When the mode is switched to the hm mode after home position return
completion, Statusword is "Homing procedure is completed successfully" unless
"0" is set in Bit 12. The following shows the conditions when "0" is set in Bit 12.
For incremental system
At power-on
At communication shut-off by upper side reset
At home position return start
At home position erasure
for absolute position detection system
At home position return start
At home position erasure
To check the home position return status with Statusword, note the following.
(when the communication cycle of 4 ms or less is set)
When the mode is switched to the hm mode, Modes of operation display is
changed to 6 (hm) and Statusword changes at the same time.
The status change of Statusword may take 50 ms at a maximum after Bit 4 of
Controlword (Homing operation start) is set. To obtain the status of Statusword
without any fault, wait 50 ms or more.
Before updating the position after a home position return completion, check that
both Bit 12 and Bit 10 of Statusword are changed to "1" and then wait 8 ms.
If 8 ms has not elapsed, the position information may not be updated correctly
depending on the communication cycle setting.
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