User Manual Of EL7-EC** AC Servo
190
Z-Signal
HOMING SWITCH
B
：
HOME-
SWITCH=ON
，
NOT=OFF
Negative limit
NOT
A
：
HOME-
SWITCH=OFF
，
NOT=OFF
C
：
HOME-
SWITCH=OFF
, NOT=OFF
High velocity
6099h-01h
Low velocity
6099h-02h
Start
Stop
12
12
12
Mode 13
Diagram A:
Homing switch & negative limit switch = OFF
1. Move 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.
Diagram B:
Homing switch = ON, negative limit switch = OFF
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.
Diagram C:
Homing switch & negative limit switch = OFF
1. Move in negative direction at high velocity until negative limit switch valid.
2. Move in positive direction at high velocity until homing switch valid.
3. Move in negative direction at high velocity until after homing switch.
4. Move in positive direction at low velocity and stops after homing switch valid and first
encoder Z-signal valid.
If the positive 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.
