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Appendices
A - 8
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
*1. A Command Warning (Error No. B1.00) will occur if the Homing operation start command is given while the
homing procedure is performed.
Bit 6 is not used. For details on other bits, refer to
Controlword
(6040 hex).
609A
00
Homing accelera-
tion
RW
U32
Command
unit/s
2
1 to 2,147,483,647
1,000,000
607C
00
Home offset
RW
INT32
Command unit
-2,147,483,648 to
2,147,483,647
0
60FC
00
Position demand
internal value
RO
INT32
Encoder unit
---
---
6062
00
Position demand
value
RO
INT32
Command unit
---
---
Controlword (6040 hex) in Homing Mode
Bit
Name
Value
Description
4
Homing operation start
0
Do not start homing procedure.
1
Start or continue homing procedure.
*1
8
Halt
0
Enable bit 4.
1
Stop axis according to the
Halt option code
(605D hex).
Statusword (6041 hex) in Homing Mode
Bit
Name
Description
10
Target reached
The status of the homing operation is indicated by the combination
of these bits.
The status based on the combination of the bits are shown in the
following table.
12
Homing attained
13
Homing error
Bit 13
Bit 12
Bit 10
Description
0
0
0
Homing procedure is in progress.
0
0
1
Homing procedure is interrupted or not started.
0
1
0
Homing is attained, but target is not reached.
0
1
1
Homing procedure is completed successfully.
1
0
0
Homing error occurred, velocity is not 0.
1
0
1
Homing error occurred, velocity is 0.
1
1
0
Reserved
1
1
1
Reserved
Index
(hex)
Subindex
(hex)
Name
Access
Size
Unit
Setting range
Default
setting
Содержание R88D-1SN ECT Series
Страница 544: ...7 Applied Functions 7 52 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 560: ...8 Safety Function 8 16 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 700: ...10 Operation 10 10 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 969: ...AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 I 1 I Index...
Страница 972: ...I 4 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 Appendices...
Страница 973: ......