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Appendices
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
A-1 CiA402 Drive Profile
A
A-1-6 Homing Mode Specifications
z Homing Method 35: Present Home Presetting
In this Homing method, the present position is considered as the origin.
Set the mode in Coordinate System Setting Mode (4103 hex). By using the Coordinate System
Setting Position (4104 hex), you can specify the value of the present position.
You can use this method even when you are using an absolute encoder, but the position is not
saved in the Home offset (607C hex). When the control power is turned OFF or when Config
(4100 hex) is executed, the origin set by this Homing method is disabled.
This Homing method can be executed only when the mode of operation is set to Homing mode (hm)
and the servo is ON.
If this Homing method is executed during the latch operation, the latch operation is disabled.
A homing error (Home error) 1 will occur in the following cases.
• During the Cyclic synchronous velocity mode (csv) or Cyclic synchronous torque mode (cst)
• When backlash compensation is not completed.
Coordinate System Setting Mode (4103 hex)
*1 For the set value, refer to the table below.
The operation vary depending on whether [POS_SEL] is in bit 3 or not.
When [POS_SEL] is in bit 3
Set the value of the Coordinate System Setting Position (4104 hex) to the Position Demand
Value (6062 hex) and Position Demand Value After Filtering (4018 hex).
For the Position actual value (6064 hex), set the value obtained by subtracting the Following
Error Actual Value (60F4 hex) from the Position Demand Value After Filtering (4018 hex).
When [POS_SEL] is not in bit 3
A homing error (Homing error = 1) will occur.
For the [REFE], refer to the table below.
Precautions for Correct UsePrecautions for Correct Use
The REFE bits are enabled only when an incremental encoder is used. An absolute encoder is
always in a Homing attained state.
Index Sub-index Name R/W
Data
type
Unit Min Max Default
4103 hex 00 hex POS_SET_MODE
(Coordinate System
Setting Mode)
rw U16 –
*1 *1
83 hex
Bit 15 to 8 7 6 5 4 3 to 0
Reserved (“0”) REFE 0 0 0 POS_SEL
Set value Conditions
0 The Homing not attained state is reached when this Homing method ends normally.
1 The Homing attained state is reached when this Homing method ends normally.
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