User Manual Of EL7-EC** AC Servo
186
2. Move in negative direction at high velocity until after homing switch.
3. Move in positive direction at low velocity and stops after homing switch valid and first
encoder Z-signal valid.
If the 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.
Z-Signal
HOMING SWITCH
B:
HOMING SWITCH=ON
POT=OFF
Positive limit
POT
A:
HOMING SWITCH=OFF
POT=OFF
C:
HOMING SWITCH=OFF
POT=OFF
High Velocity
6099h-01h
Low Velocity
6099h-02h
Start
Stop
8
8
8
Mode 9
Diagram A:
Homing switch & positive limit switch = OFF
1. Move in positive direction at high velocity until after homing switch.
2. Move in negative direction at low velocity and stops after homing switch valid and first
encoder Z-signal valid.
Diagram B:
Homing switch = ON, positive limit switch = OFF
1. Start to move at homing switch position in positive direction at high velocity until
homing switch invalid.
2. Move in negative direction at low velocity and stops after homing switch valid and first
encoder Z-signal valid
Diagram C:
Homing switch & positive limit switch = OFF
1. Move in positive direction at high velocity until positive limit switch valid.
2. Move in negative direction at high velocity until homing switch valid.
3. Move in positive direction at high velocity until after homing switch.
4. Move in negative direction at low velocity and stops after homing switch valid and first
