Omron R88D-KN series User Manual page 417

Controlword (6040 hex) in Homing Mode
Bit
4 Homing operation start
8 Halt
Bit 6 is not used.
For details on other bits, refer to Controlword (6040 hex).
Statusword (6041 hex) in Homing Mode
Bit
10 Target reached
12 Homing attained
13 Homing error
Bit 13 Bit 12
0
0
0
0
1
1
1
1
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Name Code
0
1
0
1
Name
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.
Bit 10
0 0 Homing procedure is in progress.
0 1 Homing procedure is interrupted or not started.
1 0 Homing is attained, but target is not reached.
1 1 Homing procedure is completed successfully.
0 0 Homing error occurred, velocity is not "0."
0 1 Homing error occurred, velocity is "0."
1 0 Reserved
1 1 Reserved
Description
Do not start homing procedure.
Start or continue homing procedure.
Enable bit 4
Stop axis according to halt option code (605D hex)
Description
Description
Appendicies
A-17