Homing start direction
Home input signal Home proximity input signal Negative limit input signal
Home input detection direction
ON OFF ON OFF ON OFF
• If you start homing while the home proximity input signal is ON, the axis performs the following operation depending on the setting of the homing start direction.
Homing Start Direction Same as Home Input Detection Direction
The axis does not perform a reverse turn operation and homing starts in the home input detec-tion direcdetec-tion at the homing approach velocity.
Homing Start Direction Different from Home Input Detection Direction
Operation starts in the homing start direction at the homing velocity, regardless of the status of the home proximity input signal. If you set the operation at the limit input in the homing start di-rection to Reverse turn, the axis reverses didi-rection when limit input is detected, and performs a homing operation in the home input detection direction.
• Homing is started and home is defined when the home input signal turns ON after the home proximity input signal turns ON and OFF while the velocity is below the homing approach veloci-ty.
5: Home Proximity Input ON Operation
1 When the home proximity input signal turns ON, the axis starts decelerating to the homing ap-proach velocity.
2 After the axis reaches the homing approach velocity, the axis stops at the first home input signal.
This defines home.
Stop
Homing velocity Start
Start Stop
Homing approach velocity Stop
Homing approach velocity Start
Positive direction Positive direction Positive direction
Negative direction Homing start direction
Homing velocity Negative direction Homing start direction
Negative direction Homing velocity Home input signal
Home proximity input signal Negative limit input signal Home input detection direction
ON OFF ON OFF ON OFF ON OFF Positive limit input signal
Homing approach velocity
• If you start homing while the home proximity input signal is ON, the axis performs the following operation depending on the setting of the homing start direction.
Homing Start Direction Same as Home Input Detection Direction
The axis does not perform a reverse turn operation and homing starts in the home input detec-tion direcdetec-tion at the homing velocity.
Homing Start Direction Different from Home Input Detection Direction
Operation starts in the homing start direction at the homing velocity, regardless of the status of the home proximity input signal. If you set the operation at the limit input in the homing start di-rection to Reverse turn, the axis reverses didi-rection when limit input is detected, and performs a homing operation in the home input detection direction.
• Homing is started and home is defined when the home input signal turns ON after the home proximity input signal turns ON while the velocity is below the homing approach velocity.
8: Operation for Limit input OFF
1 The axis starts at the homing velocity. When the limit signal in the direction opposite to the home input detection direction turns ON, the axis starts decelerating to the homing approach velocity.
2 After the axis reaches the homing approach velocity, the axis stops at the first home input signal after the limit signal turns OFF. This defines home.
MC_Home
3
Function
Start Stops.
Homing approach velocity Stops.
Homing approach velocity
Negative direction
Start
Negative direction Positive direction
Positive direction Homing velocity
Command output Home input signal Negative limit input signal Home input detection direction
ON OFF ON OFF
• If you perform homing while the limit input on the opposite side of the home input detection di-rection is ON, the homing operation starts at the home approach velocity in the home input de-tection direction.
• Homing is started and home is defined when the home input signal turns ON after the limit sig-nal in the direction opposite to the home input detection direction turns ON and OFF again while the velocity is below the homing approach velocity.
9: Proximity Reverse Turn/Home Input Mask Distance Operation
1 The axis starts at the homing velocity. When the home proximity input signal turns ON, the axis starts decelerating to the homing approach velocity.
2 The axis moves by the home input mask distance after the home proximity input signal turns ON and stops at the first home input signal. This defines home.
After the home proximity input signal turns ON, its status does not affect operation.
If the specified travel distance is too short and travel would be completed before the axis deceler-ates to the homing approach velocity, an Invalid Home Input Mask Distance error (error code:
742B hex) occurs when you start homing.
After the proximity input, motion is according to the home input mask distance.
Stops.
Homing approach velocity
Start
Positive direction Negative direction
Homing velocity Command output
Home input signal Home proximity input signal
Home input detection direction ON OFF ON OFF
• If you start homing while the home proximity input signal is ON, the operation will start at the
homing velocity in the direction opposite to the home input detection direction. After the home
proximity input signal turns OFF, the homing operation will start at the homing approach velocity
in the home input detection direction.
• Homing is started and home is defined when the home input signal turns ON after the axis trav-els the home input mask distance after the home proximity input signal turns ON while the velocity is below the homing approach velocity.
11: Operation for Limit Inputs Only
1 The axis starts at the homing velocity. When the limit signal in the direction opposite to the home input detection direction turns OFF, the axis decelerates to a stop.
2 After the axis stops, the axis moves in the other direction at the homing velocity and decelerates to a stop when the limit signal turns ON.
3 After the axis stops, the axis moves in the other direction at the homing approach velocity. The position where the limit signal turns OFF is defined as home and an immediate stop is performed (i.e., a stop using remaining pulses). The axis does not return to the home position.
Positive direction Positive direction
Positive direction Start
Start
Negative direction
Homing velocity Negative direction
Homing velocity
Negative direction Positive limit input signal Negative limit input signal Home input detection direction
Range of movement
Stops using remaining pulses.
Start ON
OFF ON OFF
Homing approach velocity Homing approach velocity Homing approach velocity Home
Home
Home
Stops using remaining pulses.
Stops using remaining pulses.