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Homing mode (hm)
The following shows the functions of the homing mode (hm) as well as related objects.
[Controlword (Obj. 6040h)]
[Homing method (Obj. 6098h)]
[Homing speeds (Obj. 6099h)]
[Homing acceleration (Obj. 609Ah)]
[Max acceleration (Obj. 60C5h)]
[Max deceleration (Obj. 60C6h)]
[Home offset (Obj. 607Ch)]
*1 This object may not be used depending on the network being used. For details, refer to the User's Manual (Object Dictionary).
Related objects
For details on the objects, refer to the User's Manual (Object Dictionary).
Index
Sub
607Ch
0
6098h
0
6099h
0
1
2
609Ah
0
*4
60C5h
*4
60C6h
60E3h
0
1
to
41
*3
6062h
2 CONTROL MODE
44
2.1 Control mode
Acceleration
limit
Function
Object
Name
VAR
Home offset
VAR
Homing Method
ARRAY
Homing Speeds
Speed during search for switch
Speed during search for zero
VAR
Homing acceleration
VAR
Max acceleration
VAR
Max deceleration
ARRAY
Supported Homing Method
1st supported homing method
41st supported homing method
VAR
Position demand value
[Statusword (Obj. 6041h)]
Homing
method
[Position demand value (Obj. 6062h)]
Description
Set the difference between zero position of the machine coordinate
system and homing position. After homing finishes, the value set to this
object is subtracted from the homing position, and at the same time,
[Position demand value (Obj. 6062h)] and [Position actual value (Obj.
6064h)] are changed.
The setting made by this object is reflected upon completion of the
homing operation or when the servo amplifier connects to the network.
The setting is not reflected when homing is incomplete.
Specify a homing method.
Refer to the following for the supported homing methods.
Page 46 Homing method list
Number of entries of the homing speed
Specify the travel speed until dog detection.
(vel units)
Range: 0 to servo motor maximum speed
Specify the travel speed to the home position after dog detection.
(vel units)
Range: 0 to servo motor maximum speed
Acceleration/deceleration time constant at homing
Unit: acc units
Acceleration limit value
Unit: Command unit/s
Deceleration limit value
Unit: Command unit/s
Number of entries of the supported homing method
Command position (absolute position)
The command position inside the servo amplifier is returned.
Unit: pos units
*1
*2
2
2
*1 *2
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