A-19
Appendices
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 CiA402 Drive Profile
App
A-1-6 Homing Mode Specifications
Note 1 If an origin signal exists near the point where the Origin Proximity Input turns ON or OFF, the first origin
signal after the Origin Proximity Input is turned ON or OFF may not be detected.
Set the Origin Proximity Input so that the origin signal occurs away from the point where the Origin
Proximity Input turns ON or OFF.
2 During the homing operation, the stop function for the Stop Selection for Drive Prohibition Input is disabled.
3 When the Drive Prohibition Input Selection (3504 hex) is set to 0, a Drive Prohibition Input Error 1 (Error
No. 38.0) will occur if the drive prohibition input is detected on both sides.
4 When the Drive Prohibition Input Selection (3504 hex) is set to 1, a homing error (Home error = 1) will
occur when the drive prohibition input is detected on both sides. If this Homing method is used without
using the drive prohibition input, do not assign the drive prohibition input to a general-purpose input.
For details on assigning the general-purpose input signals, refer to 7-1 Sequence I/O Signals on page 7-2.
5 When the Drive Prohibition Input Selection (3504 hex) is set to 2, a Drive Prohibition Input Error 1 (Error
No. 38.0) will occur if the drive prohibition input is detected on one side.
When using this Homing method, set the Drive Prohibition Input Selection (3504 hex) to a value other than 2.
z Homing Methods 19 and 20: Homing without an Origin Signal
In these homing methods, only the Origin Proximity Input is used. Homing method 19 stops when
the Origin Proximity Input turns OFF, and Homing method 20 stops when the Origin Proximity Input
turns ON. The operation start direction of the homing operation is the forward direction for an OFF
Origin Proximity Input, and the reverse direction for an ON Origin Proximity Input.
A homing error occurs in the following cases.
• When the drive prohibition inputs on both sides are ON at the same time.
• When an ON or OFF Origin Proximity Input is not detected before the drive prohibition input in the
drive direction turns ON.
Note 1 During the homing operation, the stop function for the Stop Selection for Drive Prohibition Input is disabled.
2 When the Drive Prohibition Input Selection (3504 hex) is set to 0, a Drive Prohibition Input Error 1 (Error
No. 38.0) will occur if the drive prohibition input is detected on both sides.
3 When the Drive Prohibition Input Selection (3504 hex) is set to 1, a homing error (Home error = 1) will
occur when the drive prohibition input is detected on both sides.
If this Homing method is used without using the drive prohibition input, do not assign the drive prohibition
input to a general-purpose input.
For details on assigning the general-purpose input signals, refer to 7-1 Sequence I/O Signals on page 7-2.
4 When the Drive Prohibition Input Selection (3504 hex) is set to 2, a Drive Prohibition Input Error 1 (Error
No. 38.0) will occur if the drive prohibition input is detected on one side.
When using this Homing method, set the Drive Prohibition Input Selection (3504 hex) to a value other than 2.
Origin Proximity Input
20
20
d
e
a
19
19
b
c
← Reverse
direction
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