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8.3 Servo-on and Homing
The procedure for performing servo-on to homing positioning is shown below.
Note that the servo-on to home positioning conforms to the CiA402 drive profile, so the procedure
shown here is the same for each network.
This section shows the case of push-on homing. For push-on homing, please refer to "LECSN-T
Operation Manual Appendix 9" for the recommended parameter values for each actuator.
(1)
Set Bit 0 to 3 of Controlword (6040h) to "1" to set the FSA state to Enable operation (servo-on).
(2)
When the FSA state changes to Enable operation (servo-on), Operation-enabled (Bit 2) of
Statusword (6041h) rises to "1".
(3)
Set the value of Modes of operation (6060h) to "6" (homing mode).
(4)
Starts homing by setting Homing operation start (Bit 4) of Controlword (6040h) to "1".
(5)
When homing is completed, both Target reached (Bit 10) and Homing attained (Bit 12) of
Statusword (6041h) transition to "1".
Modes of Operation (6060h)
0
6
Servo motor rotation speed
0 r/min
Status Word (6041h)
Operation-enabled
(Bit 2)
Target reached
(Bit 10)
Homing attained
(Bit 12)
Control Word (6040h)
Switch On
(Bit 0)
Enable Voltage
(Bit 1)
Quick Stop
(Bit 2)
Enable Operation
(Bit 3)
Homing operation start (Bit 4)
Timing chart
