VD2 Homing mode?

Last modified by Wecon on 2025/09/03 21:03

Homing Function

The VD2 homing function is used in conjunction with position mode control where the mechanical home position needs to be accurately located. The home return function can be used for single-turn or multi-turn absolute motors.

The homing startup mode supports a variety of methods, including DI startup and power-on automatic operation, and there are 35 modes, so you can choose the mode that is suitable for the current working conditions.

The following operations are performed when the home return is completed:

Output the home return completion DO signal [DO Function Selection 149: Home Return Completion].
Automatically perform the multiturn encoder reset operation [P10-6] set to 2
Reset the number of rotations of the multi-turn absolute encoder [U0-55] to 0
Set the current position of the multi-turn absolute encoder [U0-56] to P10-8 home position offset value

Note: The above 2~4 points are only for multi-turn motors, for single-turn motors have no significance.

Homing function related parameters

P01-39	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-39	Homing start mode	Stop setting	Effective immediately	0	0 to 4	-	-

Setting value	Function
0	Close
1	Start after servo first on
2	DI start
3	Reserved
4	Reserved

P01-40	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-40	Homing mode	Stop setting	Effective immediately	0	0 to 35	-	-
Homing mode, please refer to the manual for the details. ✎Note: VD2 disabled the 4 homing modes: 15, 16, 31 and 32. If set, motor does not execute.

P01-41	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-41	High speed search homing signal speed	Operation setting	Effective immediately	600	1 to 3000	-	rpm
Homing mode, please refer to the manual for the details.

P01-42	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-42	Low-speed search homing signal speed	Operation setting	Effective immediately	60	1 to 300	-	rpm
Low speed search homing signal time in homing mode

P01-43	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-43	Homing acceleration and deceleration time	Operation setting	Effective immediately	50	1 to 1000	-	-
Acceleration and deceleration time in homing mode Time for a JOG instruction to accelerate from 0 to 1000 rpm.

P01-44	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P01-44	Homing timeout limit time	Operation setting	Effective immediately	65535	100 to 65535	-	-
Homing timeout limit time

P10-08	Parameter name	Setting method	Effective time	Default	Range	Category	Unit
P10-08	Multi-turn absolute encoder origin offset compensation	Operation setting	Effective immediately	0	2147483647 to 2147483646	Accessibility	-
P10-08 multi-turn absolute encoder origin offset compensation is used in conjunction with U0-56 multi-turn absolute encoder current position. When P10-6 is set to 1, the value of U0-56 is updated to P10-8.

DI function selection

P6-X DI-X function code

25	HOME_START
26	HOME_ORG(Homing signal)

P6-X DO-X function code

149	HOME_ATTAIN(The homing completes signal)

The homing mode : 06 Operation - Wecon

Application Flow

Setting Homing mode parameters

Setting value	Function
P01-39=2	DI start
P01-40=X	Homing mode
P01-41=X	High speed search homing signal speed
P01-42=X	Low-speed search homing signal speed
P01-43=X	Homing acceleration and deceleration time
P01-44=X	Homing timeout limit time
P10-08=X	Multi-turn absolute encoder origin offset compensation