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 perform push-motion return-to-home?

When using PLC motion control (Operation mode CSP, CSV mode), please check the FAQ here.

Follow the procedure below to change the settings and execute return-to-home.

①

Set "Homing Method (6098h)" to "Return-to-Home operation of our specifications".

②

Set "(HOME) Home-seeking mode (4160h)" to "Push-motion".

③

Set "JOG/HOME/ZHOME operation setting (47F5h)" to "Manual setting".

After the setting is completed, when return-to-home is executed in homing mode (HM), push-motion return-to-home is started. The execution of push-motion return-to-home is controlled by the Controlword (6040h).

Controlword for homing mode

The execution procedure is as follows.

1. Set the Modes of operation (6060h) to the homing mode, "6: Homing mode (HM)"
2. Turn Bit 2 (Quick stop) and Bit 1 (Enable voltage) of the Controlword ON
3. Turn Bit 3 (Enable Operation) and Bit 0 (Switch on) of the Controlword ON (it becomes the excitation state)
4. Turn Bit 4 (Homing Operation start) of the Controlword ON to start return-to-home

[Supplement]
For Oriental Motor electric actuators, Maximum pushing return-to-home speed and Maximum push current are respectively determined for each product.
You can check the electric actuator information on the "Unit information monitor" of the support software MEXE02.

When setting the parameter for Speed during search for zero (6099h-02h) and (HOME) Operating current for push-home-seeking, do not set values that exceed the Maximum pushing return-to-home speed and Maximum push current.
If you configure the setting that exceeds the Maximum pushing return-to-home speed or Maximum push current, an "Operation data error" alarm will trigger at start.

Related Information: AZ Series EtherCAT Compatible Driver FAQ