Omron NX701-1 User Manual

8-3
8 Homing
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
8-1 Outline
8
Version Information
For a CPU Unit with unit version 1.10 or later, if an OMRON 1S-series Servomotor or G5-series
Servomotor with an absolute encoder is used, or if an OMRON G5-series Linear Motor Type
Servomotor/Servo Drive with built-in EtherCAT communications is used with an absolute exter-
nal scale, home is also defined when EtherCAT process data communications change from a
non-established to an established state, in addition to the step shown in the above Additional
Information.
The MC_MoveZeroPosition (High-speed Home) instruction is also provided to perform positioning to
home as defined for the previously described method.
The MC Function Module can operate the motor even when home is undefined (excluding
MC_MoveZeroPosition).
Additional Information
Software limits are not valid when home is not defined.
Changes in the home definition status for operations and events are listed in the following table.
Name Description
High-speed Homing The axis returns to home using an absolute position of 0 as the target position.
Function Operation
Jogging and velocity control If home is not defined, the position at startup is defined as 0 to control movement.
High-speed homing High-speed homing cannot be used.
If it is used, an instruction error will occur.
Positioning If home is not defined, the position at startup is defined as 0 to control movement.
Interrupt feeding
Starting cam operation
Starting gear operation
Synchronous positioning
Combining axes
Torque control
Zone monitoring
Linear interpolation Interpolation cannot be used.
If it is used, an instruction error will occur.
Circular interpolation
Operation or event Condition for change
Home definition status
change
Servo turned ON or axis
enabled
Incremental encoder No change
When absolute data is read normally from the
absolute encoder
Home is defined.
When absolute data cannot be read from the
absolute encoder
Home is undefined.
Changing the current position When starting Home is undefined.
Homing When starting Home is undefined.
When ending Home is defined.
Overflows and underflows When overflow or underflow occurs Home is undefined.

Omron NX701-1 Specifications

General

Brand	Omron
Model	NX701-1
Category	Controller
Language	English