encountering the rising edge of the other side of the motor Z signal.
(a2) Mechanical offset (P9-19, P9-20) is not 0:
In the process of reverse acceleration or reverse constant speed operation, stop immediately when
encountering the rising edge on the other side of the motor Z signal. After the motor is completely
stopped, the motor will walk a quantitative pulse (P9-19, P9-20) at the speed set by P9-12 (homing
high speed) according to the set number and direction of mechanical offset pulses (either positive
direction or negative direction), then the motor stops.
(b) When the motor starts to move, the Z signal is invalid or valid (P5-64 = 0-invalid, 1-valid), and
the forward overtravel switch is triggered in the process (POT) (P5-22).
Firstly, the servo motor searches for the Z signal in forward direction with the high speed P9-12
(homing high-speed speed). After encountering the forward overtravel switch, the driver decelerates in
the reverse direction according to P9-14 (homing acceleration and deceleration time), and searches for
the Z signal in the reverse direction with the high-speed -P9-12 (homing high-speed) until encountering
the rising edge of the Z signal. The machine gradually decelerates in the reverse direction (i.e. returns
to the forward direction) according to P9-14 (homing acceleration and deceleration time). The servo
motor searches the rising edge of the other side of the Z signal in the forward direction and low speed
P9-13 (homing low speed). The next homing action is divided into two cases:
(b1) Mechanical offset (P9-19, P9-20) is 0:
In the process of forward acceleration or forward constant speed operation, stop immediately when
encountering the rising edge of the other side of the Z signal.
(b2) Mechanical offset (P9-19, P9-20) is not 0:
In the process of positive acceleration or positive constant speed operation, stop immediately when
encountering the rising edge on the other side of the motor Z signal. After the motor is completely
stopped, the motor will walk a quantitative pulse at the speed set by P9-12 (homing high speed)
according to the set number of mechanical offset pulses and direction (either positive direction or
negative direction), and then stop the motor.
4. Homing mode 3——reverse homing, the deceleration point and origin are motor Z signal
(P9-11.2=3)
In this mode, the number of Z phases of the motor is not found. To use this mode, you need to connect
POT and NOT.
(a) When the motor starts to move, the Z signal is invalid or valid (P5-64 = 0-invalid, 1-valid), and
the reverse overtravel switch is not triggered in the whole process (NOT).
Firstly, the servo motor searches for the Z signal in reverse direction with the high speed -P9-12
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