14.8 Serial Commands
14.8.2 Homing
14-13
14
Operation with Serial Command Communications
ZRN
Note: 1. The software limits (PnB21 and PnB23) are disabled until homing is com-
pleted. They are enabled after homing is completed. On the other hand, the
overtravel signals (P-OT and N-OT signals) are enabled before homing is
completed.
2. When an incremental encoder is being used, homing will be completed if
the ZSET command (coordinates setting) is executed instead of homing.
3. Error E5DE will occur if the ZRN command is executed while PnB31 =
0000h.
4. Homing can be performed only when an incremental encoder is being used.
Error E61E will occur if the ZRN command is executed and an absolute
encoder is being used.
OK
Continued on next page.
Continued from previous page.
Serial Command Function/Description
Positive
Response
PnB25
• When using an incremental encoder: Origin
• When using an absolute encoder: Absolute Encoder Offset
Setting
Range
Setting Unit
Default
Setting
When Enabled
-99999999 to
+99999999*
1 reference
unit
0 After restart
Parameter Meaning
When
Enabled
PnB31
0000h
[default
setting]
Homing is not executed.
After restart
0001h
/DEC and phase C are used for
homing.
0002h Only /DEC is used for homing.
0003h Only phase C is used for homing.
PnB32
0000h
[default
setting]
/HOME or ZRN command is used
for homing in forward direction.
Immediately
0001h
/HOME or ZRN command is used
for homing in reverse direction.
PnB33
Homing Moving Speed
Setting Range Setting Unit
Default
Setting
When Enabled
1 to
99999999*
1000
Reference
units/min
1000 Immediately
PnB35
Homing Approach Speed
Setting Range Setting Unit
Default
Setting
When Enabled
1 to
99999999*
1000
Reference
units/min
1000 Immediately
PnB37
Homing Creep Speed
Setting Range Setting Unit
Default
Setting
When Enabled
1 to
99999999*
1000
Reference
units/min
1000 Immediately
PnB39
Homing Final Move Distance
Setting Range Setting Unit
Default
Setting
When Enabled
-99999999 to
+99999999*
1 reference
unit
0 Immediately
To Next Page
Loading...
