Chapter 12 Descriptions of Parameter SettingsC2000 Plus
12.1-11-50
Diagram 20
CiA402 object
0x6098H
Z Y X
Function Description
Homing
Method
Home
Limit
Z-phase
Signal
Setting
Homing
Mode
22 0 2 3
Execute homing position control in the reverse direction
and use the ORG switch (from 0 to 1) as the origin. Stops
when encountering the negative limit switch.
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 forward direction and encountering the falling-edge of the ORG switch, the
movement direction is reversed and waits for the rising-edge trigger of the ORG switch.
3. Then, wait for the rising-edge trigger of the ORG switch as the origin.
A homing failure occurs when the following condition happen:
1. If the initial motor movement is in the forward direction and no falling 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.
NL PL
1
6
2
3
5
4
Homing fail
Collision
Limit
switch
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