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Changes for page 06 Operation

Last modified by Iris on 2025/07/23 15:49
From version 98.1
edited by Mora Zhou
on 2025/04/29 10:46
Change comment: There is no comment for this version
To version 102.2
edited by xingzhi lin
on 2025/05/26 09:21
Change comment: There is no comment for this version

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Details

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Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Mora
1 +XWiki.lxz
Content
... ... @@ -2878,3 +2878,857 @@
2878 2878  (((
2879 2879  ✎**Note:** It is advised to configure function codes for DO terminals in sequence to avoid errors. Please use the shielded overload protection fault detection function with caution, otherwise it will cause burn out the motor.
2880 2880  )))
2881 +
2882 +
2883 += Homing mode =
2884 +
2885 +The homing mode is used to find the mechanical origin and locate the positional relationship between the mechanical origin and the mechanical zero.
2886 +
2887 +Mechanical homing: A mechanically fixed position may correspond to a certain defined homing switch, or may correspond to the motor Z signal.
2888 +
2889 +Mechanical zero point: Mechanically absolute 0 position.
2890 +
2891 +After the homing, the stop position of the motor is the mechanical homing. By setting P10-08, the relationship between the mechanical homing and the mechanical zero can be set:
2892 +
2893 +Mechanical homing = Mechanical zero +P10-08 (homing offset)
2894 +
2895 +When P10-08=0, the mechanical homing coincides with the mechanical zero.
2896 +
2897 +== Control block diagram ==
2898 +
2899 +
2900 +=== Homing mode related function codes ===
2901 +
2902 +|Function code|Name|(((
2903 +Setting
2904 +
2905 +method
2906 +)))|(((
2907 +Effective
2908 +
2909 +time
2910 +)))|Default|Range|Definition|Unit
2911 +|P01-39|Homing start mode|(((
2912 +Stop
2913 +
2914 +settings
2915 +)))|(((
2916 +Immediately
2917 +
2918 +effective
2919 +)))|0|0 to 2|(((
2920 +0: Close
2921 +
2922 +1: The servo is powered ON and started after the first ON
2923 +
2924 +2: DI enable
2925 +)))|-
2926 +
2927 +|Function code|Name|(((
2928 +Setting
2929 +
2930 +method
2931 +)))|(((
2932 +Effective
2933 +
2934 +time
2935 +)))|Default|Range|Definition|Unit
2936 +|P01-40|Homing mode|(((
2937 +Stop
2938 +
2939 +settings
2940 +)))|(((
2941 +Immediately
2942 +
2943 +effective
2944 +)))|0|0 to 35|(((
2945 +0 ~~ 35 Homing mode;
2946 +
2947 +✎Note: VD2 currently does not support 15, 16, 31, 32 modes
2948 +)))|-
2949 +
2950 +|Function code|Name|(((
2951 +Setting
2952 +
2953 +method
2954 +)))|(((
2955 +Effective
2956 +
2957 +time
2958 +)))|Default|Range|Definition|Unit
2959 +|P01-41|High-speed search deceleration point signal velocity|(((
2960 +Running
2961 +
2962 +settings
2963 +)))|(((
2964 +Immediately
2965 +
2966 +effective
2967 +)))|300|1 to 3000|High-speed search deceleration point signal velocity in homing mode|rpm
2968 +
2969 +|Function code|Name|(((
2970 +Setting
2971 +
2972 +method
2973 +)))|(((
2974 +Effective
2975 +
2976 +time
2977 +)))|Default|Range|Definition|Unit
2978 +|P01-42〇|Low speed search homing signal speed|(((
2979 +Running
2980 +
2981 +settings
2982 +)))|(((
2983 +Immediately
2984 +
2985 +effective
2986 +)))|60|1 to 300|Low-speed search origin signal velocity in homing mode|rpm
2987 +
2988 +|Function code|Name|(((
2989 +Setting
2990 +
2991 +method
2992 +)))|(((
2993 +Effective
2994 +
2995 +time
2996 +)))|Default|Range|Definition|Unit
2997 +|P01-43〇|Homing acceleration and deceleration|(((
2998 +Running
2999 +
3000 +settings
3001 +)))|(((
3002 +Immediately
3003 +
3004 +effective
3005 +)))|50|1to1000|(((
3006 +Acceleration and deceleration in homing mode
3007 +
3008 +Time for speed acceleration from 0 to 1000rpm
3009 +)))|ms
3010 +
3011 +|Function code|Name|(((
3012 +Setting
3013 +
3014 +method
3015 +)))|(((
3016 +Effective
3017 +
3018 +time
3019 +)))|Default|Range|Definition|Unit
3020 +|P01-44〇|Homing timeout limited time|(((
3021 +Running
3022 +
3023 +settings
3024 +)))|(((
3025 +Immediately
3026 +
3027 +effective
3028 +)))|65535|100 to 65535|Homing timeout limited time|ms
3029 +
3030 +|Function code|Name|(((
3031 +Setting
3032 +
3033 +method
3034 +)))|(((
3035 +Effective
3036 +
3037 +time
3038 +)))|Default|Range|Definition|Unit
3039 +|P10-08〇|Multi-turn absolute encoder homing offset compensation|(((
3040 +Running
3041 +
3042 +settings
3043 +)))|(((
3044 +Immediately
3045 +
3046 +effective
3047 +)))|0|(((
3048 +-2147483647~~
3049 +
3050 +2147483646
3051 +)))|(((
3052 +P10-08 multi-turn absolute encoder homing offset compensation is used in conjunction with U0-56 multi-turn absolute encoder current position.
3053 +
3054 +When P10-6 is set to 1, the value of U0-56 is updated to P10-8.
3055 +)))|-
3056 +
3057 +== Introduction to homing mode ==
3058 +
3059 +In the following figure, "H" represents P01-41 (high-speed search deceleration point signal speed), and "L" represents P01-42 (low-speed search homing signal speed).
3060 +
3061 +
3062 +(1) P01-40 =1
3063 +
3064 +Mechanical homing: Motor Z signal
3065 +
3066 +Deceleration point: Reverse limit switch (NOT)
3067 +
3068 +① The deceleration point signal is invalid when starting homing
3069 +
3070 +(% style="text-align:center" %)
3071 +[[image:1748221916083-747.jpg||height="347" width="600"]]
3072 +
3073 +When it starts to homing, NOT=0, it starts to homing at a high speed in the reverse direction. After encountering the rising edge of NOT, it decelerates and reverses the direction, runs at a low speed in the forward direction, and stops at the first Z signal after encountering the falling edge of NOT.
3074 +
3075 +
3076 +② The deceleration point signal is valid when starting homing
3077 +
3078 +(% style="text-align:center" %)
3079 +[[image:1748222134730-241.jpg||height="341" width="600"]]
3080 +
3081 +When starting to homing, NOT=1, it starts to homing at a direct forward low speed, and stops at the first Z signal after encountering the falling edge of NOT.
3082 +
3083 +
3084 +
3085 +
3086 +
3087 +
3088 +(2) P01-40=2
3089 +
3090 +Mechanical homing: Motor Z signal
3091 +
3092 +Deceleration point: Positive Limit Switch (POT)
3093 +
3094 +① The deceleration point signal is invalid when starting homing
3095 +
3096 +(% style="text-align:center" %)
3097 +[[image:1748222168627-745.jpg||height="334" width="600"]]
3098 +
3099 +
3100 +When it starts to homing, POT = 0, and it starts to homing at a forward high speed. After encountering the rising edge of POT, it decelerates and reverses, runs at a reverse low speed, and stops at the first Z signal after encountering the falling edge of POT.
3101 +
3102 +
3103 +② The deceleration point signal is valid when starting homing
3104 +
3105 +(% style="text-align:center" %)
3106 +[[image:1748222190794-857.jpg||height="337" width="600"]]
3107 +
3108 +POT=1 when start homing, run at low speed directly in the reverse direction, and stops at the first Z signal after the falling edge of POT.
3109 +
3110 +
3111 +
3112 +(3) P01-40=3
3113 +
3114 +Mechanical homing: Motor Z signal
3115 +
3116 +Deceleration point: Home switch (HW)
3117 +
3118 +① The deceleration point signal is invalid when starting homing
3119 +
3120 +(% style="text-align:center" %)
3121 +[[image:1748222203229-740.jpg||height="337" width="600"]]
3122 +
3123 +
3124 +When it starts to homing, HW=0. It starts to homing at a forward high speed. After encountering the rising edge of HW, it decelerates and reverses the direction. It runs at a reverse low speed. After encountering the falling edge of HW, it continues to run, and then stops when encountering the first Z signal.
3125 +
3126 +
3127 +② The deceleration point signal is valid when starting homing
3128 +
3129 +(% style="text-align:center" %)
3130 +[[image:1748222259038-454.jpg||height="337" width="600"]]
3131 +
3132 +When starting homing, HW=1, start homing at low speed in reverse directly, and stop at the first Z signal after encountering the falling edge of HW;
3133 +
3134 +
3135 +
3136 +
3137 +
3138 +
3139 +
3140 +
3141 +
3142 +
3143 +
3144 +
3145 +
3146 +(4) P01-40=4
3147 +
3148 +Mechanical homing: Motor Z signal
3149 +
3150 +Deceleration point: Home switch (HW)
3151 +
3152 +① The deceleration point signal is invalid when starting homing
3153 +
3154 +(% style="text-align:center" %)
3155 +[[image:1748222356175-586.jpg||height="337" width="600"]]
3156 +
3157 +HW=0 when starting to homing, directly start to homing at low speed, and stop at the first Z signal after encountering the rising edge of HW;
3158 +
3159 +
3160 +② The deceleration point signal is valid when starting homing
3161 +
3162 +(% style="text-align:center" %)
3163 +[[image:1748222408099-521.jpg||height="338" width="600"]]
3164 +
3165 +
3166 +When starting to homing, HW = 1, start to homing at a high speed in the reverse direction. After encountering the falling edge of HW, decelerate and reverse, run at a low speed in the forward direction, and stop at the first Z signal after encountering the rising edge of HW.
3167 +
3168 +
3169 +
3170 +
3171 +
3172 +(5) P01-40=5
3173 +
3174 +Mechanical homing: Motor Z signal
3175 +
3176 +Deceleration point: Home switch (HW)
3177 +
3178 +① The deceleration point signal is invalid when starting homing
3179 +
3180 +(% style="text-align:center" %)
3181 +[[image:1748222430449-293.jpg||height="337" width="600"]]
3182 +
3183 +When it starts to homing, HW = 0, and it starts to homing at a reverse high speed. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a forward low speed, and stops at the first Z signal after encountering the falling edge of HW.
3184 +
3185 +
3186 +② The deceleration point signal is valid when starting homing
3187 +
3188 +(% style="text-align:center" %)
3189 +[[image:1748222448727-825.jpg||height="337" width="600"]]
3190 +
3191 +When starting homing, HW=1, it will start homing directly at low speed, and the first Z signal after encountering the falling edge of HW will stop;
3192 +
3193 +
3194 +
3195 +
3196 +
3197 +(6) P01-40=6
3198 +
3199 +Mechanical homing: Motor Z signal
3200 +
3201 +Deceleration point: Home switch (HW)
3202 +
3203 +① The deceleration point signal is invalid when starting homing
3204 +
3205 +(% style="text-align:center" %)
3206 +[[image:1748222469183-894.jpg||height="337" width="600"]]
3207 +
3208 +When starting to homing, HW=0, directly reverse low speed starts to homing, and the first Z signal stops after encountering the rising edge of HW;
3209 +
3210 +
3211 +② The deceleration point signal is valid when starting homing
3212 +
3213 +(% style="text-align:center" %)
3214 +[[image:1748222485622-911.jpg||height="337" width="600"]]
3215 +
3216 +When starting to homing, HW = 1, start to homing at a forward high speed, after encountering the falling edge of HW, decelerate and reverse, run at a reverse low speed, and stop at the first Z signal after encountering the rising edge of HW.
3217 +
3218 +
3219 +
3220 +
3221 +
3222 +(7) P01-40=7
3223 +
3224 +Mechanical homing: Motor Z signal
3225 +
3226 +Deceleration point: Home switch (HW)
3227 +
3228 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3229 +
3230 +
3231 +
3232 +When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and reverses the direction, and runs at a reverse low speed. The first Z signal after encountering the falling edge of HW stops.
3233 +
3234 +
3235 +When homing, the deceleration point signal is invalid and the forward limit switch is encountered
3236 +
3237 +
3238 +When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If it encounters a limit switch, it will automatically reverse and run at a reverse high speed. After encountering the rising edge of HW, it will slow down and continue to run at a reverse low speed. The first Z signal after the falling edge of HW will stop.
3239 +
3240 +
3241 +③ The deceleration point signal is valid when starting homing
3242 +
3243 +
3244 +When starting homing, HW=1, then directly reverse the low speed to start homing, and stop the first Z signal after encountering the falling edge of HW;
3245 +
3246 +
3247 +(8) P01-40=8
3248 +
3249 +Mechanical homing: Motor Z signal
3250 +
3251 +Deceleration point: Home switch (HW)
3252 +
3253 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3254 +
3255 +
3256 +When it starts to homing, HM-0 starts to homing at a forward high speed. If it does not encounter the limit switch, after encountering the rising edge of HW, slow down and reverse, and run at a reverse low speed. After encountering the falling edge of HW, reverse, run at a forward low speed, and stop at the first Z signal after encountering the rising edge of HW.
3257 +
3258 +
3259 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3260 +
3261 +
3262 +When it starts to homing, HW = 0, and it starts to homing at forward high speed. If it encounters a limit switch, it will automatically reverse and run at reverse high speed; After encountering the rising edge of HW, slow down and run at a reverse low speed; After encountering the falling edge of HW, reverse the direction, run at a forward low speed, and stop the first Z signal after encountering the rising edge of HW.
3263 +
3264 +
3265 +③ The deceleration point signal is valid when starting homing
3266 +
3267 +
3268 +When starting to homing, HM-1 will directly reverse and start to return to zero at low speed. After encountering the falling edge of HW, it will reverse and run at forward low speed. The first Z signal after encountering the rising edge of HW will stop.
3269 +
3270 +
3271 +
3272 +(9) P01-40=9
3273 +
3274 +Mechanical homing: Motor Z signal
3275 +
3276 +Deceleration point: Home switch (HW)
3277 +
3278 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3279 +
3280 +
3281 +When it starts to homing, HW=0, and it starts to homing at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed; After encountering the falling edge of HW, reverse, run at a low speed in the reverse direction, and stop at the first Z signal after encountering the rising edge of HW.
3282 +
3283 +
3284 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3285 +
3286 +
3287 +When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If it encounters a limit switch, it will automatically reverse and run at a reverse high speed. After encountering a rising edge of HW, it will slow down and reverse to resume forward operation. Running at a forward low speed, after encountering a falling edge of HW, it will reverse. During reverse low speed operation, the first Z signal after encountering a rising edge of HW will stop.
3288 +
3289 +③ The deceleration point signal is valid when starting homing
3290 +
3291 +
3292 +When starting homing, HW=1 starts homing directly at forward low speed. After encountering the falling edge of HW, the first Z signal after encountering the rising edge of HW stops in reverse and reverse low speed operation;
3293 +
3294 +
3295 +(10) P01-40=10
3296 +
3297 +Mechanical homing: Motor Z signal
3298 +
3299 +Deceleration point: Home switch (HW)
3300 +
3301 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3302 +
3303 +
3304 +When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, slow down and run at a forward low speed. After encountering the falling edge of HW, continue to run at a forward low speed, and then the first Z signal encountered stops.
3305 +
3306 +When homing, the deceleration point signal is invalid and the forward limit switch is encountered
3307 +
3308 +
3309 +When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If it encounters a limit switch, it will automatically reverse and run at a reverse high speed. After encountering the rising edge of HW, it will slow down and reverse to resume forward operation. The first Z signal after the low speed encounters the falling edge of HW will stop.
3310 +
3311 +
3312 +③ The deceleration point signal is valid when starting homing
3313 +
3314 +
3315 +When starting homing, HW=1, it will start homing directly at low speed, and the first Z signal after encountering the falling edge of HW will stop;
3316 +
3317 +
3318 +(11) P01-40=11
3319 +
3320 +Mechanical homing: Motor Z signal
3321 +
3322 +Deceleration point: Home switch (HW)
3323 +
3324 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3325 +
3326 +
3327 +When it starts to homing, HW=0, and it starts to homing at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and reverses the direction, runs at a forward low speed, and stops at the first Z signal after encountering the falling edge of HW.
3328 +
3329 +
3330 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3331 +
3332 +
3333 +When it starts to homing, HW=0, and it starts to homing at a reverse high speed. If it encounters a limit switch, it will automatically reverse and run at a forward high speed. After encountering a rising edge of HW, slow down and continue to run at a forward low speed. When encountering a falling edge of HW, the first Z signal after the edge stops.
3334 +
3335 +③ The deceleration point signal is valid when starting homing
3336 +
3337 +
3338 +When starting homing, HW=1, it will start homing directly at low speed, and the first Z signal after encountering the falling edge of HW will stop;
3339 +
3340 +
3341 +(12) P01-40=12
3342 +
3343 +Mechanical homing: Motor Z signal
3344 +
3345 +Deceleration point: Home switch (HW)
3346 +
3347 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3348 +
3349 +
3350 +
3351 +When it starts to homing, HW = 0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses, and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW.
3352 +
3353 +
3354 +
3355 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3356 +
3357 +
3358 +When it starts to homing, HW=0, it starts to homing at a reverse high speed, encounters a limit switch, automatically reverses, runs at a forward high speed, encounters a rising edge of HW, decelerates, runs at a forward low speed, encounters a falling edge of HW, reverses, runs at a reverse low speed, and stops at the first Z signal after encountering a rising edge of HW.
3359 +
3360 +
3361 +
3362 +③ The deceleration point signal is valid when starting homing
3363 +
3364 +
3365 +When starting to homing, HW = 1, it will directly start to homing at a forward low speed. After encountering the falling edge of HW, it will reverse and run at a reverse low speed. The first Z signal after encountering the rising edge of HW will stop.
3366 +
3367 +(13) P01-40=13
3368 +
3369 +Mechanical homing: Motor Z signal
3370 +
3371 +Deceleration point: Home switch (HW)
3372 +
3373 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3374 +
3375 +
3376 +When it starts to homing, HW=0, and it starts to homing at a reverse high speed. If it does not encounter the limit switch, after encountering the rising edge of HW, slow down and run at a reverse low speed. After encountering the falling edge of HW, reverse and run at a forward low speed, and stop at the first Z signal after encountering the rising edge of HW.
3377 +
3378 +
3379 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3380 +
3381 +
3382 +When it starts to homing, HW=0, it starts to homing at reverse high speed, encounters the limit switch, automatically reverses, runs at forward high speed, after encountering the rising edge of HW, decelerates and runs in reverse low speed, and encounters the falling edge of HW when running at reverse low speed, the first Z signal after encountering the rising edge of HW stops.
3383 +
3384 +③ The deceleration point signal is valid when starting homing
3385 +
3386 +
3387 +When starting homing, HW=1 starts homing directly at reverse low speed. After encountering the falling edge of HW, the first Z signal after encountering the rising edge of HW stops in reverse and forward low speed operation;
3388 +
3389 +
3390 +(14) P01-40=14
3391 +
3392 +Mechanical homing: Motor Z signal
3393 +
3394 +Deceleration point: Home switch (HW)
3395 +
3396 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3397 +
3398 +
3399 +When it starts to homing, HW=0, it starts to homing at reverse high speed, and does not encounter the limit switch. After encountering the rising edge of HW, it decelerates and runs at reverse low speed. After encountering the falling edge of HW, it continues to run at reverse low speed, and then the first Z signal encountered stops.
3400 +
3401 +
3402 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3403 +
3404 +
3405 +When it starts to homing, HW = 0, it starts to homing at a reverse high speed, encounters a limit switch, automatically reverses, runs at a forward high speed, encounters a rising edge of HW, decelerates and runs in a reverse direction, and stops the first Z signal after encountering a falling edge of HW at a reverse low speed.
3406 +
3407 +
3408 +③ The deceleration point signal is valid when starting homing
3409 +
3410 +
3411 +When starting homing, HW=1, then directly reverse the low speed to start homing, and stop the first Z signal after encountering the falling edge of HW;
3412 +
3413 +
3414 +(15) P01-40=17
3415 +
3416 +Mechanical homing: Negative overrun switch (NOT)
3417 +
3418 +Deceleration point: Negative overrun switch (NOT)
3419 +
3420 +① The deceleration point signal is invalid when starting homing
3421 +
3422 +
3423 +When it starts to homing, NOT = 0, it starts to homing at a high speed in the reverse direction. After encountering the rising edge of NOT, it decelerates and reverses the direction, runs at a low speed in the forward direction, and stops after encountering the falling edge of NOT.
3424 +
3425 +
3426 +② The deceleration point signal is valid when starting homing
3427 +
3428 +
3429 +When starting homing, NOT=1, start homing directly at low speed, and stop after encountering the falling edge of NOT.
3430 +
3431 +
3432 +(16) P01-40=18
3433 +
3434 +Mechanical homing: Positive overrun switch (POT)
3435 +
3436 +Deceleration point: Positive overrun switch (POT)
3437 +
3438 +① The deceleration point signal is invalid when starting homing
3439 +
3440 +
3441 +When it starts to return to zero, POT=0, it starts to homing at a forward high speed, after encountering the rising edge of POT, it decelerates and reverses, runs at a reverse low speed, and stops after encountering the falling edge of POT.
3442 +
3443 +
3444 +② The deceleration point signal is valid when starting homing
3445 +
3446 +
3447 +When starting homing, POT=1, start homing at low speed in reverse directly, and stop when encountering POT falling edge;
3448 +
3449 +
3450 +
3451 +(17) P01-40=19
3452 +
3453 +Mechanical homing: Home switch (HW)
3454 +
3455 +Deceleration point: Home switch (HW)
3456 +
3457 +① The deceleration point signal is invalid when starting homing
3458 +
3459 +
3460 +When it starts to homing, HW=0, and it starts to homing at a forward high speed. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a reverse low speed, and stops when encountering the falling edge of HW.
3461 +
3462 +
3463 +② The deceleration point signal is valid when starting homing
3464 +
3465 +
3466 +When starting homing, HW=1, start homing at low speed in reverse directly, and stop when encountering HW falling edge;
3467 +
3468 +
3469 +(18) P01-40=20
3470 +
3471 +Mechanical homing: Home switch (HW)
3472 +
3473 +Deceleration point: Home switch (HW)
3474 +
3475 +① The deceleration point signal is invalid when starting homing
3476 +
3477 +
3478 +When starting to homing, HW=0, directly start to homing at low speed, and stop after encountering the rising edge of HW;
3479 +
3480 +
3481 +② The deceleration point signal is valid when starting homing
3482 +
3483 +
3484 +When starting to homing, HW = 1, start to homing at a high speed in the reverse direction. After encountering the falling edge of HW, slow down and reverse the direction, run at a low speed in the forward direction, and stop when encountering the rising edge of HW.
3485 +
3486 +
3487 +(19) P01-40=21
3488 +
3489 +Mechanical homing: Home switch (HW)
3490 +
3491 +Deceleration point: Home switch (HW)
3492 +
3493 +① The deceleration point signal is invalid when starting homing
3494 +
3495 +
3496 +When it starts to homing, HW=0, it starts to homing at a reverse high speed. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a forward low speed, and stops when encountering the falling edge of HW.
3497 +
3498 +
3499 +② The deceleration point signal is valid when starting homing
3500 +
3501 +
3502 +When starting back to zero, HW=1, it will start homing directly at low speed, and stop after encountering the falling edge of HW;
3503 +
3504 +
3505 +(20) P01-40=22
3506 +
3507 +Mechanical homing: Home switch (HW)
3508 +
3509 +Deceleration point: Home switch (HW)
3510 +
3511 +① The deceleration point signal is invalid when starting homing
3512 +
3513 +
3514 +When starting to homing, HW=0, directly reverse low speed starts to homing, and stops when encountering HW rising edge;
3515 +
3516 +
3517 +Deceleration point signal is valid when homing start
3518 +
3519 +
3520 +When starting to homing, HW=1, start to homing at a forward high speed, after encountering the falling edge of HW, slow down and reverse, run at a reverse low speed, and stop when encountering the rising edge of HW.
3521 +
3522 +
3523 +(21) P01-40=23
3524 +
3525 +Mechanical homing: Home switch (HW)
3526 +
3527 +Deceleration point: Home switch (HW)
3528 +
3529 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3530 +
3531 +
3532 +When it starts to homing, HW = 0, it starts to homing at a forward high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses, runs at a reverse low speed, and stops when encountering the falling edge of HW.
3533 +
3534 +
3535 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3536 +
3537 +
3538 +When you start homing, HW = 0, start homing at a forward high speed. When encountering the limit switch, it will automatically reverse and run at a reverse high speed. After encountering the rising edge of HW, slow down, continue to run at reverse low speed, and stop when encountering the HW falling edge.
3539 +
3540 +
3541 +
3542 +③ The deceleration point signal is valid when starting homing
3543 +
3544 +
3545 +When it starts to homing, HW=1, it starts to homing at a reverse low speed, and stops when it encounters the falling edge of HW.
3546 +
3547 +
3548 +(22) P01-40=24
3549 +
3550 +Mechanical homing: Home switch (HW)
3551 +
3552 +Deceleration point: Home switch (HW)
3553 +
3554 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3555 +
3556 +
3557 +When it starts to homing, HW = 0, it starts to homing at a forward high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses, and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops when encountering the rising edge of HW.
3558 +
3559 +
3560 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3561 +
3562 +
3563 +When it starts to homing, HW = 0, it starts to homing at forward high speed, encounters the limit switch, automatically reverses, runs at reverse high speed, encounters the rising edge of HW, decelerates and runs at reverse low speed, encounters the falling edge of HW, reverses, runs at forward low speed, and stops when encountering the rising edge of HW.
3564 +
3565 +
3566 +③ The deceleration point signal is valid when starting homing
3567 +
3568 +
3569 +When starting with homing, HW = 1, it will directly reverse the low speed and start to homing. After encountering the falling edge of HW, it will reverse the direction and run at a forward low speed, and stop when encountering the rising edge of HW.
3570 +
3571 +
3572 +(23) P01-40=25
3573 +
3574 +Mechanical homing: Home switch (HW)
3575 +
3576 +Deceleration point: Home switch (HW)
3577 +
3578 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3579 +
3580 +
3581 +When it starts to homing, HW=0, it starts to homing at a forward high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops when encountering the rising edge of HW.
3582 +
3583 +
3584 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3585 +
3586 +
3587 +When it starts to homing, HW=0, it starts to homing at forward high speed, encounters the limit switch, automatically reverses, and runs at reverse high speed. After encountering the rising edge of HW, decelerate and reverse to resume forward operation. After encountering the falling edge of HW at forward low speed, reverse. When running at reverse low speed, stop when encountering the rising edge of HW.
3588 +
3589 +
3590 +③ The deceleration point signal is valid when starting homing
3591 +
3592 +
3593 +When starting homing, when HW=1, it starts to homing directly at low speed in the forward direction. After encountering the falling edge of HW, it stops at the rising edge of HW in the reverse low speed operation
3594 +
3595 +
3596 +(24) P01-40=26
3597 +
3598 +Mechanical homing: Home switch (HW)
3599 +
3600 +Deceleration point: Home switch (HW)
3601 +
3602 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3603 +
3604 +
3605 +When it starts to homing, HW=0, it starts to homing at a forward high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates, runs at a forward low speed, and stops when encountering the falling edge of HW.
3606 +
3607 +
3608 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3609 +
3610 +
3611 +When it starts to homing, HW=0, it starts to homing at forward high speed, encounters the limit switch, automatically reverses, and runs at reverse high speed. After encountering the rising edge of HW, decelerates and reverses to resume forward operation, and stops when encountering the falling edge of HW at forward low speed.
3612 +
3613 +
3614 +③ The deceleration point signal is valid when starting homing
3615 +
3616 +
3617 +When starting homing, HW=1, it will start homing directly at low speed, and stop when encountering HW falling edge;
3618 +
3619 +
3620 +(25) P01-40=27
3621 +
3622 +Mechanical homing: Home switch (HW)
3623 +
3624 +Deceleration point: Home switch (HW)
3625 +
3626 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3627 +
3628 +
3629 +When it starts to homing, HW=0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a forward low speed, and stops when encountering the falling edge of HW.
3630 +
3631 +
3632 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3633 +
3634 +
3635 +When it starts to homing, HW=0, it starts to homing at a reverse high speed. When it encounters a limit switch, it automatically reverses and runs at a forward high speed. When it encounters a rising edge of HW, it decelerates and continues to run at a forward low speed. When it encounters a falling edge of HW, it stops.
3636 +
3637 +
3638 +③ The deceleration point signal is valid when starting homing
3639 +
3640 +
3641 +When starting homing, HW=1, it will start homing directly at low speed, and stop when encountering HW falling edge;
3642 +
3643 +
3644 +(26) P01-40=28
3645 +
3646 +Mechanical homing: Home switch (HW)
3647 +
3648 +Deceleration point: Home switch (HW)
3649 +
3650 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3651 +
3652 +
3653 +When it starts to homing, HW=0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses, and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops when encountering the rising edge of HW.
3654 +
3655 +
3656 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3657 +
3658 +
3659 +When it starts to homing, HW=0, it starts to homing at a reverse high speed. When encountering a limit switch, it automatically reverses and runs at a forward high speed. When encountering a rising edge of HW, it decelerates and runs at a forward low speed. When encountering a falling edge of HW, it reverses and runs at a reverse low speed. When encountering a rising edge of HW, it stops.
3660 +
3661 +
3662 +③ The deceleration point signal is valid when starting homing
3663 +
3664 +
3665 +When starting with homing, HW = 1, it will directly start to homing at a forward low speed. After encountering the falling edge of HW, it will reverse and run at a reverse low speed. When encountering the rising edge of HW, it will stop.
3666 +
3667 +
3668 +(27) P01-40=29
3669 +
3670 +Mechanical homing: Home switch (HW)
3671 +
3672 +Deceleration point: Home switch (HW)
3673 +
3674 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3675 +
3676 +
3677 +When it starts to homing, HW = 0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops when encountering the rising edge of HW.
3678 +
3679 +
3680 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3681 +
3682 +
3683 +When it starts to homing, HW=0, it starts to homing at a reverse high speed. When it encounters a limit switch, it automatically reverses and runs at a forward high speed. After encountering a rising edge of HW, it decelerates and runs in a reverse low speed. After encountering a falling edge of HW, it reverses. When running at a forward low speed, it stops when it encounters a rising edge of HW.
3684 +
3685 +③ The deceleration point signal is valid when starting homing
3686 +
3687 +
3688 +When starting homing, when HW=1, it starts to homing directly at low speed in reverse direction. After encountering the falling edge of HW, it stops when running at low speed in reverse direction and forward direction and encountering the rising edge of HW
3689 +
3690 +
3691 +(28) P01-40=30
3692 +
3693 +Mechanical homing: Home switch (HW)
3694 +
3695 +Deceleration point: Home switch (HW)
3696 +
3697 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3698 +
3699 +
3700 +When it starts to homing, HW=0, it starts to homing at reverse high speed, and does not encounter the limit switch. After encountering the rising edge of HW, it decelerates, runs at reverse low speed, and stops when encountering the falling edge of HW.
3701 +
3702 +
3703 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3704 +
3705 +
3706 +When it starts to homing, HW=0, it starts to homing at a reverse high speed. When it encounters a limit switch, it automatically reverses and runs at a forward high speed. When it encounters a rising edge of HW, it decelerates and runs in a reverse low speed. When it encounters a falling edge of HW, it stops.
3707 +
3708 +
3709 +③ The deceleration point signal is valid when starting homing
3710 +
3711 +
3712 +When starting homing, HW=1, start homing at low speed in reverse directly, and stop when encountering HW falling edge;
3713 +
3714 +
3715 +(29) P01-40=33 and P01-40=34
3716 +
3717 +Mechanical homing: Z signal.
3718 +
3719 +Deceleration point: None
3720 +
3721 +Homing mode 33: Reverse low speed operation, stop the first Z signal encountered
3722 +
3723 +Homing mode 34: running at low speed in forward direction, stopping the first Z signal encountered
3724 +
3725 +
3726 +
3727 +(30) P01-40=35
3728 +
3729 +Homing mode 35, taking the current position as the mechanical homing, after triggering the homing (P01-39: 0x00→0x01/0x00 → 0x02);
3730 +
3731 +After the homing is completed, according to the set value of P10-08 (homing bias compensation), P10-06 (encoder multi-turn reset operation) is executed.
3732 +
3733 +
3734 +
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