_sHOM-ING_REF
--- Set the homing parameter. *2
*1. Specify a user-defined Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio (default: MC_Ax-is*) or a system-defined axis variable name (_MC_AX[*], _MC1_AX[*] or _MC2_AX[*]).
If you use Sysmac Studio version 1.29 or higher, you can specify the system-defined axis variable name for AT specifi-cation of a user-defined variable. This will allow you to specify the user-defined variable.
If you use Sysmac Studio version 1.28 or lower, do not specify any user-defined variable created in the variable table.
*2. Define a user-defined variable with a data type of _sHOMING_REF.
_sHOMING_REF
Name Meaning Data type Valid range Function
HomingMode Homing Method
_eMC_HOM-ING_MODE
0: _mcHomeSwTurnHo-meSwOff
1: _mcHomeSwTurnHo-meSwOn
4: _mcHomeSwOff 5: _mcHomeSwOn 8: _mcLimitInputOff 9: _mcHomeSwTurnHo-meMask
11: _mcLimitInputOnly 12: _mcHomeSwTurnHol-dingTime
13: _mcNoHomeSwHol-dingHomeInput
Specify the new setting of the Homing Meth-od.
0: Proximity reverse turn/home proximity in-put OFF
1: Proximity reverse turn/home proximity in-put ON
4: Home proximity input OFF 5: Home proximity input ON 8: Limit input OFF
9: Proximity reverse turn/home input mask distance
11: Limit inputs only
12: Proximity reverse turn/holding time 13: No home proximity input/holding home
Name Meaning Data type Valid range Function HomeInput Home Input
Signal
_eMC_HOME _INPUT
0: _mcZPhase 1: _mcExternalSignal
Select the input to use for the home input signal.
0: Use the Z-phase input as home.
1: Use external home input.*1 StartDir Homing Start
Direction
_eMC_DI-RECTION
0: _mcPositiveDirection 2: _mcNegativeDirection
Set the start direction for when homing is started.
0: Positive direction 2: Negative direction HomeDir Home Input
Detection Di-rection
_eMC_DI-RECTION
0: _mcPositiveDirection 2: _mcNegativeDirection
Set the home input detection direction for homing.
0: Positive direction 2: Negative direction PosiLmtMode Operation
Selection at Positive Limit Input
_eMC_LIM- IT_RE-VERSE_MOD E
0: _mcErrorStop
1: _mcRevImmediateStop 2: _mcRevDeceleration-Stop
Set the stopping method when the positive limit input turns ON during homing.
0: No reverse turn/minor fault stop (Stop ac-cording to Limit Input Stop Method parame-ter.)
1:Reverse turn/immediate stop 2: Reverse turn/deceleration stop
NegaLmt-Mode
Operation Selection at Negative Limit Input
_eMC_LIM- IT_RE-VERSE_MOD E
0: _mcErrorStop
1: _mcRevImmediateStop 2: _mcRevDeceleration-Stop
Set the stopping method when the negative limit input turns ON during homing.
0: No reverse turn/minor fault stop (Stop ac-cording to Limit Input Stop Method parame-ter.)
1: Reverse turn/immediate stop 2: Reverse turn/deceleration stop
Vel Homing
Ve-locity
LREAL Positive number Set the homing velocity.
Set the homing velocity to a value that is less than the maximum velocity and greater than or equal to the homing approach veloci-ty.
The unit is command units/s. *2 ApproachVel Homing
Ap-proach Ve-locity
LREAL Positive number Set the velocity to use after the home prox-imity input turns ON.
Set the homing velocity to a value that is less than the maximum velocity and greater than or equal to the homing approach veloci-ty.
The unit is command units/s. *2
Acc Homing
Ac-celeration
LREAL Non-negative number Set the acceleration rate for homing.
Set 0 for no acceleration.
The unit is command units/s2. *2
Dec Homing
De-celeration
LREAL Non-negative number Set the deceleration rate for homing.
Set 0 for no deceleration.
The unit is command units/s2. *2 Jerk Homing Jerk LREAL Non-negative number Set the jerk for homing.
Set 0 for no jerk.
Set the value to within the range of 40-bit da-ta for pulses.
The unit is command units/s3. *2
MC_HomeWithParameter
3
Variables
Name Meaning Data type Valid range Function
Mask Home Input
Mask Dis-tance
LREAL Non-negative number Set the home input mask distance when you set the Homing Operation Mode to
Proximity Reverse Turn/Home Input Mask Distance.
The unit is command units. *2 Offset Home Offset LREAL Negative number, positive
number, or 0
Preset the actual position for the value that is set after homing.
In Rotary Mode, set the Home Offset param-eter so that it is greater than or equal to the modulo minimum position and less than the modulo maximum position. Also set the val-ue to within the range of 40-bit data for puls-es.
The unit is command units. *2 PushTime Homing
Holding Time
UINT 0 to 10,000 Set the holding time when you set the Hom-ing Operation Mode to Proximity Reverse Turn/Holding Time.
The unit is milliseconds.
Compensa-tion
Homing Compensa-tion Value
LREAL Negative number, positive number, or 0
Set the homing compensation value that is applied after the home is defined.
In Rotary Mode, set the homing compensa-tion value so that the absolute value of the homing compensation value is less than the absolute value of the difference between the modulo maximum position and modulo mini-mum position. Also set the value to within the range of 40-bit data for pulses.
The unit is command units. *2
Compensa-tionVel
Homing Compensa-tion Velocity
LREAL Positive number Set the velocity to use for homing compen-sation.
Set the value to less than the maximum ve-locity.
The unit is command units/s. *2
*1. This setting can be used for an OMRON 1S-series Servo Drive and G5-series Servo Drive. The input allocated to latch 1 for the Servo Drive is used as the external home input. In the default setting of the OMRON 1S-series Servo Drives and G5-series Servo Drives, the external latch input 1 is allocated to latch 1.
For details, refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT Communications User’s Manual (Cat. No. I586), AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT Communications and Safety
Functionality User’s Manual (Cat. No. I621), AC Servomotors/Servo Drives G5-series with Built-in EtherCAT
Communications User’s Manual (Cat. No. I576) or the AC Servomotors/Servo Drives G5-series with Built-in EtherCAT Communications Linear Motor Type User’s Manual (Cat. No. I577).
*2. Refer to Unit Conversion Settings in the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for information on command units.