6 SERVO MOTOR DRIVING
6.1 Homing mode (hm)
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Method 33 and Method 34 (Homing on index pulse)
The following figure shows the operation of Homing method 34. The operation direction of Homing method 33 is opposite to
that of Homing method 34.
When homing is performed from near the Z-phase, the home position return completion position varies. The
recommended start position for homing can be found by rotating the servo motor about a half-turn away from
the home position return direction.
*1 The home position shift distance can be changed with [Pr. PT07] and [Pr. PT69].
• When the stroke end is detected
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Method 35 and Method 37 (Homing on current position)
The following figure shows the operation of Homing method 35 and Homing method 37. These methods can be performed in
the servo-off status.
Statusword bit 10
Target reached
Statusword bit 12
Homing attained
0 r/min
Controlword bit 4
Homing operation start
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Acceleration time constant
Deceleration time constant
Creep speed
Forward
rotation
Servo motor speed
10 ms or shorter
Reverse
rotation
Creep speed
Home position return
position data
Home position shift distance
*1
Z-phase
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]
Statusword bit 12
Homing attained
Controlword bit 4
Homing operation start
0 r/min
ON
OFF
ON
OFF
Home position return position data
Forward
rotation
Servo motor speed
Reverse
rotation
