Appendices
A - 8
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
*1. A Command Warning (Error No. B1.00) will occur if the Homing operation start command is given while the
homing procedure is performed.
Bit 6 is not used. For details on other bits, refer to Controlword (6040 hex).
609A 00 Homing accelera-
tion
RW U32 Command
unit/s
2
1 to 2,147,483,647 1,000,000
607C 00 Home offset RW INT32 Command unit -2,147,483,648 to
2,147,483,647
0
60FC 00 Position demand
internal value
RO INT32 Encoder unit --- ---
6062 00 Position demand
value
RO INT32 Command unit --- ---
Controlword (6040 hex) in Homing Mode
Bit Name Value Description
4 Homing operation start 0 Do not start homing procedure.
1 Start or continue homing procedure.
*1
8 Halt 0 Enable bit 4.
1 Stop axis according to the Halt option code (605D hex).
Statusword (6041 hex) in Homing Mode
Bit Name Description
10 Target reached The status of the homing operation is indicated by the combination
of these bits.
The status based on the combination of the bits are shown in the
following table.
12 Homing attained
13 Homing error
Bit 13 Bit 12 Bit 10 Description
0 0 0 Homing procedure is in progress.
0 0 1 Homing procedure is interrupted or not started.
0 1 0 Homing is attained, but target is not reached.
0 1 1 Homing procedure is completed successfully.
1 0 0 Homing error occurred, velocity is not 0.
1 0 1 Homing error occurred, velocity is 0.
110Reserved
111Reserved
Index
(hex)
Subindex
(hex)
Name Access Size Unit Setting range
Default
setting
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