Omron Sysmac NY-series Instruction & Reference Manual page 110

3 Axis Command Instructions
Home proximity input signal
Limit in direction opposite
to detection direction
Limit in detection direction
MC_Home instruction
Homing approach velocity
• An error occurs and the axis stops if the axis is set to Reverse turn for the limit input operation in
both directions and home cannot be detected after moving from the limit input opposite to the home
input detection direction to the other limit input.
Home proximity input signal
Limit in direction opposite
to detection direction
Limit in detection direction
MC_Home instruction
Homing approach velocity
Homing Start Direction
Select the direction in which the axis starts moving when homing is started.
If homing starts while the home proximity signal is ON in a Homing Operation Mode that includes re-
versal operation, the axis starts motion in the direction opposite to the home input detection direction
(regardless of the setting of the homing start direction).
There are four Homing Operation Modes that include reversal operation for a reverse turn. These are
listed below.
• 0: Proximity Reverse Turn/Home Proximity Input OFF
• 1: Proximity Reverse Turn/Home Proximity Input ON
• 9: Proximity Reverse Turn/Home Input Mask Distance
• 12: Proximity Reverse Turn/Holding Time
Homing start direction: Positive
Home input detection direction: Positive
Home proximity input signal
Operation command
Negative direction
(1), (3) : The home proximity signal is OFF, so the axis starts moving in the homing start direction.
3-22
ON
OFF
ON
OFF
ON
OFF
Homing velocity
Start
ON
OFF
ON
OFF
ON
OFF
Homing velocity
ON
OFF
(1)
Start
Stops.
Stops.
Start
(3)
Start
Positive direction
Start
(2)
NY-series Motion Control Instructions Reference Manual (W561)