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[Speed during search for zero (Obj. 6099h: 02h)]
Data Type
Access
U32
RW
Supported firmware version
ECT
A5
Description
Set a creep speed after proximity dog at homing. If [Pr. PT02.7 Internal position command - Process speed selection] is set to
"0" and the set speed exceeds 8000 r/min (or mm/s), the servo motor speed is clamped at 8000 r/min (or mm/s). When
changing the maximum value of "Range" to the permissible speed, set [Pr. PA28.4 Speed range limit selection] to "1". The
description of the object varies as shown in the table below, depending on the combination of the settings of [Pr. PT01.2 Unit
for position data], [Pr. PT01.1 Speed/acceleration/deceleration unit selection], and the connected servo motor.
[Pr. PT01.2]
[Pr. PT01.1]
0 (encoder unit)
0 (mm)
1 (command unit)
1 (inch)
2 (degree)
3 (pulse)
15.4
[Homing acceleration (Obj. 609Ah)]
[Homing acceleration (Obj. 609Ah: 00h)]
Data Type
Access
U32
RW
Supported firmware version
ECT
A5
Description
Set the acceleration/deceleration time constants at homing. Set a time for the servo motor to reach the rated speed. The
description of the object varies as shown in the table below depending on the settings of [Pr. PT01.2 Unit for position data]
and [Pr. PT01.1 Speed/acceleration/deceleration unit selection].
[Pr. PT01.2]
[Pr. PT01.1]
0 (encoder unit)
0 (mm)
1 (command unit)
1 (inch)
2 (degree)
3 (pulse)
*1 When "0" is set, the servo motor decelerates in accordance with the setting value of [Pr. PT56].
Mapping
Default
RxPDO
Refer to the
following.
Connected servo
motor
Rotary servo motor
Linear servo motor
Mapping
Default
RxPDO
Refer to the
following.
Default
0
0
Range
Units
0 to maximum
vel units
speed
Default
Units
1000
0.01 r/min
0.01 mm/s
100000
0.001 mm/s
0.0001 inch/s
0.001 degree/s
pulse/s
Range
Units
Refer to the
acc units
following.
Range
Units
0 to 20000
ms
*1
0 to 4294967295
0.001 mm/s
0.0001 inch/s
0.001 degree/s
2
pulse/s
15.4 [Homing acceleration (Obj. 609Ah)]
Save
Parameter
Possible
Refer to the
following.
Parameter
[Pr. PT06]
[Pr. PV13]
Save
Parameter
Possible
Refer to the
following.
Parameter
[Pr. PT56]
2
[Pr. PV15]
2
2
15 Homing Mode Objects
15
181
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