SMC Networks LECSN-T Series - Page 535

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18．EtherCAT COMMUNICATION
(j) Method -11 and -43 (dogless Z-phase reference home position return)
The following figure shows the operation of Homing method -11. The operation direction of Homing
method -43 is opposite to that of Homing method -11.
ON
OFF
ON
OFF
Controlword bit 4
Homing operation start
Creep speed
Servo motor speed
Reverse
rotation
0 r/min
Forw ard
rotation
Statusw ord bit 10
Target reached
ON
OFF
Statusw ord bit 12
Homing attained
ON
OFF
Z-phase
Acceleration time
constant
3 ms or shorter
Deceleration time
constant
Home position shift distance
Home position return speed
Home position return
position data
Servo motor speed 0 r/min
Forward
rotation
Home position return start position
Home position
return direction
The servo motor stops due to
the occurrence of [AL. 90].
Stroke end
When the stroke end is detected