Q.The combination of AZ Series EtherCAT compatible driver and OMRON Corporation PLC is controlled using the internal profile of the driver. What home-seeking modes are there in homing mode (HM)?

Homing mode (HM) is a mode used in return-to-home such as profile position mode (PP).
Methods for return-to-home can be broadly categorized into the following two classifications. Which return-to-home mode to be used is set in the "Homing method Object (6098h)."

• *In cyclic synchronous position mode (CSP), use a function block such as MC commands to perform return-to-home operation in order to manage coordinates at a higher level.
• *The Homing method can also be set from MEXE02 (object in the profile area).
• *Wire the limit sensor and home sensor to the AZ driver.

Return-to-home operation of CiA402 driver profile

The following homing methods are supported by CiA402.

• Return-to-home by the home sensor (HOMES), starts in the positive direction (24) *default value
• Return-to-home by the home sensor (HOMES), starts in the negative direction (28)
• Return-to-home by the limit sensor (FW-LS/RV-LS), starts in the negative direction (17)
• Return-to-home by the limit sensor (FW-LS/RV-LS), starts in the positive direction (18)
• Home preset (35, 37) (35 and 37 have the same operation)

Return-to-home operation of Oriental Motor's specifications

When "Homing method (6098h)" is set to "-1," the homing mode of Oriental Motor's specifications is used. The homing method for Oriental Motor's specifications is as follows.

• 2-sensors (0)
• 3-sensors (1) *default value
• One-way rotation (2)
• Push-motion (3)

For the homing method of Oriental Motor's specifications, please configure settings in "(HOME) Home-seeking mode".

• *The homing method of Oriental Motor's specifications can also be set from the support software MEXE02.
  Set "JOG/HOME/ZHOME operation setting (47F5h)" to "Manual setting."

Related Information: AZ Series EtherCAT Compatible Driver FAQ