Q.The combination of AZ Series EtherCAT compatible driver and OMRON Corporation PLC is controlled using the internal profile of the driver. How do I execute return-to-home?
Target Products
AZ Series EtherCAT Drive Profile Compatible Driver:
AZD-AED, AZD-CED, AZD-KED, AZD2A-KED, AZD2B-KED, AZD3A-KED, AZD4A-KED, AZD-KRED
Control Methods: Use the Internal Profile of Driver (Operation mode PP, PV, HM mode)
When using PLC motion control (Operation mode CSP, CSV mode), please check the FAQ here.
The procedure for execution of return-to-home is as follows.
- ①
- Set the "Modes of operation (6060h)" to the homing mode, "6: HM Mode."
- ②
- Turn the servo ON. For the procedure for turning the servo ON, please refer to the FAQ below.
Q583. How do I turn the servo ON?
- ③
- When Bit 4 (Homing Operation start) of the Controlword (6040h) is set to ON (0→1), return-to-home starts.
Controlword for homing mode
| Bit15 | Bit14 | Bit13 | Bit12 | Bit11 | Bit10 | Bit9 | Bit8 |
|---|---|---|---|---|---|---|---|
| Manufacturer specific (ms) | Reserved | oms | Halt | ||||
| - | - | - | - | - | - | ||
| Bit7 | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1 | Bit0 |
| Fault reset |
Operation mode specific (oms) | Enable operation |
Quick stop |
Enable voltage |
Switch on |
||
| - | - | Homing operation start |
|||||
Set the Homing method with the return-to-home object (6098h).
Related Information: AZ Series EtherCAT Drive Profile Compatible Driver FAQ
Product Category: αSTEP, network compatible products and controllers, electric actuators
Model and Series: AZ Series, electric actuator AZ Series equipped
Description: How to Use/Setting Method
FAQ No.: 575
Related FAQs
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