7.2 Homing
7.2.3 Homing Procedures
7-12
Using the /DEC Signal and Encoder Origin (Phase C) for
Homing and Reversing the Motor after /DEC Signal Detec-
tion (PnB31 = n.5)
Turn ON the power supply.
The ALM signal turns OFF.
Turn ON the /S-ON signal. The SERVO ON state is entered.
Turn ON the /HOME signal. Homing starts.
Turn OFF the /HOME signal after the /BUSY signal turns ON.
When the /DEC signal turns ON, the motor changes to the approach speed. The movement
direction is reversed.
When the encoder’s origin signal (phase C) is detected, the motor decelerates to the creep
speed.
After the motor moves the final travel distance, homing has been completed and the /POS-
RDY signal turns ON.
Stopping and Canceling Homing
If the /STOP signal turns ON during homing, the motor decelerates to a stop and homing is
stopped. When the /STOP signal turns OFF, homing is restarted.
If operation is performed with the /JOGP or /JOGN signal while homing is stopped for the /
STOP signal, homing will be canceled.
Operation Pattern
/HOME
/BUSY
/INPOSITION
Speed
Time
/DEC
Homing movement speed
Approach speed
Creep speed
Encoder origin
/POSRDY
ALM
/S-ON
Power supply
3 s max.
Final travel distance
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