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Parameters
8
P6.xxx PR parameters
P6.000
Homing definition
Default: 0x00000000
Unit: -
Format: HEX
Settings:
Homing definition:
High word
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ASDA-A3
Address: 0600H
0601H
Control mode: PR
Setting range: 0x00000000 - 0xFFFFFF6F
Data size: 32-bit
Low word
DC BA
DEC2: deceleration time selection for
A second homing
B DLY: select 0 - F for delay time
C Reserved
BOOT: whether to execute homing
D automatically when the drive is
powered on
U Z YX
YX PATH: path type
Z ACC: select 0 - F for acceleration time
U
DEC1: deceleration time selection for first
homing
- -
YX: PATH: path type
0x00: Stop: the servo stops after homing is complete
0x01 - 0x63: Auto: the servo executes the specified path (Path 1 - Path 99) after homing is
complete
Z: ACC: select 0 - F for acceleration time
0 - F: correspond to P5.020 - P5.035
U: DEC1: deceleration time selection for first homing
0 - F: correspond to P5.020 - P5.035
A: DEC2: deceleration time selection for second homing
0 - F: correspond to P5.020 - P5.035
B: DLY: select 0 - F for delay time
0 - F: correspond to P5.040 - P5.055
D: BOOT: whether to execute homing automatically when the drive is powered on
0: do not execute homing
1: execute homing automatically (servo switches to on for the first time after power is applied)
Apart from the preceding definitions, the related settings for homing also include:
1. P5.004: homing methods.
2. P5.005 - P5.006: speed settings of searching for the origin.
3. P6.001: the origin definition (ORG_DEF) is the position of the origin and may not be 0. This
function is used as a traversal of the position system.
8-204
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