Chapter 12 Descriptions of Parameter SettingsC2000 Plus
12.1-11-49
Diagram 19
CiA402 object
0x6098H
Z Y X
Function Description
Homing
Method
Home
Limit
Z-phase
Signal
Setting
Homing
Mode
21 No correspondence See the diagram for homing method 21
1. The initial movement direction depends on the ORG switch status. The initial movement is in the
forward direction if the ORG switch is active; the initial movement is in the reverse direction if the ORG
switch is inactive.
2. When moving in the reverse direction and encountering the rising edge of the ORG switch, the
movement direction is reversed and waits for the falling-edge trigger of the ORG switch.
3. Then, wait for the falling-edge trigger of the ORG switch as the origin.
A homing failure occurs when the following condition happen:
1. If the motor starts the movement in the reverse direction and no rising edge of the ORG switch is
encountered, a homing failure occurs.
2. If a positive or negative limit switch signal is encountered in the process of motor movement, a
homing failure occurs.
3. If no ORG switch signal is encountered in the homing process mentioned above, and time-out is
triggered, then a homing failure occurs.
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