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Basic homing profile
Described here is the homing profile of the most basic motion, in which homing is started, the reference signal
for homing (deceleration starting signal) is detected and deceleration to the creep speed for homing occurs,
and the reference signal for shift operation is detected and movement by the home position shift unit amount is
caused until the motion is stopped.
Use the profile if the machine stopping position is less than the reference signal for homing (deceleration
starting signal) or reference signal for shift operation.
Because nOT nor -OT is installed for homing of a rotating body as an indicator of the traveling limit, this
homing profile is used in principle.
[Parameter setting example]
Parameters
Name
Setting range
Default
value
*P1.01
Control mode selection
6: Extension mode
0
P2.06
Homing speed
500.00 [r/min]
500.00
P2.07
Homing creeping speed
50.00 [r/min]
50.00
*P2.08
Starting direction for homing
0: Forward rotation
0
P2.09
Reverse traveling unit amount for homing
0 [Units]
0
*P2.10
Homing direction
0: Forward rotation direction
0
*P2.11
Reference signal for shift operation
1: Encoder Z-phase
1
*P2.12
Reference signal for homing
0: Home position LS
0
*P2.13
Home position LS signal edge
selection
0:ON Rising edge
0
P2.14
Home position shift unit amount
1000 [Units]
1000
*P2.15
Deceleration operation for creep speed
0: Reverse rotation is disabled
0
P2.16
Home position after homing completion
0 [Units]
0
P2.17
Home position detection range
0: Always ON after homing
completion
0
P2.18
Deceleration time at OT during homing
100.0 [ms]
100.0
*P2.24
Selection of operation at OT during homing
0: Reverse rotation
0
• To cancel homing upon detection of +OT or -OT, specify 1 (stop) to parameter P2.24 (selection of operation at
OT during homing).
The motion proceeds in the following procedure:
(1) The motion starts upon homing [ORG] (OFF → ON) in the starting direction for homing (P2.08) at homing
speed (P2.06).
(2) When the home position LS (P2.12, P2.13) is detected, the motion changes in the homing direction after
reference signal detection (P2.10) at the creep speed for homing (P2.07).
(3) After the home position LS (P2.12) is detected during travel in the homing direction after reference signal
detection and the first encoder Z-phase (P2.11) is detected, a travel occurs by the home position shift unit
amount (P2.14), followed by stoppage. The stopping point changes to the home position and homing
completion is turned on and the homing process is finished.
