2 CONTROL MODE
2.1 Control mode [G]
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2
■Method -11 and Method -43 (Dogless Z-phase reference homing)
The following figure shows the operation of Homing method -11 when the home position shift distance is a positive value. The
homing direction of Homing method -43 is opposite to that of Homing method -11.
• When homing is performed from near the Z-phase, the homing completion position varies. The
recommended start position for homing can be found by rotating the servo motor about a half-turn away
from the homing direction.
• When the stroke end is detected
Statusword bit 10
Target reached
Statusword bit 12
Homing attained
0 r/min
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Controlword bit 4
Homing operation start
Deceleration time constant
Homing speed
Acceleration time
constant
Homing position data
Forward
rotation
Servo motor speed
3 ms or shorter
Reverse
rotation
Creep speed
Home position
shift distance
Z-phase
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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