2 CONTROL MODE
2.1 Control mode [G]
83
2
■Method -3 (Data set type homing)
The following figure shows the operation of Homing method -3. Data set type homing cannot be executed in the servo-off
status.
■Method -4 and Method -36 (Stopper type homing)
Since the workpiece collides with the mechanical stopper, the homing speed must be low enough.
The following figure shows the operation of Homing method -4. The homing direction of Homing method -36 is opposite to that
of Homing method -4.
*1 When Method -4 is set, the torque limit value of [Positive torque limit value (Obj. 60E0h)] is applied. When Method -36 is set, the torque
limit value of [Negative torque limit value (Obj. 60E1h)] is applied.
*2 If the torque limit value has been reached, TLC remains on even after homing finishes.
• When the stroke end is detected
ON
OFF
ON
OFF
Statusword bit 12
Homing attained
Controlword bit 4
Homing operation start
0 r/min
Homing position data
Forward
rotation
Servo motor speed
Reverse
rotation
Statusword bit 12
Homing attained
ON
OFF
Controlword bit 4
Homing operation start
ON
OFF
Statusword bit 10
Target reached
ON
OFF
ON
OFF
[Pr. PT11]
*2
0 r/min
Homing speed
Homing position data
Forward
rotation
Servo motor speed
3 ms or shorter
Reverse
rotation
Stopper
5 ms or longer
[Pr. PT10 Stopper type homing - Stopping time]
TLC (Limiting torque)
Torque limit value
*1
Torque limit value
*1
Torque limit value
Acceleration time constant
0 r/min
Homing direction
Stroke end
Forward
rotation
Servo motor speed
Homing start position The servo motor stops with [AL. 090].
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