A-67
Appendices
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 CiA402 Drive Profile
App
A-1-12 Servo Drive Profile Object
• This objects sets the Homing method in the Homing mode (hm).
Explanation of Set Values
• If the homing operation is started by setting a value other than 8, 12, 19, 20, 33, 34, or 35, a
Command Error (Error No. 91.1) will occur.
• For details on homing, refer to A-1-6 Homing Mode Specifications on page A-15.
• This object sets the homing speed.
• For Sub-index 01 hex (Speed during search for switch), set the operation speed during the homing
operation from the start of the homing operation until the Origin Proximity Input turns ON.
• For Sub-index 02 hex (Speed during search for zero), set the operation speed during the homing
operation from when the Origin Proximity Input turns ON until the latch signal is detected after the
Origin Proximity Input again turns OFF.
6098 hex
Homing method
Range −128 to 127 Unit Command
units/s
2
Default 0 Attribute B
Size 1 byte (INT8) Access RW PDO map Not possible
Set value Explanation
0 Not specified
8 Homing by Origin Proximity Input and origin signal (forward operation start)
12 Homing by Origin Proximity Input and origin signal (reverse operation start)
19 Homing without origin signal (forward operation start)
20 Homing without origin signal (reverse operation start)
33 Homing with origin signal (reverse operation start)
34 Homing with origin signal (forward operation start)
35 Present home preset
6099 hex
Homing speeds
Sub-index 00 hex Number of entries
Range − Unit − Default 02 hex Attribute −
Size 1 byte (U8) Access RO PDO map Not possible
Sub-index 01 hex Speed during search for switch
Range 100 to
3,276,700
Unit Command
units/s
Default 5,000 Attribute B
Size 4 bytes (U32) Access RO PDO map Not possible
Sub-index 02 hex Speed during search for zero
Range 100 to
3,276,700
Unit Command
units/s
Default 5,000 Attribute B
Size 4 bytes (U32) Access RO PDO map Not possible
hm
hm
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