(b2) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is not 0:
In the process of negative acceleration or negative constant speed operation, stop the machine
immediately after encountering the rising edge of the origin signal. After the motor is completely
stopped, the motor will walk a quantitative pulse (P9-19, P9-20) at the speed P9-12 (homing high speed)
according to the set number and direction of mechanical offset pulses (either positive direction or
negative direction), and then stop the motor.
(b3) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0:
During negative acceleration or negative constant speed operation, continue operation after
encountering the rising edge of deceleration point (origin) signal, and then stop immediately after
finding the first Z-phase signal.
(b4) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is not 0:
In the process of negative acceleration or negative constant speed operation, continue to operate after
encountering the rising edge of the deceleration point (origin) signal, and then find the first Z-phase
signal to stop immediately. After the motor stops completely, the motor will run a quantitative pulse
(P9-19, P9-20) at the set speed P9-12 (homing high speed) according to the set mechanical offset pulse
numbers and direction (either positive or negative direction), then the motor stops.
(c) When the motor starts to move, the signal of the origin switch (deceleration point) is invalid
(P5-64 = 0-invalid, 1-valid), and the reverse overtravel switch triggered in the process is valid
(NOT) (P5-23).
Firstly, the servo motor reverse searches for the deceleration point (origin) signal at high speed -P9-12
(homing high speed). After encountering the reverse overtravel switch (NOT), the driver decelerates in
reverse (i.e. forward) according to the value set in P9-14 (homing acceleration and deceleration time),
and immediately searches for the falling edge of the deceleration point (origin) signal at high speed
P9-12 (homing high speed) in the forward direction. After encountering the falling edge of the
deceleration point (origin) signal, decelerate in the reverse direction (i.e. negative direction) according
to the set value of P9-14 (homing acceleration and deceleration time), and the servo motor searches the
rising edge of the deceleration point (origin) signal in the reverse low speed -P9-13 (homing low speed).
The next homing action can be divided into four cases:
(c1) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is 0:
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