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2 CONTROL MODE
2.1 Control mode [G] [WG]
■
Method -7 and -39 (count type front end reference homing)
This homing method depends on the timing of reading DOG (Proximity dog) that has detected the front end of
the proximity dog. Therefore, when the creep speed is set to 100 r/min and homing is performed, the home
position has the following error.
± (Encoder resolution)
100/65536 [pulse]
The error in the home position becomes larger as the homing speed increases.
The following figure shows the operation of Homing method -7. The homing direction of Homing method -39 is opposite to that
of Homing method -7.
• When homing is started from the proximity dog
• When the servo motor returns at the stroke end
*1 This cannot be used with the software limit.
Statusword bit 10
Target reached
ON
OFF
Statusword bit 12
Homing attained
ON
OFF
0 r/min
ON
OFF
ON
OFF
Controlword bit 4
Homing operation start
Travel distance after proximity dog
+
home position shift distance
Acceleration time
constant
Deceleration time
constant
Homing speed
Creep speed
Forward
rotation
Servo motor speed
3 ms or shorter
Reverse
rotation
Homing position data
Proximity dog
DOG (Proximity dog)
0 r/min
Homing direction
Proximity dog
Servo motor speed
Reverse
rotation
Homing start position
The homing start position is automatically moved back to the position
just before the proximity dog, and homing starts from here.
0 r/min
Homing direction
Stroke end
*1
Proximity dog
Homing start position
Forward
rotation
Servo motor speed
Reverse
rotation
Homing starts from here.