User`s manual

7 Serial Command Communications
7.7.2 Control Commands
7-16
ZRN
Homing Start
Starts homing.
When homing has been stopped with the HOLD command, homing will be restarted (the hold
will be cleared) when the ZRN command is executed again.
The parameters for homing are specified in parameters PnB31 to PnB39.
The current position when homing is completed is specified in PnB25.
When the control power supply is turned ON and homing is completed, the value of the current
position is replaced with the value in PnB25.
OK
Control Commands (cont’d)
Serial Command Function/Description
Positive
Response
PnB31
Homing Method
PnB32
Homing Direction
PnB33 to PnB39
PnB31 = 0:
No homing.
Homing ends when
the control power
supply is turned ON.
––
PnB31 = 1:
Uses the /DEC signal
and the encoder’s
phase C.
PnB32 = 0: Forward
PnB32 = 1: ReversePnB31 = 2:
Uses the /DEC signal
only.
PnB31 = 3:
Uses the encoder’s
phase C only.
ZRN
/DEC
Moving
speed
(PnB33)
Approach
speed
(PnB35)
Creep
speed
(PnB37)
Final Move
Distance
(PnB39)
Encoder phase C
First encoder phase-C signal after the
/DEC signal went from OFF to ON.
ZRN
/DEC
Approach
speed
(PnB35)
Creep
speed
(PnB37)
Final Move Dis-
tance (PnB39)
ZRN
Approach
speed
(PnB35)
Creep
speed
(PnB37)
Final Move Dis-
tance (PnB39)
Encoder
phase C