(b2) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is not 0:
Decelerate in reverse direction (i.e. recover in reverse direction), search for the rising edge of NOT in
reverse direction at low speed -P9-13 (homing low speed). During reverse acceleration or reverse
constant speed operation, stop immediately when encountering the rising edge of NOT. After the motor
stops completely, the motor will move a quantitative pulse at the speed P9-12 (homing high speed)
according to the set number of mechanical offset pulses and direction (it only can be positive), but it
must move between the origin switch and POT), and then the motor stops.
(b3) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0:
Continue to operate at the forward low speed P9-13 (homing low speed), and then stop immediately
after encountering the rising edge of the first Z-phase signal.
(b4) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is not 0:
Continue to operate at the forward low speed P9-13 (homing low speed), and then stop immediately
after encountering the rising edge of the first Z-phase signal. After the motor stops completely, the
motor will move a quantitative pulse at the speed P9-12 (homing high speed) according to the set
number of mechanical offset pulses and direction (it can be positive or negative, but it must move
between the origin switch and POT), and then the motor stops.
7. Homing mode 6——forward homing, deceleration point and origin are forward
mechanical limit position (P9-11.2=6)
To use this mode, no need to connect POT, NOT and origin switch.
Firstly, the servo motor runs forward at low speed P9-13 (homing low speed). After hitting the
mechanical limit position, if the absolute value of torque reaches the upper torque limit of P9-17 (touch
stop homing mode torque threshold), and the absolute value of speed is lower than the set value of
P9-16 (touch stop homing mode speed threshold), this state remains P9-18 (touch stop homing mode
time threshold) After the set time, it is judged that the mechanical limit position is reached, and the next
homing action can be divided into four cases:
(a) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is 0:
Shut down immediately.
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