iEM-RS Series Modbus RS485 Integrated Stepper Motor
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5.2.1 Homing Parameters
Parameters
Register address Definition
Description
Pr8.10
0x600A
Homing mode
Bit0: homing direction
=0:CCW;
=1:CW.
Bit1: move to the Specified point after homing?
=0: No;
=1: Yes.
Bit2: homing type
=0: Homing by detecting limit switch signal
=1: Homing by detecting Home Switch signal
Note:
(1) Write 0x21 to the address 0x6002 to set the current point
to zero position;
(2) Write 1 to the bit2 of address 0x6000 can set to
auto-homing after powering on;
Pr8.11
0x600B
Home Switch
position high bits
The Home Switch position on the coordinate system .
Pr8.11 is high 16 bits, and Pr8.12 is low 16 bits
Pr8.12
0x600C
Home Switch low
bits
Pr8.13
0x600D
Homing stop
position high bits
The motor moves to the Specified position after homing. If
bit1 of Pr8.10=1, the motor will move to Specified absolute
position. Pr8.13 is high 16 bits , and Pr8.14 is low 16 bits.
Pr8.14
0x600E
Homing stop
position low bits
Pr8.15
0x600F
Homing high
velocity
The 1
st
segment velocity of homing, unit: rpm
Pr8.16
0x6010
Homing low
velocity
The 2
nd
segment velocity of homing, unit: rpm
Pr8.17
0x6011
Homing Acc
Acc of homing, unit: ms/1000rpm
Pr8.18
0x6012
Homing Dec
Dec of homing, unit: ms/1000rpm
Note: Generally homing to find the zero position, the motion is decelerating to stop, so after finding the zero
position will also move a distance, resulting in the actual read position value may not be mechanical zero point, but
will still output homing completion signal. If the motion is an absolute position mode, it does not matter. But if the
user does care about the zero position, you can set the value of home offset to reach the mechanical zero point
5.2.2. Homing by Home Switch
Set value 1 to the bit2 of 0x600A, and then according to the homing direction, positive or negative limit switch and location of
home switch, it can be combined into the following four cases.
(1) Home Switch & Positive Limit Switch
