6 SERVO MOTOR DRIVING
6.1 Homing mode (hm)
77
6
■
Method 7 and Method 11 (Homing on home switch and index pulse)
The following figure shows the operation of Homing method 7. The operation direction of Homing method 11 is opposite to
that of Homing method 7.
*1 After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without stop, [AL. 90] occurs. Revise
the length of the proximity dog or revise both the home position return speed and creep speed.
*2 The home position shift distance can be changed with [Pr. PT07] and [Pr. PT69].
• When a home position return is started from the proximity dog
• When the movement is returned at the stroke end
*1 This is not available with the software limit.
Statusword bit 10
Target reached
Statusword bit 12
Homing attained
Controlword bit 4
Homing operation start
0 r/min
*1
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Home position return speed
Acceleration time
constant
Deceleration time
constant
Home position return position data
Forward
rotation
Servo motor speed
10 ms or shorter
Reverse
rotation
Creep speed
Home position shift distance
*2
Proximity dog
Z-phase
DOG (Proximity dog)
0 r/min
Home position return direction
Proximity dog
Servo motor speed
Reverse
rotation
Home position return start position
Moves back automatically before the proximity dog,
then performs home position return from this position.
0 r/min
Home position return direction
Stroke end
*1
Proximity dog
Home position return start position
Forward
rotation
Servo motor speed
Reverse
rotation
Performs home position return from this position.