Omron R88M-1M Series User Manual page 794

Appendices
Index Subindex
(hex) (hex)
609A 00
607C 00
60FC 00
6062 00
Controlword (6040 hex) in Homing Mode
Bit
4 Homing operation start
8 Halt
*1. A Command Warning (Error No. B1.00) will occur if the Homing operation start command is given while the
homing procedure is performed.
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
A - 8
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Name Access
Homing accelera- RW
tion
Home offset RW
Position demand RO
internal value
Position demand RO
value
Name Value
0
1
0
1
Name
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
Size Unit
U32 Command
2
unit/s
INT32 Command unit
INT32 Encoder unit
INT32 Command unit
Do not start homing procedure.
Start or continue homing procedure.
Enable bit 4.
Stop axis according to the Halt option code (605D hex).
Description
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.
Description
Setting range
1 to 2,147,483,647 1,000,000
-2,147,483,648 to
2,147,483,647
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Description
*1
Default
setting
0
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