Leadshine EL8-EC Series User Manual page 196

6091-01h
6091-02h
6092-01h
6092-02h
Control and status words under HM mode
Control word bit 4 definition under HM mode
Bit
4(Homing motion
starts/stops)
Status word bits 12-15, 10, 8 definition under PP mode
Bit
8(Abnormal
Stoppage)
10(Arrived at
position)
12(Homing done)
14(Motion
Parameter = 0)
15(Trigger)
*1) Bit 8 abnormal stoppage usually valid when hardware limit, deceleration stoppage and
quick stop are triggered.
*2) Determine if homing is done, determine if bit 10/12 is occupied.
*3) Use to indicate if homing is able to trigger or already triggered.
Incorrect position triggering conditions
Triggering condition
Absolute encoder homing
2 limit switch signals detected
Electronic gear ratio
numerator
Electronic gear ratio
denominator
Number of pulses per rotation
Number of physical axis turns
Value
0 >1
—
1 >0
—
Value Definition
0 Normal motion
1 Abnormal stoppage triggered, motor stops *1)
0 Motion not completed
1 Target position reached
0 Homing not done
1 Homing done, valid after reaching position(bit 10) *2)
Motion parameters valid, necessary parameters all not
0
set to 0.
Parameter = 0 under current motion. One of 4
parameters, Homing mode (6098h), high homing
1
velocity(6099h-01), low homing velocity (6099h-02) and
homing point acc-/deceleration (609Ah) = 0.
0 Homing triggered/completed *3)
1 Homing triggers
User manual of EL8-EC***F AC Servo
U32
U32
U32
U32
Definition
Homing motion starts
Homing motion stops, motor stops
Remarks
Control words 6040h bit 4 from 0 to 1
Positive and negative limit switches detected
during homing
RW —
RW —
RW —
RO —
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