the negative limit signal is valid during the homing process, the status word (6041h) bit
13 will be valid, indicating homing error and the motor will stop immediately.
2
2
Z-signal
Positive limit
POT
A:
POT = OFF
B:
POT = ON
Start
Stop
High velocity
6099h-01h
Low velocity
6099h-02h
