18．EtherCAT COMMUNICATION
18.5.4.9 Homing mode (hm)
The following shows the function and related objects of the homing mode (hm).
Controlword (6040h)
Homing acceleration (609Ah)
Homing method (6098h)
Homing speeds (6099h)
Home offset (607Ch)
Homing
method
Statusword (6041h)
The home position saved in
EEP-ROM is stored at power-on.
If a home position return is
executed in the homing mode
(hm), the home position will be
updated. If [Pr. PA03 Absolute
position detection system] is
disabled, 0 is always stored.
Specify a home position return
type.Refer to (4) in this section
for supported home position
return types.
Number of entries of the home
position return speed
Speed during
search for switch
Specify the travel speed until dog
detection.
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
Range: 0 to servo motor
maximum speed
Speed during
search for zero
Specify the travel speed up to the
home position after dog
detection. (Note)
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
Range: 0 to servo motor
maximum speed
Acceleration/deceleration time
constant at home position return
Unit: ms
Number of entries of the
supported home position return
type
1
st
supported
homing method
Refer to
section
7.3.13 (5).
The supported home position
return type is returned.
39
th
supported
homing method
Refer to
section
7.3.13 (5).
The supported home position
return type is returned.
In the homing mode (hm), the servo motor is brought to a sudden stop according to the deceleration time constant when the
stroke end is detected. Set the home position return speed carefully.
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