A-21
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
Coordinate System Setting Mode (4103 hex)
[POS_SEL]
3: Set the value of the Coordinate System Setting Position (4104 hex) to the Position Demand Value
(6062 hex) and Position Demand Value After Filtering (4018 hex).
For the Position actual value (6064 hex), set the value obtained by subtracting the Following error actual
value (60F4 hex) from the Position Demand Value After Filtering (4018 hex).
Other than 3: A homing error (Homing error = 1) will occur.
[REFE]
0: The Homing not attained state is reached when this Homing method ends normally.
1: The Homing attained state is reached when this Homing method ends normally.
Note The REFE bits are enabled only when an incremental encoder is used.
An absolute encoder is always in a Homing attained state.
Set Value of the Coordinate System Setting Position (4104 hex) and Position Actual Value
Index Sub Name R/W
Data
type
Unit Min Max Default
4103
hex
00 hex POS_SET_MODE
(Coordinate System
Setting Mode)
rw U16 − See following table. 83 hex
Bit 15 ··· 8 7 6 5 4 3 ··· 0
Reserved(“0”) REFE 0 0 0 POS_SEL
Index Sub Name R/W
Data
type
Unit Min Max
Default
4104 hex 00 hex POS_DATA
(Coordinate System
Setting Position)
rw INT32
Command
units
−2
31
(8000 0000 hex)
2
31
−1
(7FFF FFFF hex)
0
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