User Manual Of EL7-EC** AC Servo
182
Homing switch Z-signal mode
Mode 3:
Diagram A:
Homing switch = OFF
1. Move in positive direction at high velocity until homing switch valid.
2. Move in negative direction at low velocity and stops after homing switch and first
encoder Z-signal valid
Diagram B:
Homing switch = ON
1. Start to move at homing switch position in negative direction at high velocity until after
homing switch.
2. Move in positive direction at high velocity until homing switch valid.
3. Move in negative direction at low velocity and stops after homing switch and first
encoder Z-signal valid
If the positive/negative limit switch 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.
3
3
Z-signal
Negative limit
NOT
A:
HOMING SWITCH=OFF
B:
HOMING SWITCH=ON
Start
Stop
High velocity
6099h-01h
Low velocity
6099h-02h
Positive limit
POT
HOMING SWITCH
Mode 4:
Diagram A:
Homing switch = OFF
1. Move in positive direction at high velocity until homing switch valid.
2. Move in negative direction at high velocity until homing switch invalid.
3. Move in positive direction at low velocity and stops after homing switch valid and first
encoder Z-signal valid
Diagram B:
Homing switch = ON
1. Start to move at homing switch position in negative direction at high velocity until after
homing switch.
2. Move in positive direction at low velocity and stops after homing switch valid and first
encoder Z-signal valid
If the positive/negative limit switch signal is valid during the homing process, the status
