Table 24. Homing Methods; Table 25. Homing Related Objects - Parker P Series User Manual

During forward operation, the motor is returned to origin by positive limit switch (POT)
2
and index (Z) pulse.
During forward operation, the motor is returned to origin by homing switch (POT) and
7,8,9,10 index (Z) pulse. While returning to origin, when positive limit switch (POT) is input, the
direction changes.
During reverse operation, the motor is returned to origin by homing switch (POT) and
11,12,13,
index (Z) pulse. While returning to origin, when negative limit switch (NOT) is input, the
14
direction changes.
During forward operation, the motor is returned to origin by homing switch (POT). While
24
returning to origin, when positive limit switch (POT) is input, the direction changes.
During reverse operation, the motor is returned to origin by homing switch (POT). While
28
returning to origin, when negative limit switch (NOT) is input, the direction changes.
33 During reverse operation, the motor is returned to origin by index (Z) pulse.
34 During forward operation, the motor is returned to origin by index (Z) pulse.
35 The current position is set as origin.
During reverse operation, the motor is returned to the origin by reverse stopper and
-1
index (Z) pulse.
During forward operation, the motor is returned to the origin by forward stopper and
-2
index (Z) pulse.
-3 During reverse operation, the motor is returned to the origin by reverse stopper
-4 During forward operation, the motor is returned to origin by forward stopper

Table 24. Homing Methods

 Related Objects
Sub
Index Name
Index
0x6040 - Control word
0x6041 - Status word
0x607C - Home Offset
0x6098 - Homing Method
- Homing speed
0 Number of entries
0x6099
Speed during search for
1
switch
2 Speed during search for zero
0x609A - Homing Acceleration

Table 25. Homing Related Objects

Parker Hannifin
Variable
Format
UINT
UINT
DINT
SINT
-
USINT
UDINT
UDINT
UDINT
P series EtherCAT Drive User Guide
PDO
Accessibility
Allocation
RW Yes
RO Yes
RW No
RW Yes
- -
RO No
RW Yes
RW Yes
RW Yes
Unit
-
-
UU
-
-
-
UU/s
UU/s
2
UU/s
93