A-1-5 Homing Mode Specifications - Omron R88D-1SN10F-ECT User Manual

A-1-5 Homing Mode Specifications
This section describes the specifications of the Homing mode of the 1S-series Servo Drives with built-in
EtherCAT communications.
Homing Mode Configuration
The configuration of the Homing mode is as follows:
Controlword (6040 hex)
Homing method (6098 hex)
Homing speeds (6099 hex)
Homing acceleration (609A hex)
Home offset (607C hex)
Supported Homing Methods
The following homing methods are supported by 1S-series Servo Drives with built-in EtherCAT commu-
nications:
Homing
method
0
8
12
19
20
33
34
37
You can check the homing method supported by the Servo Drive in Supported homing methods
(60E3 hex).
Related Objects
Index Subindex
(hex) (hex)
6040 00
6060 00
6098 00
6099 01
02
6041 00
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Homing
Description
Not specified
Homing by Home Proximity Input and home signal (positive
operation start)
Homing by Home Proximity Input and home signal (negative
operation start)
Homing without home signal (positive operation start)
Homing without home signal (negative operation start)
Homing with home signal (negative operation start)
Homing with home signal (positive operation start)
Present home preset
Name Access
Controlword
Modes of opera-
tion
Homing method RW
Speed during RW
search for switch
Speed during RW
search for zero
Statusword RO
Statusword (6041 hex)
Position demand value (6062 hex) or
Position demand internal value (60FC hex)
Size Unit
W U16 ---
W INT8 ---
INT8 ---
U32 Command
unit/s
U32 Command
unit/s
U16 ---
Appendices
Refer-
ence
–
P. A-9
P. A-9
P. A-10
P. A-10
P. A-11
P. A-11
P. A-11
Default
Setting range
setting
0 to FFFF hex 0000 hex
0 to 10 0
1 to 37 0
0 to 2,147,483,647 5,000
1 to 2,147,483,647 5,000
--- ---
A - 7
A