User`s manual

7.7 Serial Commands
7-17
7
Serial Command Communications
ZRN
Note: 1.The software limits (PnB21 and PnB23) are disabled until homing is completed.
They are enabled after homing is completed. On the other hand, the overtravel sig-
nals (P-OT and N-OT signals) are enabled before homing is completed.
2. When an incremental encoder is being used, homing will be completed if the ZSET
command (coordinates setting) is executed instead of homing.
3. Error E5DE will occur if the ZRN command is executed while PnB31 = 0.
4. Homing can be performed only when an incremental encoder is being used. Error
E61E will occur if the ZRN command is executed and an absolute encoder is being
used.
Control Commands (cont’d)
Serial Command Function/Description
Positive
Response
PnB25
Origin (Incremental Encoder)
Absolute Encoder Offset (Absolute Encoder)
Setting Range Setting Unit Factory Setting When Enabled
-99999999 to
[phone]
Reference unit 0 After restart
Parameter Meaning When Enabled
PnB31
0
[Factory
setting]
Does not execute homing.
After restart
1 /DEC and phase C are used for homing.
2 Only /DEC is used for homing.
3 Only phase C is used for homing.
PnB32
0
[Factory
setting]
/HOME or ZRN command is used for
homing in forward direction.
Immediately
1
/HOME or ZRN command is used for
homing in reverse direction.
PnB33
Homing Moving Speed
Setting Range Setting Unit Factory Setting When Enabled
1 to 99999999
1000
Reference units/
min
1000 Immediately
PnB35
Homing Approach Speed
Setting Range Setting Unit Factory Setting When Enabled
1 to 99999999
1000
Reference units/
min
1000 Immediately
PnB37
Homing Creep Speed
Setting Range Setting Unit Factory Setting When Enabled
1 to 99999999
1000
Reference units/
min
1000 Immediately
PnB39
Homing Final Move Distance
Setting Range Setting Unit Factory Setting When Enabled
-99999999 to
[phone]
Reference unit 0 Immediately