Appendices
A-20
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
z Homing Methods 33 and 34: Homing with an Origin Signal
In these Homing methods, only the origin signal is used.
The operation start direction of the homing operation is the reverse direction in Homing method 33
and the forward direction in Homing method 34.
A homing error occurs in the following cases.
• When the drive prohibition inputs on both sides are ON at the same time.
• If no origin signal is detected before the drive prohibition input of the drive direction turns ON.
• When the homing operation is started with a sensor without an origin signal (Z phase), such as an
absolute scale, during fully-closed control.
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.
z Homing Method 35: Present Home Presetting
In this Homing method, the present position is considered as the origin.
Set the mode in Coordinate System Setting Mode (4103 hex). By using the Coordinate System
Setting Position (4104 hex), you can specify the value of the present position.
You can use this method even when you are using an absolute encoder, but the position is not saved
in the Home offset (607C hex). When the control power is turned OFF or when Config (4100 hex) is
executed, the origin set by this Homing method is disabled.
This Homing method can be executed only when the mode of operation is set to Homing mode (hm)
and the servo is ON. If this Homing method is executed during the latch operation, the latch
operation is disabled.
A homing error occurs in the following cases.
• During the Cyclic synchronous velocity mode (csv) or Cyclic synchronous torque mode (cst)
• When backlash compensation is not completed.
Origin signal
33
a
34
a
← Reverse direction
Forward direction
→
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