Chapter 7 Motion Control ASDA-M7-16 Revision December, 20147.7 Description of Homing in PR ModeThe aim of homing is to connect the Z pulse position of the motor encoder to the internalcoordinate of the servo drive. The coordinate value of Z pulse can be set by P6-01. Afterhoming, the stop point will not locate at Z pulse position. It is because the motor has todecelerate to stop, the deceleration curve will slightly exceed Z pulse. However, thecoordination of Z has been correctly set and will not influence the accuracy of positioning.For example, the coordinate value corresponded by Z pulse is 100, Cmd_O = 300 afterhoming, which means the deceleration distance is 300-100=200 (PUU). Since Cmd_E =100 (The absolute position of Z), if desiring to return to Z pulse position, issue the absolutecommand 100 or incremental command 0 will do. After homing, it can execute PR pathautomatically so as to move the desired distance. When it is executing homing, thesoftware limit cannot work.7.8 DI/DO Provided by PR Mode and DiagramsDI signal:CTRG, SHOM, STP, POS０～5, ORG, PL, NL, EV1~4DO signal:CMD OK, MC_OK, TPOS, ALM, CAP_OK, CAM_AREASystem frame:DI.CTRGDO.CMD_OKServo positioning iscompletedCommand is issuingDO.TPOSDLYDO.MC_OK PR procedure iscompleted
