6 SERVO MOTOR DRIVING
6.1 Homing mode (hm)
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Method -2 and -34 (Count type home position return)
• For the count type home position return, after the front end of the proximity dog is detected, the position is
shifted by the distance set in the travel distance after proximity dog. Then, the first Z-phase is set as the
home position. Therefore, when the on-time of the proximity dog is 10 ms or more, the length of the
proximity dog has no restrictions. Use this home position return type when the dog type home position
return cannot be used because the length of the proximity dog cannot be reserved or other cases.
The following figure shows the operation of Homing method -2. The operation direction of Homing method -34 is opposite to
that of Homing method -2.
*1 After the front end of the proximity dog is detected, if the distance after proximity dog is traveled without reaching the creep speed, [AL.
90] occurs. Set the travel distance after proximity dog enough for the servo motor to decelerate from the home position return speed to
the 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 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
0 r/min
Controlword bit 4
Homing operation start
*1
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Home position shift
distance
*2
Deceleration time constant
Acceleration time
constant
Home position return speed
Creep speed
Forward
rotation
Servo motor speed
10 ms or shorter
Reverse
rotation
Home position return position data
Travel distance after
proximity dog
*3
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.
