Q.The combination of AZ Series EtherCAT compatible driver and OMRON Corporation PLC is controlled using MC commands. How do I execute return-to-home?

If you would like to use the internal profile of the driver (Operation mode PP, PV, HM mode), check the FAQ here.

Return-to-home can be performed using the MC command (MC_Home).

1. Select the homing method in the axis settings of Sysmac Studio by OMRON Corporation.
   The mode written within the red frame in the figure shows the homing method supported by the AZ Series.

   

2. Execute the MC_Home command.

   

   • *The above is a setting example. The contact name and MC command name are optional.

[Note]

• The automatic torque limiting function of the MC_Home command cannot be used with the AZ Series. For this reason, you cannot use the proximity evacuation or pushing time specifications, nor the no-home proximity input or pushing home input specifications.
• If you select a homing method other than "Limit Input Only" or "Home Preset," you need to map the latch function (60B8h), latch status (60B9h), latch position 1 (60BAh), and digital inputs (60FDh) in PDO mapping.
• When the homing method is set to "Limit Input Only," the digital inputs (60FDh) must be mapped in PDO mapping.

[Supplement]

The AZ Series is equipped with an ABZO Sensor (battery-free absolute encoder). Therefore, by performing the positioning operation with the absolute coordinate "0" as the target position, it is possible to move to the home position without using an external sensor.
For details, check the Related FAQ below.

Related Information: AZ Series EtherCAT Compatible Driver FAQ