6 SERVO MOTOR DRIVING
6.1 Homing mode (hm)
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Method 19 and Method 21 (Homing without index pulse)
The following figure shows the operation of Homing method 19. The operation direction of Homing method 21 is opposite to
that of Homing method 19.
*1 After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without reaching the creep speed, [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].
*3 The travel distance after proximity dog can be changed with [Pr. PT09] and [Pr. PT71].
• When a home position return is started from the proximity dog
• When the stroke end is detected
Statusword bit 10
Target reached
Statusword bit 12
Homing attained
0 r/min
Controlword bit 4
Homing operation start
*1
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Deceleration time constant
Home position return speed
Travel distance after proximity dog
*3
+
Home position shift distance
*2
Acceleration time
constant
Home position return position data
Forward
rotation
Servo motor speed
10 ms or shorter
Reverse
rotation
Creep speed
Proximity dog
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
Forward
rotation
Servo motor speed
Home position return start position
Stops due to the occurrence of [AL. 90]
