6 Basic Control Functions
6 - 24
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
6-8 Homing Mode
In this mode of operation, the Servo Drive has a path generation function (an operation profile calcula-
tion function) and it executes the homing operation in the Homing method specified from the controller.
When a controller is connected, the following two homing procedures are available depending on the
controller specifications.
Create a homing operation pattern in the controller, and provide the command to the Servo Drive in
Cyclic synchronous position mode (csp).
When you use the controller to perform the homing operation in procedure 1, refer to the manual for the
controller.
Use the Homing mode of the Servo Drive. The controller specifies a homing method supported by the
Servo Drive and commands the start of the homing operation.
The Homing mode can be used when the communications period is 250 μs or more. If the communica-
tions period is less than 250 μs, a Command Error (Error No. 91.01) occurs.
When you use the controller to perform the homing operation in procedure 2, refer to the manual for the
controller and A-1-5 Homing Mode Specifications on page A-7.
Procedure 1 is used for the OMRON Machine Automation Controller NJ/NX-series CPU Unit
and the Position Control Unit (Model: CJ1W-NC8). In this procedure, the Position Control
Unit creates a homing operation pattern and provides the command to the Servo Drive in the
Cyclic synchronous position mode (csp) to perform the homing operation.
Procedure 1
Procedure 2
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